本文整理汇总了C#中Mat22类 的典型用法代码示例。如果您正苦于以下问题：C# Mat22类的具体用法？C# Mat22怎么用？C# Mat22使用的例子？那么恭喜您, 这里精选的类代码示例或许可以为您提供帮助。
Mat22类 属于命名空间，在下文中一共展示了Mat22类 的20个代码示例，这些例子默认根据受欢迎程度排序。您可以为喜欢或者感觉有用的代码点赞，您的评价将有助于我们的系统推荐出更棒的C#代码示例。
示例1: TestbedCamera
public TestbedCamera(Vec2 initPosition, float initScale, float zoomScaleDiff)
{
this.transform = new OBBViewportTransform();
transform.setCamera(initPosition.x, initPosition.y, initScale);
this.initPosition.set(initPosition);
this.initScale = initScale;
upScale = Mat22.createScaleTransform(1 + zoomScaleDiff);
downScale = Mat22.createScaleTransform(1 - zoomScaleDiff);
}开发者ID:Nomad1， 项目名称:sharpbox2d， 代码行数:9， 代码来源:TestbedCamera.cs
示例2: Clip
public bool Clip(Vertices clipVertices, Vector2 position)
{
Mat22 mat = new Mat22(0);
Transform t = new Transform(ref position, ref mat);
//Transform shape
Transform thistransform;
Body.GetTransform(out thistransform);
//Transform the shape
Vertices transformedshape = new Vertices(clipVertices.Count);
foreach (Vector2 v in clipVertices)
{
Vector2 newv = v;
newv = MathUtils.Multiply(ref t, ref newv);
newv = MathUtils.MultiplyT(ref thistransform, ref newv);
transformedshape.Add(newv);
}
PolyClipError error;
List<Vertices> result = YuPengClipper.Difference(Vertices, transformedshape, out error);
//Need to check if the entire shape was cut,
//so we can destroy/erase it
if (result.Count == 0)
return false;
//The shape was split up,
//so create a new DestructableBody for each piece
if (result.Count > 1)
{
//Create a new destructable body for each extra shape
for (int i = 1; i < result.Count; i++)
{
DestructableBody db = new DestructableBody(_world, result[i]);
db.Body.Position = Body.Position;
}
}
//Set Shape
Vertices newshape = result[0];
SetShape(newshape);
return true;
}开发者ID:eickegao， 项目名称:cocos2d-xna， 代码行数:45， 代码来源:DestructibleTerrainYuPengTest.cs
示例3: SolvePositionConstraints
internal override bool SolvePositionConstraints()
{
// TODO_ERIN block solve with limit. COME ON ERIN
Body b1 = BodyA;
float angularError = 0.0f;
float positionError;
// Solve angular limit constraint.
if (_enableLimit && _limitState != LimitState.Inactive)
{
float angle = 0 - b1.Sweep.A - ReferenceAngle;
float limitImpulse = 0.0f;
if (_limitState == LimitState.Equal)
{
// Prevent large angular corrections
float C = MathUtils.Clamp(angle - _lowerAngle, -Settings.MaxAngularCorrection,
Settings.MaxAngularCorrection);
limitImpulse = -_motorMass * C;
angularError = Math.Abs(C);
}
else if (_limitState == LimitState.AtLower)
{
float C = angle - _lowerAngle;
angularError = -C;
// Prevent large angular corrections and allow some slop.
C = MathUtils.Clamp(C + Settings.AngularSlop, -Settings.MaxAngularCorrection, 0.0f);
limitImpulse = -_motorMass * C;
}
else if (_limitState == LimitState.AtUpper)
{
float C = angle - _upperAngle;
angularError = C;
// Prevent large angular corrections and allow some slop.
C = MathUtils.Clamp(C - Settings.AngularSlop, 0.0f, Settings.MaxAngularCorrection);
limitImpulse = -_motorMass * C;
}
b1.Sweep.A -= b1.InvI * limitImpulse;
b1.SynchronizeTransform();
}
// Solve point-to-point constraint.
{
Transform xf1;
b1.GetTransform(out xf1);
Vector2 r1 = MathUtils.Multiply(ref xf1.R, LocalAnchorA - b1.LocalCenter);
Vector2 r2 = _worldAnchor;
Vector2 C = Vector2.zero + r2 - b1.Sweep.C - r1;
positionError = C.magnitude;
float invMass1 = b1.InvMass;
const float invMass2 = 0;
float invI1 = b1.InvI;
const float invI2 = 0;
// Handle large detachment.
const float k_allowedStretch = 10.0f * Settings.LinearSlop;
if (C.sqrMagnitude > k_allowedStretch * k_allowedStretch)
{
// Use a particle solution (no rotation).
