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(61d00a474) v0.9.7.1

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Regalis
2020-03-04 13:04:10 +01:00
parent 3c50efa5c9
commit 3c09ebe02f
5086 changed files with 786063 additions and 295871 deletions
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Libraries/Farseer Physics Engine 3.5/Dynamics/Joints/FixedMouseJoint.cs
+14 -8
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@@ -1,3 +1,8 @@
/* Original source Farseer Physics Engine:
* Copyright (c) 2014 Ian Qvist, http://farseerphysics.codeplex.com
* Microsoft Permissive License (Ms-PL) v1.1
*/
/*
* Farseer Physics Engine:
* Copyright (c) 2012 Ian Qvist
@@ -22,6 +27,7 @@
using System.Diagnostics;
using FarseerPhysics.Common;
using FarseerPhysics.Common.Maths;
using Microsoft.Xna.Framework;
namespace FarseerPhysics.Dynamics.Joints
@@ -81,7 +87,7 @@ namespace FarseerPhysics.Dynamics.Joints
Debug.Assert(worldAnchor.IsValid());
_worldAnchor = worldAnchor;
LocalAnchorA = MathUtils.MulT(BodyA._xf, worldAnchor);
LocalAnchorA = Transform.Divide(ref worldAnchor, ref BodyA._xf);
}
/// <summary>
@@ -168,12 +174,12 @@ namespace FarseerPhysics.Dynamics.Joints
Vector2 vA = data.velocities[_indexA].v;
float wA = data.velocities[_indexA].w;
Rot qA = new Rot(aA);
Complex qA = Complex.FromAngle(aA);
float mass = BodyA.Mass;
// Frequency
float omega = 2.0f * Settings.Pi * Frequency;
float omega = 2.0f * MathHelper.Pi * Frequency;
// Damping coefficient
float d = 2.0f * mass * DampingRatio * omega;
@@ -195,7 +201,7 @@ namespace FarseerPhysics.Dynamics.Joints
_beta = h * k * _gamma;
// Compute the effective mass matrix.
_rA = MathUtils.Mul(qA, LocalAnchorA - _localCenterA);
_rA = Complex.Multiply(LocalAnchorA - _localCenterA, ref qA);
// 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]
@@ -213,11 +219,11 @@ namespace FarseerPhysics.Dynamics.Joints
// Cheat with some damping
wA *= 0.98f;
if (Settings.EnableWarmstarting)
if (data.step.warmStarting)
{
_impulse *= data.step.dtRatio;
vA += _invMassA * _impulse;
wA += _invIA * MathUtils.Cross(_rA, _impulse);
wA += _invIA * MathUtils.Cross(ref _rA, ref _impulse);
}
else
{
@@ -234,7 +240,7 @@ namespace FarseerPhysics.Dynamics.Joints
float wA = data.velocities[_indexA].w;
// Cdot = v + cross(w, r)
Vector2 Cdot = vA + MathUtils.Cross(wA, _rA);
Vector2 Cdot = vA + MathUtils.Cross(wA, ref _rA);
Vector2 impulse = MathUtils.Mul(ref _mass, -(Cdot + _C + _gamma * _impulse));
Vector2 oldImpulse = _impulse;
@@ -247,7 +253,7 @@ namespace FarseerPhysics.Dynamics.Joints
impulse = _impulse - oldImpulse;
vA += _invMassA * impulse;
wA += _invIA * MathUtils.Cross(_rA, impulse);
wA += _invIA * MathUtils.Cross(ref _rA, ref impulse);
data.velocities[_indexA].v = vA;
data.velocities[_indexA].w = wA;