/*
* Copyright (c) 2006-2007 Erin Catto http:
*
* This software is provided 'as-is', without any express or implied
* warranty. In no event will the authors be held liable for any damages
* arising from the use of this software.
* Permission is granted to anyone to use this software for any purpose,
* including commercial applications, and to alter it and redistribute it
* freely, subject to the following restrictions:
* 1. The origin of this software must not be misrepresented; you must not
* claim that you wrote the original software. If you use this software
* in a product, an acknowledgment in the product documentation would be
* appreciated but is not required.
* 2. Altered source versions must be plainly marked, and must not be
* misrepresented the original software.
* 3. This notice may not be removed or altered from any source distribution.
*/
/**
* @class b2PulleyJoint
* @constructor
*/
var b2PulleyJoint = function (def) {
// The constructor for b2Joint
// initialize instance variables for references
this.m_node1 = new b2JointNode();
this.m_node2 = new b2JointNode();
//
this.m_type = def.type;
this.m_prev = null;
this.m_next = null;
this.m_body1 = def.body1;
this.m_body2 = def.body2;
this.m_collideConnected = def.collideConnected;
this.m_islandFlag = false;
this.m_userData = def.userData;
//
// initialize instance variables for references
this.m_groundAnchor1 = new b2Vec2();
this.m_groundAnchor2 = new b2Vec2();
this.m_localAnchor1 = new b2Vec2();
this.m_localAnchor2 = new b2Vec2();
this.m_u1 = new b2Vec2();
this.m_u2 = new b2Vec2();
//
// parent
//super(def);
var tMat;
var tX;
var tY;
this.m_ground = this.m_body1.m_world.m_groundBody;
//this.m_groundAnchor1 = def.groundPoint1 - this.m_ground.m_position;
this.m_groundAnchor1.x = def.groundPoint1.x - this.m_ground.m_position.x;
this.m_groundAnchor1.y = def.groundPoint1.y - this.m_ground.m_position.y;
//this.m_groundAnchor2 = def.groundPoint2 - this.m_ground.m_position;
this.m_groundAnchor2.x = def.groundPoint2.x - this.m_ground.m_position.x;
this.m_groundAnchor2.y = def.groundPoint2.y - this.m_ground.m_position.y;
//this.m_localAnchor1 = b2MulT(this.m_body1.m_R, def.anchorPoint1 - this.m_body1.m_position);
tMat = this.m_body1.m_R;
tX = def.anchorPoint1.x - this.m_body1.m_position.x;
tY = def.anchorPoint1.y - this.m_body1.m_position.y;
this.m_localAnchor1.x = tX*tMat.col1.x + tY*tMat.col1.y;
this.m_localAnchor1.y = tX*tMat.col2.x + tY*tMat.col2.y;
//this.m_localAnchor2 = b2MulT(this.m_body2.m_R, def.anchorPoint2 - this.m_body2.m_position);
tMat = this.m_body2.m_R;
tX = def.anchorPoint2.x - this.m_body2.m_position.x;
tY = def.anchorPoint2.y - this.m_body2.m_position.y;
this.m_localAnchor2.x = tX*tMat.col1.x + tY*tMat.col1.y;
this.m_localAnchor2.y = tX*tMat.col2.x + tY*tMat.col2.y;
this.m_ratio = def.ratio;
//var d1 = def.groundPoint1 - def.anchorPoint1;
tX = def.groundPoint1.x - def.anchorPoint1.x;
tY = def.groundPoint1.y - def.anchorPoint1.y;
var d1Len = Math.sqrt(tX*tX + tY*tY);
//var d2 = def.groundPoint2 - def.anchorPoint2;
tX = def.groundPoint2.x - def.anchorPoint2.x;
tY = def.groundPoint2.y - def.anchorPoint2.y;
var d2Len = Math.sqrt(tX*tX + tY*tY);
var length1 = b2Math.b2Max(0.5 * b2PulleyJoint.b2_minPulleyLength, d1Len);
var length2 = b2Math.b2Max(0.5 * b2PulleyJoint.b2_minPulleyLength, d2Len);
this.m_constant = length1 + this.m_ratio * length2;