Vector2 u = C;
u.Normalize();
float k = invMass1 + invMass2;
Debug.Assert(k > Settings.Epsilon);
float m = 1.0f / k;
Vector2 impulse2 = m * (-C);
const float k_beta = 0.5f;
b1.Sweep.C -= k_beta * invMass1 * impulse2;
C = Vector2.zero + r2 - b1.Sweep.C - r1;
}
Mat22 K1 = new Mat22(new Vector2(invMass1 + invMass2, 0.0f), new Vector2(0.0f, invMass1 + invMass2));
Mat22 K2 = new Mat22(new Vector2(invI1 * r1.y * r1.y, -invI1 * r1.x * r1.y),
new Vector2(-invI1 * r1.x * r1.y, invI1 * r1.x * r1.x));
Mat22 K3 = new Mat22(new Vector2(invI2 * r2.y * r2.y, -invI2 * r2.x * r2.y),
new Vector2(-invI2 * r2.x * r2.y, invI2 * r2.x * r2.x));
Mat22 Ka;
Mat22.Add(ref K1, ref K2, out Ka);
Mat22 K;
Mat22.Add(ref Ka, ref K3, out K);
Vector2 impulse = K.Solve(-C);
b1.Sweep.C -= b1.InvMass * impulse;
b1.Sweep.A -= b1.InvI * MathUtils.Cross(r1, impulse);
b1.SynchronizeTransform();
}
//.........这里部分代码省略.........
开发者ID:pbhogan， 项目名称:FarseerUnity， 代码行数:101， 代码来源:FixedRevoluteJoint.cs
示例4: SolvePositionConstraints
internal override bool SolvePositionConstraints(ref SolverData data)
{
FVector2 cA = data.positions[m_indexA].c;
float aA = data.positions[m_indexA].a;
FVector2 cB = data.positions[m_indexB].c;
float aB = data.positions[m_indexB].a;
Rot qA = new Rot(aA), qB = new Rot(aB);
float angularError = 0.0f;
float positionError;
bool fixedRotation = (m_invIA + m_invIB == 0.0f);
// Solve angular limit constraint.
if (_enableLimit && _limitState != LimitState.Inactive && fixedRotation == false)
{
float angle = aB - aA - ReferenceAngle;
float limitImpulse = 0.0f;
if (_limitState == LimitState.Equal)
{
// Prevent large angular corrections
float C = MathUtils.Clamp(angle - _lowerAngle, -Settings.MaxAngularCorrection, Settings.MaxAngularCorrection);
limitImpulse = -m_motorMass * C;
angularError = Math.Abs(C);
}
else if (_limitState == LimitState.AtLower)
{
float C = angle - _lowerAngle;
angularError = -C;
// Prevent large angular corrections and allow some slop.
C = MathUtils.Clamp(C + Settings.AngularSlop, -Settings.MaxAngularCorrection, 0.0f);
limitImpulse = -m_motorMass * C;
}
else if (_limitState == LimitState.AtUpper)
{
float C = angle - _upperAngle;
angularError = C;
// Prevent large angular corrections and allow some slop.
C = MathUtils.Clamp(C - Settings.AngularSlop, 0.0f, Settings.MaxAngularCorrection);
limitImpulse = -m_motorMass * C;
}
aA -= m_invIA * limitImpulse;
aB += m_invIB * limitImpulse;
}
// Solve point-to-point constraint.
{
qA.Set(aA);
qB.Set(aB);
FVector2 rA = MathUtils.Mul(qA, LocalAnchorA - m_localCenterA);
FVector2 rB = MathUtils.Mul(qB, LocalAnchorB - m_localCenterB);
FVector2 C = cB + rB - cA - rA;
positionError = C.Length();
float mA = m_invMassA, mB = m_invMassB;
float iA = m_invIA, iB = m_invIB;
Mat22 K = new Mat22();
K.ex.X = mA + mB + iA * rA.Y * rA.Y + iB * rB.Y * rB.Y;
K.ex.Y = -iA * rA.X * rA.Y - iB * rB.X * rB.Y;
K.ey.X = K.ex.Y;
K.ey.Y = mA + mB + iA * rA.X * rA.X + iB * rB.X * rB.X;
FVector2 impulse = -K.Solve(C);
cA -= mA * impulse;
aA -= iA * MathUtils.Cross(rA, impulse);
cB += mB * impulse;
aB += iB * MathUtils.Cross(rB, impulse);
}
data.positions[m_indexA].c = cA;
data.positions[m_indexA].a = aA;
data.positions[m_indexB].c = cB;
data.positions[m_indexB].a = aB;
return positionError <= Settings.LinearSlop && angularError <= Settings.AngularSlop;
}开发者ID:frotein， 项目名称:TinyUniverse， 代码行数:85， 代码来源:RevoluteJoint.cs
示例5: mulByTransform
/**
* Multiplies the obb transform by the given transform
*/
public void mulByTransform(Mat22 transform)
{
box.R.mulLocal(transform);
}开发者ID:Nomad1， 项目名称:sharpbox2d， 代码行数:7， 代码来源:OBBViewportTransform.cs
示例6: SolvePositionConstraints
internal override bool SolvePositionConstraints()
{
Body bB = BodyB;
Vector2 xA = Vector2.Zero;
const float angleA = 0.0f;
Vector2 xB = bB.Sweep.C;
float angleB = bB.Sweep.A;
Mat22 RA = new Mat22(angleA);
Mat22 RB = new Mat22(angleB);
Vector2 rA = MathUtils.Multiply(ref RA, LocalAnchorA - LocalCenterA);
Vector2 rB = MathUtils.Multiply(ref RB, LocalAnchorB - LocalCenterB);
Vector2 d = xB + rB - xA - rA;
Vector2 ay = MathUtils.Multiply(ref RA, _localYAxisA);
float sBy = MathUtils.Cross(rB, ay);
float C = Vector2.Dot(d, ay);
float k = InvMassA + InvMassB + InvIA * _sAy * _sAy + InvIB * _sBy * _sBy;
float impulse;
if (k != 0.0f)
{
impulse = -C / k;
}
else
{
impulse = 0.0f;
}
Vector2 P = impulse * ay;
float LB = impulse * sBy;
xB += InvMassB * P;
angleB += InvIB * LB;
// TODO_ERIN remove need for this.
