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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/WheelJoint.cs
+27 -18
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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;
using FarseerPhysics.Common;
using FarseerPhysics.Common.Maths;
using Microsoft.Xna.Framework;
namespace FarseerPhysics.Dynamics.Joints
@@ -52,6 +58,7 @@ namespace FarseerPhysics.Dynamics.Joints
public class WheelJoint : Joint
{
// Solver shared
private Vector2 _localXAxis;
private Vector2 _localYAxis;
private float _impulse;
@@ -147,15 +154,15 @@ namespace FarseerPhysics.Dynamics.Joints
set
{
_axis = value;
LocalXAxis = BodyA.GetLocalVector(_axis);
_localYAxis = MathUtils.Cross(1.0f, LocalXAxis);
_localXAxis = BodyA.GetLocalVector(_axis);
_localYAxis = MathUtils.Rot90(ref _localXAxis);
}
}
/// <summary>
/// The axis in local coordinates relative to BodyA
/// </summary>
public Vector2 LocalXAxis { get; private set; }
public Vector2 LocalXAxis { get { return _localXAxis; } }
/// <summary>
/// The desired motor speed in radians per second.
@@ -206,7 +213,7 @@ namespace FarseerPhysics.Dynamics.Joints
Vector2 pA = bA.GetWorldPoint(LocalAnchorA);
Vector2 pB = bB.GetWorldPoint(LocalAnchorB);
Vector2 d = pB - pA;
Vector2 axis = bA.GetWorldVector(LocalXAxis);
Vector2 axis = bA.GetWorldVector(ref _localXAxis);
float translation = Vector2.Dot(d, axis);
return translation;
@@ -282,18 +289,19 @@ 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 masses.
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);
Vector2 d1 = cB + rB - cA - rA;
// Point to line constraint
{
_ay = MathUtils.Mul(qA, _localYAxis);
_ay = Complex.Multiply(ref _localYAxis, ref qA);
_sAy = MathUtils.Cross(d1 + rA, _ay);
_sBy = MathUtils.Cross(rB, _ay);
_sBy = MathUtils.Cross(ref rB, ref _ay);
_mass = mA + mB + iA * _sAy * _sAy + iB * _sBy * _sBy;
@@ -309,9 +317,9 @@ namespace FarseerPhysics.Dynamics.Joints
_gamma = 0.0f;
if (Frequency > 0.0f)
{
_ax = MathUtils.Mul(qA, LocalXAxis);
_ax = Complex.Multiply(ref _localXAxis, ref qA);
_sAx = MathUtils.Cross(d1 + rA, _ax);
_sBx = MathUtils.Cross(rB, _ax);
_sBx = MathUtils.Cross(ref rB, ref _ax);
float invMass = mA + mB + iA * _sAx * _sAx + iB * _sBx * _sBx;
@@ -322,7 +330,7 @@ namespace FarseerPhysics.Dynamics.Joints
float C = Vector2.Dot(d1, _ax);
// Frequency
float omega = 2.0f * Settings.Pi * Frequency;
float omega = 2.0f * MathHelper.Pi * Frequency;
// Damping coefficient
float d = 2.0f * _springMass * DampingRatio * omega;
@@ -367,7 +375,7 @@ namespace FarseerPhysics.Dynamics.Joints
_motorImpulse = 0.0f;
}
if (Settings.EnableWarmstarting)
if (data.step.warmStarting)
{
// Account for variable time step.
_impulse *= data.step.dtRatio;
@@ -468,16 +476,17 @@ 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);
Vector2 d = (cB - cA) + rB - rA;
Vector2 ay = MathUtils.Mul(qA, _localYAxis);
Vector2 ay = Complex.Multiply(ref _localYAxis, ref qA);
float sAy = MathUtils.Cross(d + rA, ay);
float sBy = MathUtils.Cross(rB, ay);
float sBy = MathUtils.Cross(ref rB, ref ay);
float C = Vector2.Dot(d, ay);