TimeOfImpactSolverManifold class
class TimeOfImpactSolverManifold { final Vector2 normal; final Vector2 point; num separation; /** Pooling */ final Vector2 pointA; final Vector2 pointB; final Vector2 temp; final Vector2 planePoint; final Vector2 clipPoint; /** constructor that initiliazes everything. */ TimeOfImpactSolverManifold() : normal = new Vector2.zero(), point = new Vector2.zero(), separation = 0, pointA = new Vector2.zero(), pointB = new Vector2.zero(), temp = new Vector2.zero(), planePoint = new Vector2.zero(), clipPoint = new Vector2.zero(); void initialize(TimeOfImpactConstraint cc, int index) { assert(cc.pointCount > 0); switch (cc.type) { case ManifoldType.CIRCLES: pointA.setFrom(cc.bodyA.getWorldPoint(cc.localPoint)); pointB.setFrom(cc.bodyB.getWorldPoint(cc.localPoints[0])); if (MathBox.distanceSquared(pointA, pointB) > Settings.EPSILON * Settings.EPSILON) { normal.setFrom(pointB).sub(pointA); normal.normalize(); } else { normal.setValues(1.0, 0.0); } point.setFrom(pointA).add(pointB).scale(.5); temp.setFrom(pointB).sub(pointA); separation = temp.dot(normal) - cc.radius; break; case ManifoldType.FACE_A: normal.setFrom(cc.bodyA.getWorldVector2(cc.localNormal)); planePoint.setFrom(cc.bodyA.getWorldPoint(cc.localPoint)); clipPoint.setFrom(cc.bodyB.getWorldPoint(cc.localPoints[index])); temp.setFrom(clipPoint).sub(planePoint); separation = temp.dot(normal) - cc.radius; point.setFrom(clipPoint); break; case ManifoldType.FACE_B: normal.setFrom(cc.bodyB.getWorldVector2(cc.localNormal)); planePoint.setFrom(cc.bodyB.getWorldPoint(cc.localPoint)); clipPoint.setFrom(cc.bodyA.getWorldPoint(cc.localPoints[index])); temp.setFrom(clipPoint).sub(planePoint); separation = temp.dot(normal) - cc.radius; point.setFrom(clipPoint); // Ensure normal points from A to B normal.negate(); break; } } }
Constructors
new TimeOfImpactSolverManifold() #
constructor that initiliazes everything.
TimeOfImpactSolverManifold() : normal = new Vector2.zero(), point = new Vector2.zero(), separation = 0, pointA = new Vector2.zero(), pointB = new Vector2.zero(), temp = new Vector2.zero(), planePoint = new Vector2.zero(), clipPoint = new Vector2.zero();
Properties
Methods
void initialize(TimeOfImpactConstraint cc, int index) #
void initialize(TimeOfImpactConstraint cc, int index) { assert(cc.pointCount > 0); switch (cc.type) { case ManifoldType.CIRCLES: pointA.setFrom(cc.bodyA.getWorldPoint(cc.localPoint)); pointB.setFrom(cc.bodyB.getWorldPoint(cc.localPoints[0])); if (MathBox.distanceSquared(pointA, pointB) > Settings.EPSILON * Settings.EPSILON) { normal.setFrom(pointB).sub(pointA); normal.normalize(); } else { normal.setValues(1.0, 0.0); } point.setFrom(pointA).add(pointB).scale(.5); temp.setFrom(pointB).sub(pointA); separation = temp.dot(normal) - cc.radius; break; case ManifoldType.FACE_A: normal.setFrom(cc.bodyA.getWorldVector2(cc.localNormal)); planePoint.setFrom(cc.bodyA.getWorldPoint(cc.localPoint)); clipPoint.setFrom(cc.bodyB.getWorldPoint(cc.localPoints[index])); temp.setFrom(clipPoint).sub(planePoint); separation = temp.dot(normal) - cc.radius; point.setFrom(clipPoint); break; case ManifoldType.FACE_B: normal.setFrom(cc.bodyB.getWorldVector2(cc.localNormal)); planePoint.setFrom(cc.bodyB.getWorldPoint(cc.localPoint)); clipPoint.setFrom(cc.bodyA.getWorldPoint(cc.localPoints[index])); temp.setFrom(clipPoint).sub(planePoint); separation = temp.dot(normal) - cc.radius; point.setFrom(clipPoint); // Ensure normal points from A to B normal.negate(); break; } }