bB.Sweep.C = xB;
bB.Sweep.A = angleB;
bB.SynchronizeTransform();
return Math.Abs(C) <= Settings.LinearSlop;
}开发者ID:Ratel13， 项目名称:cocos2d-xna， 代码行数:48， 代码来源:FixedLineJoint.cs
示例7: SolvePositionConstraints
internal override bool SolvePositionConstraints()
{
Body b2 = BodyB;
Vector2 c1 = Vector2.Zero;
float a1 = 0.0f;
Vector2 c2 = b2.Sweep.c;
float a2 = b2.Sweep.a;
// Solve linear limit constraint.
float linearError = 0.0f;
bool active = false;
float C2 = 0.0f;
Mat22 R1 = new Mat22(a1);
Mat22 R2 = new Mat22(a2);
Vector2 r1 = MathUtils.Multiply(ref R1, LocalAnchorA - LocalCenterA);
Vector2 r2 = MathUtils.Multiply(ref R2, LocalAnchorB - LocalCenterB);
Vector2 d = c2 + r2 - c1 - r1;
if (_enableLimit)
{
_axis = MathUtils.Multiply(ref R1, _localXAxis1);
_a1 = MathUtils.Cross(d + r1, _axis);
_a2 = MathUtils.Cross(r2, _axis);
float translation = Vector2.Dot(_axis, d);
if (Math.Abs(UpperLimit - LowerLimit) < 2.0f * Settings.LinearSlop)
{
// Prevent large angular corrections
C2 = MathUtils.Clamp(translation, -Settings.MaxLinearCorrection, Settings.MaxLinearCorrection);
linearError = Math.Abs(translation);
active = true;
}
else if (translation <= LowerLimit)
{
// Prevent large linear corrections and allow some slop.
C2 = MathUtils.Clamp(translation - LowerLimit + Settings.LinearSlop, -Settings.MaxLinearCorrection,
0.0f);
linearError = LowerLimit - translation;
active = true;
}
else if (translation >= UpperLimit)
{
// Prevent large linear corrections and allow some slop.
C2 = MathUtils.Clamp(translation - UpperLimit - Settings.LinearSlop, 0.0f,
Settings.MaxLinearCorrection);
linearError = translation - UpperLimit;
active = true;
}
}
_perp = MathUtils.Multiply(ref R1, _localYAxis1);
_s1 = MathUtils.Cross(d + r1, _perp);
_s2 = MathUtils.Cross(r2, _perp);
Vector2 impulse;
float C1 = Vector2.Dot(_perp, d);
linearError = Math.Max(linearError, Math.Abs(C1));
const float angularError = 0.0f;
if (active)
{
float m1 = InvMassA, m2 = InvMassB;
float i1 = InvIA, i2 = InvIB;
float k11 = m1 + m2 + i1 * _s1 * _s1 + i2 * _s2 * _s2;
float k12 = i1 * _s1 * _a1 + i2 * _s2 * _a2;
float k22 = m1 + m2 + i1 * _a1 * _a1 + i2 * _a2 * _a2;
_K.col1 = new Vector2(k11, k12);
_K.col2 = new Vector2(k12, k22);
Vector2 C = new Vector2(-C1, -C2);
impulse = _K.Solve(C); // note i inverted above
}
else
{
float m1 = InvMassA, m2 = InvMassB;
float i1 = InvIA, i2 = InvIB;
float k11 = m1 + m2 + i1 * _s1 * _s1 + i2 * _s2 * _s2;
float impulse1;
if (k11 != 0.0f)
{
impulse1 = -C1 / k11;
}
else
{
impulse1 = 0.0f;
}
impulse.X = impulse1;
//.........这里部分代码省略.........
