Package eas.simulation.spatial.sim2D.physicalSimulation.physicsEngine.net.phys2d.math

Examples of eas.simulation.spatial.sim2D.physicalSimulation.physicsEngine.net.phys2d.math.Vector2f.scale()

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    n = new Vector2f(-ndp.y, ndp.x);
    Vector2f v1 = new Vector2f(n);
    v1.scale(-body2.getInvMass() - body1.getInvMass());

    Vector2f v2 = MathUtil.cross(MathUtil.cross(r2, n), r2);
    v2.scale(-body2.getInvI());

    Vector2f v3 = MathUtil.cross(MathUtil.cross(R, n), r1);
    v3.scale(-body1.getInvI());

    Vector2f K1 = new Vector2f(v1);
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    Vector2f v2 = MathUtil.cross(MathUtil.cross(r2, n), r2);
    v2.scale(-body2.getInvI());

    Vector2f v3 = MathUtil.cross(MathUtil.cross(R, n), r1);
    v3.scale(-body1.getInvI());

    Vector2f K1 = new Vector2f(v1);
    K1.add(v2);
    K1.add(v3);
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      biasImpulse = biasFactor * MathUtil.cross(ndp, VA) * invDT;

    Vector2f impulse = new Vector2f(n);
    impulse.scale(accumulateImpulse+biasImpulse);
    if (!body1.isStatic()) {
      Vector2f accum1 = new Vector2f(impulse);
      accum1.scale(body1.getInvMass());
      body1.adjustVelocity(accum1);
      body1.adjustAngularVelocity((body1.getInvI() * MathUtil.cross(R,
 
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    Vector2f impulse = new Vector2f(n);
    impulse.scale(accumulateImpulse+biasImpulse);
    if (!body1.isStatic()) {
      Vector2f accum1 = new Vector2f(impulse);
      accum1.scale(body1.getInvMass());
      body1.adjustVelocity(accum1);
      body1.adjustAngularVelocity((body1.getInvI() * MathUtil.cross(R,
          impulse)));
    }
    if (!body2.isStatic()) {
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      body1.adjustAngularVelocity((body1.getInvI() * MathUtil.cross(R,
          impulse)));
    }
    if (!body2.isStatic()) {
      Vector2f accum2 = new Vector2f(impulse);
      accum2.scale(-body2.getInvMass());
      body2.adjustVelocity(accum2);
      body2.adjustAngularVelocity(-(body2.getInvI() * MathUtil.cross(r2,
          impulse)));
    }
  }
 
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      Vector2f vec = MathUtil.scale(contacts[i].getNormal(),-1);
      contacts[i].setNormal(vec);
     
      Vector2f pt = MathUtil.sub(contacts[i].getPosition(), circleBody.getPosition());
      pt.normalise();
      pt.scale(((Circle) circleBody.getShape()).getRadius());
      pt.add(circleBody.getPosition());
      contacts[i].setPosition(pt);
    }
   
    return count;
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    if (centre < linePos) {
      if (!line.blocksInnerEdge()) {
        return 0;
      }
     
      normal.scale(-1);
      for (int i=0;i<4;i++) {
        if (tangent[i] > linePos) {
          if (proj[i] < 0) {
            Vector2f onAxis = new Vector2f();
            Line leftLine = new Line(getPt(pts,i-1),pts[i]);
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    float torq = (float) Math.asin(MathUtil.cross(ndp, V))
        * compressConstant / invDT;
    float P = torq / length;
    Vector2f n = new Vector2f(ndp.y, -ndp.x);
    Vector2f impulse = new Vector2f(n);
    impulse.scale(P);
    if (!body1.isStatic()) {
      Vector2f accum1 = new Vector2f(impulse);
      accum1.scale(body1.getInvMass());
      body1.adjustVelocity(accum1);
      body1.adjustAngularVelocity((body1.getInvI() * MathUtil.cross(dp,
 
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    Vector2f n = new Vector2f(ndp.y, -ndp.x);
    Vector2f impulse = new Vector2f(n);
    impulse.scale(P);
    if (!body1.isStatic()) {
      Vector2f accum1 = new Vector2f(impulse);
      accum1.scale(body1.getInvMass());
      body1.adjustVelocity(accum1);
      body1.adjustAngularVelocity((body1.getInvI() * MathUtil.cross(dp,
          impulse)));
    }
    if (!body2.isStatic()) {
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      body1.adjustAngularVelocity((body1.getInvI() * MathUtil.cross(dp,
          impulse)));
    }
    if (!body2.isStatic()) {
      Vector2f accum2 = new Vector2f(impulse);
      accum2.scale(-body2.getInvMass());
      body2.adjustVelocity(accum2);
      body2.adjustAngularVelocity(-(body2.getInvI() * MathUtil.cross(r2,
          impulse)));
    }
  }
 
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