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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/GearJoint.cs
+39 -27
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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
@@ -148,7 +154,7 @@ namespace FarseerPhysics.Dynamics.Joints
_localAxisC = prismatic.LocalXAxis;
Vector2 pC = _localAnchorC;
Vector2 pA = MathUtils.MulT(xfC.q, MathUtils.Mul(xfA.q, _localAnchorA) + (xfA.p - xfC.p));
Vector2 pA = Complex.Divide(Complex.Multiply(ref _localAnchorA, ref xfA.q) + (xfA.p - xfC.p), ref xfC.q);
coordinateA = Vector2.Dot(pA - pC, _localAxisC);
}
@@ -180,7 +186,7 @@ namespace FarseerPhysics.Dynamics.Joints
_localAxisD = prismatic.LocalXAxis;
Vector2 pD = _localAnchorD;
Vector2 pB = MathUtils.MulT(xfD.q, MathUtils.Mul(xfB.q, _localAnchorB) + (xfB.p - xfD.p));
Vector2 pB = Complex.Divide(Complex.Multiply(ref _localAnchorB, ref xfB.q) + (xfB.p - xfD.p), ref xfD.q);
coordinateB = Vector2.Dot(pB - pD, _localAxisD);
}
@@ -271,7 +277,10 @@ namespace FarseerPhysics.Dynamics.Joints
Vector2 vD = data.velocities[_indexD].v;
float wD = data.velocities[_indexD].w;
Rot qA = new Rot(aA), qB = new Rot(aB), qC = new Rot(aC), qD = new Rot(aD);
Complex qA = Complex.FromAngle(aA);
Complex qB = Complex.FromAngle(aB);
Complex qC = Complex.FromAngle(aC);
Complex qD = Complex.FromAngle(aD);
_mass = 0.0f;
@@ -284,12 +293,12 @@ namespace FarseerPhysics.Dynamics.Joints
}
else
{
Vector2 u = MathUtils.Mul(qC, _localAxisC);
Vector2 rC = MathUtils.Mul(qC, _localAnchorC - _lcC);
Vector2 rA = MathUtils.Mul(qA, _localAnchorA - _lcA);
Vector2 u = Complex.Multiply(ref _localAxisC, ref qC);
Vector2 rC = Complex.Multiply(_localAnchorC - _lcC, ref qC);
Vector2 rA = Complex.Multiply(_localAnchorA - _lcA, ref qA);
_JvAC = u;
_JwC = MathUtils.Cross(rC, u);
_JwA = MathUtils.Cross(rA, u);
_JwC = MathUtils.Cross(ref rC, ref u);
_JwA = MathUtils.Cross(ref rA, ref u);
_mass += _mC + _mA + _iC * _JwC * _JwC + _iA * _JwA * _JwA;
}
@@ -302,19 +311,19 @@ namespace FarseerPhysics.Dynamics.Joints
}
else
{
Vector2 u = MathUtils.Mul(qD, _localAxisD);
Vector2 rD = MathUtils.Mul(qD, _localAnchorD - _lcD);
Vector2 rB = MathUtils.Mul(qB, _localAnchorB - _lcB);
Vector2 u = Complex.Multiply(ref _localAxisD, ref qD);
Vector2 rD = Complex.Multiply(_localAnchorD - _lcD, ref qD);
Vector2 rB = Complex.Multiply(_localAnchorB - _lcB, ref qB);
_JvBD = _ratio * u;
_JwD = _ratio * MathUtils.Cross(rD, u);
_JwB = _ratio * MathUtils.Cross(rB, u);
_JwD = _ratio * MathUtils.Cross(ref rD, ref u);
_JwB = _ratio * MathUtils.Cross(ref rB, ref u);
_mass += _ratio * _ratio * (_mD + _mB) + _iD * _JwD * _JwD + _iB * _JwB * _JwB;
}
// Compute effective mass.
_mass = _mass > 0.0f ? 1.0f / _mass : 0.0f;
if (Settings.EnableWarmstarting)
if (data.step.warmStarting)
{
vA += (_mA * _impulse) * _JvAC;
wA += _iA * _impulse * _JwA;
@@ -387,7 +396,10 @@ namespace FarseerPhysics.Dynamics.Joints
Vector2 cD = data.positions[_indexD].c;
float aD = data.positions[_indexD].a;
Rot qA = new Rot(aA), qB = new Rot(aB), qC = new Rot(aC), qD = new Rot(aD);
Complex qA = Complex.FromAngle(aA);
Complex qB = Complex.FromAngle(aB);
Complex qC = Complex.FromAngle(aC);
Complex qD = Complex.FromAngle(aD);
const float linearError = 0.0f;
@@ -408,16 +420,16 @@ namespace FarseerPhysics.Dynamics.Joints
}
else
{
Vector2 u = MathUtils.Mul(qC, _localAxisC);
Vector2 rC = MathUtils.Mul(qC, _localAnchorC - _lcC);
Vector2 rA = MathUtils.Mul(qA, _localAnchorA - _lcA);
Vector2 u = Complex.Multiply(ref _localAxisC, ref qC);
Vector2 rC = Complex.Multiply(_localAnchorC - _lcC, ref qC);
Vector2 rA = Complex.Multiply(_localAnchorA - _lcA, ref qA);
JvAC = u;
JwC = MathUtils.Cross(rC, u);
JwA = MathUtils.Cross(rA, u);
JwC = MathUtils.Cross(ref rC, ref u);
JwA = MathUtils.Cross(ref rA, ref u);
mass += _mC + _mA + _iC * JwC * JwC + _iA * JwA * JwA;
Vector2 pC = _localAnchorC - _lcC;
Vector2 pA = MathUtils.MulT(qC, rA + (cA - cC));
Vector2 pA = Complex.Divide(rA + (cA - cC), ref qC);
coordinateA = Vector2.Dot(pA - pC, _localAxisC);
}
@@ -432,16 +444,16 @@ namespace FarseerPhysics.Dynamics.Joints
}
else
{
Vector2 u = MathUtils.Mul(qD, _localAxisD);
Vector2 rD = MathUtils.Mul(qD, _localAnchorD - _lcD);
Vector2 rB = MathUtils.Mul(qB, _localAnchorB - _lcB);
Vector2 u = Complex.Multiply(ref _localAxisD, ref qD);
Vector2 rD = Complex.Multiply(_localAnchorD - _lcD, ref qD);
Vector2 rB = Complex.Multiply(_localAnchorB - _lcB, ref qB);
JvBD = _ratio * u;
JwD = _ratio * MathUtils.Cross(rD, u);
JwB = _ratio * MathUtils.Cross(rB, u);
JwD = _ratio * MathUtils.Cross(ref rD, ref u);
JwB = _ratio * MathUtils.Cross(ref rB, ref u);
mass += _ratio * _ratio * (_mD + _mB) + _iD * JwD * JwD + _iB * JwB * JwB;
Vector2 pD = _localAnchorD - _lcD;
Vector2 pB = MathUtils.MulT(qD, rB + (cB - cD));
Vector2 pB = Complex.Divide(rB + (cB - cD), ref qD);
coordinateB = Vector2.Dot(pB - pD, _localAxisD);
}