开发者ID:scastle， 项目名称:Solitude， 代码行数:101， 代码来源:FixedLineJoint.cs
示例8: SolvePositionConstraints
internal override bool SolvePositionConstraints()
{
// TODO_ERIN block solve with limit. COME ON ERIN
Body b1 = BodyA;
Body b2 = BodyB;
float angularError = 0.0f;
float positionError;
// Solve angular limit constraint.
if (_enableLimit && _limitState != LimitState.Inactive)
{
float angle = b2.Sweep.A - b1.Sweep.A - ReferenceAngle;
float limitImpulse = 0.0f;
if (_limitState == LimitState.Equal)
{
// Prevent large angular corrections
float C = MathHelper.Clamp(angle - _lowerAngle, -Settings.MaxAngularCorrection,
Settings.MaxAngularCorrection);
limitImpulse = -_motorMass * C;
angularError = Math.Abs(C);
}
else if (_limitState == LimitState.AtLower)
{
float C = angle - _lowerAngle;
angularError = -C;
// Prevent large angular corrections and allow some slop.
C = MathHelper.Clamp(C + Settings.AngularSlop, -Settings.MaxAngularCorrection, 0.0f);
limitImpulse = -_motorMass * C;
}
else if (_limitState == LimitState.AtUpper)
{
float C = angle - _upperAngle;
angularError = C;
// Prevent large angular corrections and allow some slop.
C = MathHelper.Clamp(C - Settings.AngularSlop, 0.0f, Settings.MaxAngularCorrection);
limitImpulse = -_motorMass * C;
}
b1.Sweep.A -= b1.InvI * limitImpulse;
b2.Sweep.A += b2.InvI * limitImpulse;
b1.SynchronizeTransform();
b2.SynchronizeTransform();
}
// Solve point-to-point constraint.
{
/*Transform xf1, xf2;
b1.GetTransform(out xf1);
b2.GetTransform(out xf2);*/
Vector2 r1 = MathUtils.Multiply(ref b1.Xf.R, LocalAnchorA - b1.LocalCenter);
Vector2 r2 = MathUtils.Multiply(ref b2.Xf.R, LocalAnchorB - b2.LocalCenter);
Vector2 C = b2.Sweep.C + r2 - b1.Sweep.C - r1;
positionError = C.Length();
float invMass1 = b1.InvMass, invMass2 = b2.InvMass;
float invI1 = b1.InvI, invI2 = b2.InvI;
// Handle large detachment.
const float k_allowedStretch = 10.0f * Settings.LinearSlop;
if (C.LengthSquared() > k_allowedStretch * k_allowedStretch)
{
// Use a particle solution (no rotation).
Vector2 u = C;
u.Normalize();
float k = invMass1 + invMass2;
Debug.Assert(k > Settings.Epsilon);
float m = 1.0f / k;
Vector2 impulse2 = m * (-C);
const float k_beta = 0.5f;
b1.Sweep.C -= k_beta * invMass1 * impulse2;
b2.Sweep.C += k_beta * invMass2 * impulse2;
C = b2.Sweep.C + r2 - b1.Sweep.C - r1;
}
Mat22 K1 = new Mat22(new Vector2(invMass1 + invMass2, 0.0f), new Vector2(0.0f, invMass1 + invMass2));
Mat22 K2 = new Mat22(new Vector2(invI1 * r1.Y * r1.Y, -invI1 * r1.X * r1.Y),
new Vector2(-invI1 * r1.X * r1.Y, invI1 * r1.X * r1.X));
Mat22 K3 = new Mat22(new Vector2(invI2 * r2.Y * r2.Y, -invI2 * r2.X * r2.Y),
new Vector2(-invI2 * r2.X * r2.Y, invI2 * r2.X * r2.X));
Mat22 Ka;
Mat22.Add(ref K1, ref K2, out Ka);
Mat22 K;
Mat22.Add(ref Ka, ref K3, out K);
Vector2 impulse = K.Solve(-C);
b1.Sweep.C -= b1.InvMass * impulse;
MathUtils.Cross(ref r1, ref impulse, out _tmpFloat1);
//.........这里部分代码省略.........
开发者ID:Ratel13， 项目名称:cocos2d-xna， 代码行数:101， 代码来源:RevoluteJoint.cs
示例9: mulByTransform
/// <summary>
/// Multiplies the obb transform by the given transform
/// </summary>
/// <param name="argTransform"></param>
public virtual void mulByTransform(Mat22 argTransform)
{
box.R.mulLocal(argTransform);
}开发者ID:thdtjsdn， 项目名称:box2dnet， 代码行数:8， 代码来源:OBBViewportTransform.cs
示例10: Invert
/// <summary>
/// Compute the inverse of this matrix, such that inv(A) * A = identity.
