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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/MotorJoint.cs
+17 -11
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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
@@ -193,12 +199,12 @@ namespace FarseerPhysics.Dynamics.Joints
Vector2 vB = data.velocities[_indexB].v;
float wB = data.velocities[_indexB].w;
Rot qA = new Rot(aA);
Rot qB = new Rot(aB);
Complex qA = Complex.FromAngle(aA);
Complex qB = Complex.FromAngle(aB);
// Compute the effective mass matrix.
_rA = MathUtils.Mul(qA, -_localCenterA);
_rB = MathUtils.Mul(qB, -_localCenterB);
_rA = -Complex.Multiply(ref _localCenterA, ref qA);
_rB = -Complex.Multiply(ref _localCenterB, ref qB);
// J = [-I -r1_skew I r2_skew]
// [ 0 -1 0 1]
@@ -226,10 +232,10 @@ namespace FarseerPhysics.Dynamics.Joints
_angularMass = 1.0f / _angularMass;
}
_linearError = cB + _rB - cA - _rA - MathUtils.Mul(qA, _linearOffset);
_linearError = cB + _rB - cA - _rA - Complex.Multiply(ref _linearOffset, ref qA);
_angularError = aB - aA - _angularOffset;
if (Settings.EnableWarmstarting)
if (data.step.warmStarting)
{
// Scale impulses to support a variable time step.
_linearImpulse *= data.step.dtRatio;
@@ -238,9 +244,9 @@ 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
{
@@ -283,7 +289,7 @@ namespace FarseerPhysics.Dynamics.Joints
// Solve linear friction
{
Vector2 Cdot = vB + MathUtils.Cross(wB, _rB) - vA - MathUtils.Cross(wA, _rA) + inv_h * CorrectionFactor * _linearError;
Vector2 Cdot = vB + MathUtils.Cross(wB, ref _rB) - vA - MathUtils.Cross(wA, ref _rA) + inv_h * CorrectionFactor * _linearError;
Vector2 impulse = -MathUtils.Mul(ref _linearMass, ref Cdot);
Vector2 oldImpulse = _linearImpulse;
@@ -300,10 +306,10 @@ 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;