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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/PulleyJoint.cs
+27 -19
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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
@@ -23,6 +28,7 @@
using System;
using System.Diagnostics;
using FarseerPhysics.Common;
using FarseerPhysics.Common.Maths;
using Microsoft.Xna.Framework;
namespace FarseerPhysics.Dynamics.Joints
@@ -225,10 +231,11 @@ 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);
_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);
// Get the pulley axes.
_uA = cA + _rA - WorldAnchorA;
@@ -256,8 +263,8 @@ namespace FarseerPhysics.Dynamics.Joints
}
// Compute effective mass.
float ruA = MathUtils.Cross(_rA, _uA);
float ruB = MathUtils.Cross(_rB, _uB);
float ruA = MathUtils.Cross(ref _rA, ref _uA);
float ruB = MathUtils.Cross(ref _rB, ref _uB);
float mA = _invMassA + _invIA * ruA * ruA;
float mB = _invMassB + _invIB * ruB * ruB;
@@ -269,7 +276,7 @@ namespace FarseerPhysics.Dynamics.Joints
_mass = 1.0f / _mass;
}
if (Settings.EnableWarmstarting)
if (data.step.warmStarting)
{
// Scale impulses to support variable time steps.
_impulse *= data.step.dtRatio;
@@ -279,9 +286,9 @@ namespace FarseerPhysics.Dynamics.Joints
Vector2 PB = (-Ratio * _impulse) * _uB;
vA += _invMassA * PA;
wA += _invIA * MathUtils.Cross(_rA, PA);
wA += _invIA * MathUtils.Cross(ref _rA, ref PA);
vB += _invMassB * PB;
wB += _invIB * MathUtils.Cross(_rB, PB);
wB += _invIB * MathUtils.Cross(ref _rB, ref PB);
}
else
{
@@ -301,8 +308,8 @@ namespace FarseerPhysics.Dynamics.Joints
Vector2 vB = data.velocities[_indexB].v;
float wB = data.velocities[_indexB].w;
Vector2 vpA = vA + MathUtils.Cross(wA, _rA);
Vector2 vpB = vB + MathUtils.Cross(wB, _rB);
Vector2 vpA = vA + MathUtils.Cross(wA, ref _rA);
Vector2 vpB = vB + MathUtils.Cross(wB, ref _rB);
float Cdot = -Vector2.Dot(_uA, vpA) - Ratio * Vector2.Dot(_uB, vpB);
float impulse = -_mass * Cdot;
@@ -311,9 +318,9 @@ namespace FarseerPhysics.Dynamics.Joints
Vector2 PA = -impulse * _uA;
Vector2 PB = -Ratio * impulse * _uB;
vA += _invMassA * PA;
wA += _invIA * MathUtils.Cross(_rA, PA);
wA += _invIA * MathUtils.Cross(ref _rA, ref PA);
vB += _invMassB * PB;
wB += _invIB * MathUtils.Cross(_rB, PB);
wB += _invIB * MathUtils.Cross(ref _rB, ref PB);
data.velocities[_indexA].v = vA;
data.velocities[_indexA].w = wA;
@@ -328,10 +335,11 @@ namespace FarseerPhysics.Dynamics.Joints
Vector2 cB = data.positions[_indexB].c;
float aB = data.positions[_indexB].a;
Rot qA = new Rot(aA), qB = new Rot(aB);
Complex qA = Complex.FromAngle(aA);
Complex qB = Complex.FromAngle(aB);
Vector2 rA = MathUtils.Mul(qA, LocalAnchorA - _localCenterA);
Vector2 rB = MathUtils.Mul(qB, LocalAnchorB - _localCenterB);
Vector2 rA = Complex.Multiply(LocalAnchorA - _localCenterA, ref qA);
Vector2 rB = Complex.Multiply(LocalAnchorB - _localCenterB, ref qB);
// Get the pulley axes.
Vector2 uA = cA + rA - WorldAnchorA;
@@ -359,8 +367,8 @@ namespace FarseerPhysics.Dynamics.Joints
}
// Compute effective mass.
float ruA = MathUtils.Cross(rA, uA);
float ruB = MathUtils.Cross(rB, uB);
float ruA = MathUtils.Cross(ref rA, ref uA);
float ruB = MathUtils.Cross(ref rB, ref uB);
float mA = _invMassA + _invIA * ruA * ruA;
float mB = _invMassB + _invIB * ruB * ruB;
@@ -381,9 +389,9 @@ namespace FarseerPhysics.Dynamics.Joints
Vector2 PB = -Ratio * impulse * uB;
cA += _invMassA * PA;
aA += _invIA * MathUtils.Cross(rA, PA);
aA += _invIA * MathUtils.Cross(ref rA, ref PA);
cB += _invMassB * PB;
aB += _invIB * MathUtils.Cross(rB, PB);
aB += _invIB * MathUtils.Cross(ref rB, ref PB);
data.positions[_indexA].c = cA;
data.positions[_indexA].a = aA;