/// </summary>
public Mat22 Invert()
{
float a = Col1.X, b = Col2.X, c = Col1.Y, d = Col2.Y;
Mat22 B = new Mat22();
float det = a * d - b * c;
if (det != 0.0f)
{
det = 1.0f / det;
}
B.Col1.X = det * d; B.Col2.X = -det * b;
B.Col1.Y = -det * c; B.Col2.Y = det * a;
return B;
}开发者ID:rbrother， 项目名称:seikkailulaakso， 代码行数:16， 代码来源:Mat22.cs
示例11: InitVelocityConstraints
internal override void InitVelocityConstraints(ref SolverData data)
{
_indexB = BodyA.IslandIndex;
_localCenterB = BodyA.Sweep.LocalCenter;
_invMassB = BodyA.InvMass;
_invIB = 0;
FVector2 cB = data.positions[_indexB].c;
float aB = data.positions[_indexB].a;
FVector2 vB = data.velocities[_indexB].v;
float wB = data.velocities[_indexB].w;
Rot qB = new Rot(aB);
float mass = BodyA.Mass;
// Frequency
float omega = 2.0f * FSSettings.Pi * Frequency;
// Damping coefficient
float d = 2.0f * mass * DampingRatio * omega;
// Spring stiffness
float k = mass * (omega * omega);
// magic formulas
// gamma has units of inverse mass.
// beta has units of inverse time.
float h = data.step.dt;
Debug.Assert(d + h * k > FSSettings.Epsilon);
_gamma = h * (d + h * k);
if (!Mathf.Approximately(_gamma, 0.0f))
_gamma = 1.0f / _gamma;
_beta = h * k * _gamma;
// Compute the effective mass matrix.
_rB = MathUtils.Mul(qB, LocalAnchorB - _localCenterB);
// K = [(1/m1 + 1/m2) * eye(2) - skew(r1) * invI1 * skew(r1) - skew(r2) * invI2 * skew(r2)]
// = [1/m1+1/m2 0 ] + invI1 * [r1.Y*r1.Y -r1.X*r1.Y] + invI2 * [r1.Y*r1.Y -r1.X*r1.Y]
// [ 0 1/m1+1/m2] [-r1.X*r1.Y r1.X*r1.X] [-r1.X*r1.Y r1.X*r1.X]
var K = new Mat22();
K.ex.X = _invMassB + _invIB * _rB.Y * _rB.Y + _gamma;
K.ex.Y = -_invIB * _rB.X * _rB.Y;
K.ey.X = K.ex.Y;
K.ey.Y = _invMassB + _invIB * _rB.X * _rB.X + _gamma;
_mass = K.Inverse;
_C = cB + _rB - _targetA;
_C *= _beta;
// Cheat with some damping
wB *= 0.98f;
// if (Settings.EnableWarmstarting)
// {
_impulse *= data.step.dtRatio;
vB += _invMassB * _impulse;
wB += _invIB * MathUtils.Cross(_rB, _impulse);
// }
// else
// _impulse = FVector2.Zero;
data.velocities[_indexB].v = vB;
data.velocities[_indexB].w = wB;
}开发者ID:horsman， 项目名称:survival， 代码行数:67， 代码来源:FSFixedMouseJoint.cs
示例12: Transform
/// <summary>
/// Initialize using a position vector and a rotation matrix.
/// </summary>
/// <param name="position"></param>
/// <param name="rotation"></param>
public Transform(Vec2 position, Mat22 rotation)
{
Position = position;
R = rotation;
}开发者ID:hellogithubtesting， 项目名称:LGame， 代码行数:10， 代码来源:Transform.cs
示例13: Convert
private static Transform Convert(Matrix4x4 mat)
{
Vector3 T;
Matrix3x3 R;
Vector3 S;
mat.Decompress (out T, out R, out S);
var posA = new XnaVector2 (T.X, T.Y);
var rotA = new Mat22 (R[0], R[1], R[3], R[4]);
return new Transform (ref posA, ref rotA);
}开发者ID:weimingtom， 项目名称:erica， 代码行数:12， 代码来源:Physics2D.cs
示例14: InitVelocityConstraints
internal override void InitVelocityConstraints(ref TimeStep step)
{
Body b = _bodyB;
float mass = b.GetMass();
// Frequency
float omega = 2.0f * Settings.b2_pi * _frequencyHz;
// Damping coefficient
float d = 2.0f * mass * _dampingRatio * omega;
// Spring stiffness
float k = mass * (omega * omega);
// magic formulas
// gamma has units of inverse mass.
// beta has units of inverse time.
Debug.Assert(d + step.dt * k > Settings.b2_FLT_EPSILON);
_gamma = 1.0f / (step.dt * (d + step.dt * k));
_beta = step.dt * k * _gamma;
// Compute the effective mass matrix.
