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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/FrictionJoint.cs
+17 -10
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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
@@ -21,6 +26,7 @@
*/
using FarseerPhysics.Common;
using FarseerPhysics.Common.Maths;
using Microsoft.Xna.Framework;
namespace FarseerPhysics.Dynamics.Joints
@@ -151,11 +157,12 @@ namespace FarseerPhysics.Dynamics.Joints
Vector2 vB = data.velocities[_indexB].v;
float wB = data.velocities[_indexB].w;
Rot qA = new Rot(aA), qB = new Rot(aB);
Complex qA = Complex.FromAngle(aA);
Complex qB = Complex.FromAngle(aB);
// Compute the effective mass matrix.
_rA = MathUtils.Mul(qA, LocalAnchorA - _localCenterA);
_rB = MathUtils.Mul(qB, LocalAnchorB - _localCenterB);
_rA = Complex.Multiply(LocalAnchorA - _localCenterA, ref qA);
_rB = Complex.Multiply(LocalAnchorB - _localCenterB, ref qB);
// J = [-I -r1_skew I r2_skew]
// [ 0 -1 0 1]
@@ -183,7 +190,7 @@ namespace FarseerPhysics.Dynamics.Joints
_angularMass = 1.0f / _angularMass;
}
if (Settings.EnableWarmstarting)
if (data.step.warmStarting)
{
// Scale impulses to support a variable time step.
_linearImpulse *= data.step.dtRatio;
@@ -191,9 +198,9 @@ namespace FarseerPhysics.Dynamics.Joints
Vector2 P = new Vector2(_linearImpulse.X, _linearImpulse.Y);
vA -= mA * P;
wA -= iA * (MathUtils.Cross(_rA, P) + _angularImpulse);
wA -= iA * (MathUtils.Cross(ref _rA, ref P) + _angularImpulse);
vB += mB * P;
wB += iB * (MathUtils.Cross(_rB, P) + _angularImpulse);
wB += iB * (MathUtils.Cross(ref _rB, ref P) + _angularImpulse);
}
else
{
@@ -235,9 +242,9 @@ namespace FarseerPhysics.Dynamics.Joints
// Solve linear friction
{
Vector2 Cdot = vB + MathUtils.Cross(wB, _rB) - vA - MathUtils.Cross(wA, _rA);
Vector2 Cdot = vB + MathUtils.Cross(wB, ref _rB) - vA - MathUtils.Cross(wA, ref _rA);
Vector2 impulse = -MathUtils.Mul(ref _linearMass, Cdot);
Vector2 impulse = -MathUtils.Mul(ref _linearMass, ref Cdot);
Vector2 oldImpulse = _linearImpulse;
_linearImpulse += impulse;
@@ -252,10 +259,10 @@ namespace FarseerPhysics.Dynamics.Joints
impulse = _linearImpulse - oldImpulse;
vA -= mA * impulse;
wA -= iA * MathUtils.Cross(_rA, impulse);
wA -= iA * MathUtils.Cross(ref _rA, ref impulse);
vB += mB * impulse;
wB += iB * MathUtils.Cross(_rB, impulse);
wB += iB * MathUtils.Cross(ref _rB, ref impulse);
}
data.velocities[_indexA].v = vA;