本文整理汇总了Java中org.jbox2d.common.Mat22.invertToOut方法的典型用法代码示例。如果您正苦于以下问题：Java Mat22.invertToOut方法的具体用法？Java Mat22.invertToOut怎么用？Java Mat22.invertToOut使用的例子？那么, 这里精选的方法代码示例或许可以为您提供帮助。您也可以进一步了解该方法所在类org.jbox2d.common.Mat22的用法示例。
在下文中一共展示了Mat22.invertToOut方法的3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，您的评价将有助于系统推荐出更棒的Java代码示例。
示例1: initVelocityConstraints
import org.jbox2d.common.Mat22; //导入方法依赖的package包/类
@Override
public void initVelocityConstraints(final SolverData data) {
m_indexB = m_bodyB.m_islandIndex;
m_localCenterB.set(m_bodyB.m_sweep.localCenter);
m_invMassB = m_bodyB.m_invMass;
m_invIB = m_bodyB.m_invI;
Vec2 cB = data.positions[m_indexB].c;
float aB = data.positions[m_indexB].a;
Vec2 vB = data.velocities[m_indexB].v;
float wB = data.velocities[m_indexB].w;
final Rot qB = pool.popRot();
qB.set(aB);
float mass = m_bodyB.getMass();
// Frequency
float omega = 2.0f * MathUtils.PI * m_frequencyHz;
// Damping coefficient
float d = 2.0f * mass * m_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;
assert (d + h * k > Settings.EPSILON);
m_gamma = h * (d + h * k);
if (m_gamma != 0.0f) {
m_gamma = 1.0f / m_gamma;
}
m_beta = h * k * m_gamma;
Vec2 temp = pool.popVec2();
// Compute the effective mass matrix.
Rot.mulToOutUnsafe(qB, temp.set(m_localAnchorB).subLocal(m_localCenterB), m_rB);
// 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]
final Mat22 K = pool.popMat22();
K.ex.x = m_invMassB + m_invIB * m_rB.y * m_rB.y + m_gamma;
K.ex.y = -m_invIB * m_rB.x * m_rB.y;
K.ey.x = K.ex.y;
K.ey.y = m_invMassB + m_invIB * m_rB.x * m_rB.x + m_gamma;
K.invertToOut(m_mass);
m_C.set(cB).addLocal(m_rB).subLocal(m_targetA);
m_C.mulLocal(m_beta);
// Cheat with some damping
wB *= 0.98f;
if (data.step.warmStarting) {
m_impulse.mulLocal(data.step.dtRatio);
vB.x += m_invMassB * m_impulse.x;
vB.y += m_invMassB * m_impulse.y;
wB += m_invIB * Vec2.cross(m_rB, m_impulse);
} else {
m_impulse.setZero();
}
// data.velocities[m_indexB].v.set(vB);
data.velocities[m_indexB].w = wB;
pool.pushVec2(1);
pool.pushMat22(1);
pool.pushRot(1);
}
示例2: initVelocityConstraints
import org.jbox2d.common.Mat22; //导入方法依赖的package包/类
@Override
public void initVelocityConstraints(TimeStep step) {
Body b = m_bodyB;
float mass = b.getMass();
// Frequency
float omega = 2.0f * MathUtils.PI * m_frequencyHz;
// Damping coefficient
float d = 2.0f * mass * m_dampingRatio * omega;
// Spring stiffness
float k = mass * (omega * omega);
// magic formulas
// gamma has units of inverse mass.
// beta has units of inverse time.
assert(d + step.dt * k > Settings.EPSILON);
m_gamma = step.dt * (d + step.dt * k);
if (m_gamma != 0.0f){
m_gamma = 1.0f / m_gamma;
}
m_beta = step.dt * k * m_gamma;
Vec2 r = pool.popVec2();
// Compute the effective mass matrix.
//Vec2 r = Mul(b.getTransform().R, m_localAnchor - b.getLocalCenter());
r.set(m_localAnchor).subLocal(b.getLocalCenter());
Mat22.mulToOut(b.getTransform().R, r, r);
// 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.m_invMass;
float invI = b.m_invI;
Mat22 K1 = pool.popMat22();
K1.col1.x = invMass; K1.col2.x = 0.0f;
K1.col1.y = 0.0f; K1.col2.y = invMass;
Mat22 K2 = pool.popMat22();
K2.col1.x = invI * r.y * r.y; K2.col2.x = -invI * r.x * r.y;
K2.col1.y = -invI * r.x * r.y; K2.col2.y = invI * r.x * r.x;
Mat22 K = pool.popMat22();
K.set(K1).addLocal(K2);
K.col1.x += m_gamma;
K.col2.y += m_gamma;
K.invertToOut(m_mass);
m_C.set(b.m_sweep.c).addLocal(r).subLocal(m_target);
// Cheat with some damping
b.m_angularVelocity *= 0.98f;
// Warm starting.
m_impulse.mulLocal(step.dtRatio);
// pool
Vec2 temp = pool.popVec2();
temp.set(m_impulse).mulLocal(invMass);
b.m_linearVelocity.addLocal(temp);
b.m_angularVelocity += invI * Vec2.cross(r, m_impulse);
pool.pushVec2(2);
pool.pushMat22(3);
}
示例3: initVelocityConstraints
import org.jbox2d.common.Mat22; //导入方法依赖的package包/类
@Override
public void initVelocityConstraints(TimeStep step) {
Body b = m_bodyB;
float mass = b.getMass();
// Frequency
float omega = 2.0f * MathUtils.PI * m_frequencyHz;
// Damping coefficient
float d = 2.0f * mass * m_dampingRatio * omega;
// Spring stiffness
float k = mass * (omega * omega);
// magic formulas
// gamma has units of inverse mass.
// beta has units of inverse time.
assert(d + step.dt * k > Settings.EPSILON);
m_gamma = step.dt * (d + step.dt * k);
if (m_gamma != 0.0f){
m_gamma = 1.0f / m_gamma;
}
m_beta = step.dt * k * m_gamma;
Vec2 r = pool.popVec2();
// Compute the effective mass matrix.
//Vec2 r = Mul(b.getTransform().R, m_localAnchor - b.getLocalCenter());
r.set(m_localAnchor).subLocal(b.getLocalCenter());
Mat22.mulToOut(b.getTransform().R, r, r);
// 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.m_invMass;
float invI = b.m_invI;
Mat22 K1 = pool.popMat22();
K1.m11 = invMass; K1.m21 = 0.0f;
K1.m12 = 0.0f; K1.m22 = invMass;
Mat22 K2 = pool.popMat22();
K2.m11 = invI * r.y * r.y; K2.m21 = -invI * r.x * r.y;
K2.m12 = -invI * r.x * r.y; K2.m22 = invI * r.x * r.x;
Mat22 K = pool.popMat22();
K.set(K1).addLocal(K2);
K.m11 += m_gamma;
K.m22 += m_gamma;
K.invertToOut(m_mass);
m_C.set(b.m_sweep.c).addLocal(r).subLocal(m_target);
// Cheat with some damping
b.m_angularVelocity *= 0.98f;
// Warm starting.
m_impulse.mulLocal(step.dtRatio);
// pool
Vec2 temp = pool.popVec2();
temp.set(m_impulse).mulLocal(invMass);
b.m_linearVelocity.addLocal(temp);
b.m_angularVelocity += invI * Vec2.cross(r, m_impulse);
pool.pushVec2(2);
pool.pushMat22(3);
}