XForm xf1;
b.GetXForm(out xf1);
Vector2 r = MathUtils.Multiply(ref xf1.R, _localAnchor - b.GetLocalCenter());
// K = [(1/m1 + 1/m2) * eye(2) - skew(r1) * invI1 * skew(r1) - skew(r2) * invI2 * skew(r2)]
// = [1/m1+1/m2 0 ] + invI1 * [r1.Y*r1.Y -r1.X*r1.Y] + invI2 * [r1.Y*r1.Y -r1.X*r1.Y]
// [ 0 1/m1+1/m2] [-r1.X*r1.Y r1.X*r1.X] [-r1.X*r1.Y r1.X*r1.X]
float invMass = b._invMass;
float invI = b._invI;
Mat22 K1 = new Mat22(new Vector2(invMass, 0.0f), new Vector2(0.0f, invMass));
Mat22 K2 = new Mat22(new Vector2(invI * r.Y * r.Y, -invI * r.X * r.Y), new Vector2(-invI * r.X * r.Y, invI * r.X * r.X));
Mat22 K;
Mat22.Add(ref K1, ref K2, out K);
K.col1.X += _gamma;
K.col2.Y += _gamma;
_mass = K.GetInverse();
_C = b._sweep.c + r - _target;
// Cheat with some damping
b._angularVelocity *= 0.98f;
// Warm starting.
_impulse *= step.dtRatio;
b._linearVelocity += invMass * _impulse;
b._angularVelocity += invI * MathUtils.Cross(r, _impulse);
}开发者ID:Nukepayload2， 项目名称:Box2D， 代码行数:54， 代码来源:MouseJoint.cs
示例15: setTransform
/**
* Sets the transform of the viewport. Transforms about the center.
*/
public void setTransform(Mat22 transform)
{
box.R.set(transform);
}开发者ID:Nomad1， 项目名称:sharpbox2d， 代码行数:7， 代码来源:OBBViewportTransform.cs
示例16: InitVelocityConstraints
internal override void InitVelocityConstraints(ref SolverData data)
{
_indexA = BodyA.IslandIndex;
_indexB = BodyB.IslandIndex;
_localCenterA = BodyA._sweep.LocalCenter;
_localCenterB = BodyB._sweep.LocalCenter;
_invMassA = BodyA._invMass;
_invMassB = BodyB._invMass;
_invIA = BodyA._invI;
_invIB = BodyB._invI;
float aA = data.positions[_indexA].a;
Vector2 vA = data.velocities[_indexA].v;
float wA = data.velocities[_indexA].w;
float aB = data.positions[_indexB].a;
Vector2 vB = data.velocities[_indexB].v;
float wB = data.velocities[_indexB].w;
Rot qA = new Rot(aA), qB = new Rot(aB);
// Compute the effective mass matrix.
_rA = MathUtils.Mul(qA, LocalAnchorA - _localCenterA);
_rB = MathUtils.Mul(qB, LocalAnchorB - _localCenterB);
// J = [-I -r1_skew I r2_skew]
// [ 0 -1 0 1]
// r_skew = [-ry; rx]
// Matlab
// K = [ mA+r1y^2*iA+mB+r2y^2*iB, -r1y*iA*r1x-r2y*iB*r2x, -r1y*iA-r2y*iB]
// [ -r1y*iA*r1x-r2y*iB*r2x, mA+r1x^2*iA+mB+r2x^2*iB, r1x*iA+r2x*iB]
// [ -r1y*iA-r2y*iB, r1x*iA+r2x*iB, iA+iB]
float mA = _invMassA, mB = _invMassB;
float iA = _invIA, iB = _invIB;
Mat22 K = new Mat22();
K.ex.X = mA + mB + iA * _rA.Y * _rA.Y + iB * _rB.Y * _rB.Y;
K.ex.Y = -iA * _rA.X * _rA.Y - iB * _rB.X * _rB.Y;
K.ey.X = K.ex.Y;
K.ey.Y = mA + mB + iA * _rA.X * _rA.X + iB * _rB.X * _rB.X;
_linearMass = K.Inverse;
_angularMass = iA + iB;
if (_angularMass > 0.0f)
{
_angularMass = 1.0f / _angularMass;
}
if (Settings.EnableWarmstarting)
{
// Scale impulses to support a variable time step.
_linearImpulse *= data.step.dtRatio;
_angularImpulse *= data.step.dtRatio;
Vector2 P = new Vector2(_linearImpulse.X, _linearImpulse.Y);
vA -= mA * P;
wA -= iA * (MathUtils.Cross(_rA, P) + _angularImpulse);
vB += mB * P;
wB += iB * (MathUtils.Cross(_rB, P) + _angularImpulse);
}
else
{
_linearImpulse = Vector2.Zero;
_angularImpulse = 0.0f;
}
data.velocities[_indexA].v = vA;
data.velocities[_indexA].w = wA;
data.velocities[_indexB].v = vB;
data.velocities[_indexB].w = wB;
}开发者ID:tracer0707， 项目名称:OpenGLF， 代码行数:74， 代码来源:FrictionJoint.cs
示例17: SolvePositionConstraints
internal override bool SolvePositionConstraints(ref SolverData data)
{
Vector2 cA = data.positions[_indexA].c;
float aA = data.positions[_indexA].a;
Vector2 cB = data.positions[_indexB].c;
float aB = data.positions[_indexB].a;
Rot qA = new Rot(aA), qB = new Rot(aB);
float mA = _invMassA, mB = _invMassB;
float iA = _invIA, iB = _invIB;
// Compute fresh Jacobians
Vector2 rA = MathUtils.Mul(qA, LocalAnchorA - _localCenterA);
Vector2 rB = MathUtils.Mul(qB, LocalAnchorB - _localCenterB);
Vector2 d = cB + rB - cA - rA;
Vector2 axis = MathUtils.Mul(qA, LocalXAxis);
float a1 = MathUtils.Cross(d + rA, axis);
float a2 = MathUtils.Cross(rB, axis);
Vector2 perp = MathUtils.Mul(qA, _localYAxisA);
float s1 = MathUtils.Cross(d + rA, perp);
float s2 = MathUtils.Cross(rB, perp);
Vector3 impulse;
Vector2 C1 = new Vector2();
C1.X = Vector2.Dot(perp, d);
C1.Y = aB - aA - ReferenceAngle;
float linearError = Math.Abs(C1.X);
float angularError = Math.Abs(C1.Y);
bool active = false;
float C2 = 0.0f;
if (_enableLimit)
{
float translation = Vector2.Dot(axis, d);
if (Math.Abs(_upperTranslation - _lowerTranslation) < 2.0f * Settings.LinearSlop)
{
// Prevent large angular corrections
C2 = MathUtils.Clamp(translation, -Settings.MaxLinearCorrection, Settings.MaxLinearCorrection);
linearError = Math.Max(linearError, Math.Abs(translation));
active = true;
}
else if (translation <= _lowerTranslation)
{
// Prevent large linear corrections and allow some slop.
C2 = MathUtils.Clamp(translation - _lowerTranslation + Settings.LinearSlop, -Settings.MaxLinearCorrection, 0.0f);
linearError = Math.Max(linearError, _lowerTranslation - translation);
active = true;
}
else if (translation >= _upperTranslation)
{
// Prevent large linear corrections and allow some slop.
C2 = MathUtils.Clamp(translation - _upperTranslation - Settings.LinearSlop, 0.0f, Settings.MaxLinearCorrection);
linearError = Math.Max(linearError, translation - _upperTranslation);
active = true;
}
}
if (active)
{
float k11 = mA + mB + iA * s1 * s1 + iB * s2 * s2;
float k12 = iA * s1 + iB * s2;
float k13 = iA * s1 * a1 + iB * s2 * a2;
float k22 = iA + iB;
if (k22 == 0.0f)
{
// For fixed rotation
k22 = 1.0f;
}
float k23 = iA * a1 + iB * a2;
float k33 = mA + mB + iA * a1 * a1 + iB * a2 * a2;
Mat33 K = new Mat33();
K.ex = new Vector3(k11, k12, k13);
K.ey = new Vector3(k12, k22, k23);
K.ez = new Vector3(k13, k23, k33);
Vector3 C = new Vector3();
C.X = C1.X;
C.Y = C1.Y;
C.Z = C2;
impulse = K.Solve33(-C);
}
else
{
float k11 = mA + mB + iA * s1 * s1 + iB * s2 * s2;
float k12 = iA * s1 + iB * s2;
float k22 = iA + iB;
if (k22 == 0.0f)
{
k22 = 1.0f;
}
Mat22 K = new Mat22();
K.ex = new Vector2(k11, k12);
K.ey = new Vector2(k12, k22);
//.........这里部分代码省略.........
开发者ID:ImmortalJINX， 项目名称:Project-EGOR， 代码行数:101， 代码来源:PrismaticJoint.cs
示例18: SolvePositionConstraints
internal override bool SolvePositionConstraints(float baumgarte)
{
Body b1 = _bodyA;
Body b2 = _bodyB;
Vector2 c1 = b1._sweep.c;
float a1 = b1._sweep.a;
Vector2 c2 = b2._sweep.c;
float a2 = b2._sweep.a;
// Solve linear limit raint.
float linearError = 0.0f, angularError = 0.0f;
bool active = false;
float C2 = 0.0f;
Mat22 R1 = new Mat22(a1);
Mat22 R2 = new Mat22(a2);
Vector2 r1 = MathUtils.Multiply(ref R1, _localAnchor1 - _localCenter1);
Vector2 r2 = MathUtils.Multiply(ref R2, _localAnchor2 - _localCenter2);
Vector2 d = c2 + r2 - c1 - r1;
if (_enableLimit)
{
_axis = MathUtils.Multiply(ref R1, _localXAxis1);
_a1 = MathUtils.Cross(d + r1, _axis);
_a2 = MathUtils.Cross(r2, _axis);
float translation = Vector2.Dot(_axis, d);
if (Math.Abs(_upperTranslation - _lowerTranslation) < 2.0f * Settings.b2_linearSlop)
{
// Prevent large angular corrections
C2 = MathUtils.Clamp(translation, -Settings.b2_maxLinearCorrection, Settings.b2_maxLinearCorrection);
linearError = Math.Abs(translation);
active = true;
}
else if (translation <= _lowerTranslation)
{
// Prevent large linear corrections and allow some slop.
C2 = MathUtils.Clamp(translation - _lowerTranslation + Settings.b2_linearSlop, -Settings.b2_maxLinearCorrection, 0.0f);
linearError = _lowerTranslation - translation;
active = true;
}
else if (translation >= _upperTranslation)
{
// Prevent large linear corrections and allow some slop.
C2 = MathUtils.Clamp(translation - _upperTranslation - Settings.b2_linearSlop, 0.0f, Settings.b2_maxLinearCorrection);
linearError = translation - _upperTranslation;
active = true;
}
}
_perp = MathUtils.Multiply(ref R1, _localYAxis1);
_s1 = MathUtils.Cross(d + r1, _perp);
_s2 = MathUtils.Cross(r2, _perp);
Vector2 impulse;
float C1;
C1 = Vector2.Dot(_perp, d);
linearError = Math.Max(linearError, Math.Abs(C1));
angularError = 0.0f;
if (active)
{
float m1 = _invMass1, m2 = _invMass2;
float i1 = _invI1, i2 = _invI2;
float k11 = m1 + m2 + i1 * _s1 * _s1 + i2 * _s2 * _s2;
float k12 = i1 * _s1 * _a1 + i2 * _s2 * _a2;
float k22 = m1 + m2 + i1 * _a1 * _a1 + i2 * _a2 * _a2;
_K.col1 = new Vector2(k11, k12);
_K.col2 = new Vector2(k12, k22);
Vector2 C = new Vector2(-C1, -C2);
impulse = _K.Solve(C); //note i inverted above
}
else
{
float m1 = _invMass1, m2 = _invMass2;
float i1 = _invI1, i2 = _invI2;
float k11 = m1 + m2 + i1 * _s1 * _s1 + i2 * _s2 * _s2;
float impulse1 = (-C1) / k11;
impulse.X = impulse1;
impulse.Y = 0.0f;
}
Vector2 P = impulse.X * _perp + impulse.Y * _axis;
float L1 = impulse.X * _s1 + impulse.Y * _a1;
float L2 = impulse.X * _s2 + impulse.Y * _a2;
c1 -= _invMass1 * P;
a1 -= _invI1 * L1;
//.........这里部分代码省略.........
开发者ID:Nukepayload2， 项目名称:Box2D， 代码行数:101， 代码来源:LineJoint.cs
示例19: InitVelocityConstraints
internal override void InitVelocityConstraints(ref TimeStep step)
{
Body bA = BodyA;
Transform xfA;
bA.GetTransform(out xfA);
// Compute the effective mass Matrix4x4.
Vector2 rA = MathUtils.Multiply(ref xfA.R, LocalAnchorA - bA.LocalCenter);
// J = [-I -r1_skew I r2_skew]
// [ 0 -1 0 1]
// r_skew = [-ry; rx]
// Matlab
// K = [ mA+r1y^2*iA+mB+r2y^2*iB, -r1y*iA*r1x-r2y*iB*r2x, -r1y*iA-r2y*iB]
// [ -r1y*iA*r1x-r2y*iB*r2x, mA+r1x^2*iA+mB+r2x^2*iB, r1x*iA+r2x*iB]
// [ -r1y*iA-r2y*iB, r1x*iA+r2x*iB, iA+iB]
float mA = bA.InvMass;
float iA = bA.InvI;
Mat22 K1 = new Mat22();
K1.Col1.x = mA;
K1.Col2.x = 0.0f;
K1.Col1.y = 0.0f;
K1.Col2.y = mA;
Mat22 K2 = new Mat22();
K2.Col1.x = iA * rA.y * rA.y;
K2.Col2.x = -iA * rA.x * rA.y;
K2.Col1.y = -iA * rA.x * rA.y;
K2.Col2.y = iA * rA.x * rA.x;
Mat22 K12;
Mat22.Add(ref K1, ref K2, out K12);
_linearMass = K12.Inverse;
_angularMass = iA;
if (_angularMass > 0.0f)
{
_angularMass = 1.0f / _angularMass;
}
if (Settings.EnableWarmstarting)
{
// Scale impulses to support a variable time step.
_linearImpulse *= step.dtRatio;
_angularImpulse *= step.dtRatio;
Vector2 P = new Vector2(_linearImpulse.x, _linearImpulse.y);
bA.LinearVelocityInternal -= mA * P;
bA.AngularVelocityInternal -= iA * (MathUtils.Cross(rA, P) + _angularImpulse);
}
else
{
_linearImpulse = Vector2.zero;
_angularImpulse = 0.0f;
}
}开发者ID:kyallbarrows， 项目名称:Cinch_4-3， 代码行数:62， 代码来源:FixedFrictionJoint.cs
示例20: InitVelocityConstraints
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