this.m_maxLength1 = b2Math.b2Clamp(def.maxLength1, length1, this.m_constant - this.m_ratio * b2PulleyJoint.b2_minPulleyLength);
this.m_maxLength2 = b2Math.b2Clamp(def.maxLength2, length2, (this.m_constant - b2PulleyJoint.b2_minPulleyLength) / this.m_ratio);
this.m_pulleyImpulse = 0.0;
this.m_limitImpulse1 = 0.0;
this.m_limitImpulse2 = 0.0;
};
Object.extend(b2PulleyJoint.prototype, b2Joint.prototype);
Object.extend(b2PulleyJoint.prototype,
{
GetAnchor1: function(){
//return this.m_body1->m_position + b2Mul(this.m_body1->m_R, this.m_localAnchor1);
var tMat = this.m_body1.m_R;
return new b2Vec2( this.m_body1.m_position.x + (tMat.col1.x * this.m_localAnchor1.x + tMat.col2.x * this.m_localAnchor1.y),
this.m_body1.m_position.y + (tMat.col1.y * this.m_localAnchor1.x + tMat.col2.y * this.m_localAnchor1.y));
},
GetAnchor2: function(){
//return this.m_body2->m_position + b2Mul(this.m_body2->m_R, this.m_localAnchor2);
var tMat = this.m_body2.m_R;
return new b2Vec2( this.m_body2.m_position.x + (tMat.col1.x * this.m_localAnchor2.x + tMat.col2.x * this.m_localAnchor2.y),
this.m_body2.m_position.y + (tMat.col1.y * this.m_localAnchor2.x + tMat.col2.y * this.m_localAnchor2.y));
},
GetGroundPoint1: function(){
//return this.m_ground->m_position + this.m_groundAnchor1;
return new b2Vec2(this.m_ground.m_position.x + this.m_groundAnchor1.x, this.m_ground.m_position.y + this.m_groundAnchor1.y);
},
GetGroundPoint2: function(){
return new b2Vec2(this.m_ground.m_position.x + this.m_groundAnchor2.x, this.m_ground.m_position.y + this.m_groundAnchor2.y);
},
GetReactionForce: function(invTimeStep){
//b2Vec2 F(0.0f, 0.0f);
return new b2Vec2();
},
GetReactionTorque: function(invTimeStep){
return 0.0;
},
GetLength1: function(){
var tMat;
//b2Vec2 p = this.m_body1->m_position + b2Mul(this.m_body1->m_R, this.m_localAnchor1);
tMat = this.m_body1.m_R;
var pX = this.m_body1.m_position.x + (tMat.col1.x * this.m_localAnchor1.x + tMat.col2.x * this.m_localAnchor1.y);
var pY = this.m_body1.m_position.y + (tMat.col1.y * this.m_localAnchor1.x + tMat.col2.y * this.m_localAnchor1.y);
//b2Vec2 s = this.m_ground->m_position + this.m_groundAnchor1;
//b2Vec2 d = p - s;
var dX = pX - (this.m_ground.m_position.x + this.m_groundAnchor1.x);
var dY = pY - (this.m_ground.m_position.y + this.m_groundAnchor1.y);
return Math.sqrt(dX*dX + dY*dY);
},
GetLength2: function(){
var tMat;
//b2Vec2 p = this.m_body2->m_position + b2Mul(this.m_body2->m_R, this.m_localAnchor2);
tMat = this.m_body2.m_R;
var pX = this.m_body2.m_position.x + (tMat.col1.x * this.m_localAnchor2.x + tMat.col2.x * this.m_localAnchor2.y);
var pY = this.m_body2.m_position.y + (tMat.col1.y * this.m_localAnchor2.x + tMat.col2.y * this.m_localAnchor2.y);
//b2Vec2 s = this.m_ground->m_position + this.m_groundAnchor2;
//b2Vec2 d = p - s;
var dX = pX - (this.m_ground.m_position.x + this.m_groundAnchor2.x);
var dY = pY - (this.m_ground.m_position.y + this.m_groundAnchor2.y);
return Math.sqrt(dX*dX + dY*dY);
},
GetRatio: function(){
return this.m_ratio;
},
//--------------- Internals Below -------------------
PrepareVelocitySolver: function(){
var b1 = this.m_body1;
var b2 = this.m_body2;
var tMat;
//b2Vec2 r1 = b2Mul(b1->m_R, this.m_localAnchor1);
tMat = b1.m_R;
var r1X = tMat.col1.x * this.m_localAnchor1.x + tMat.col2.x * this.m_localAnchor1.y;
var r1Y = tMat.col1.y * this.m_localAnchor1.x + tMat.col2.y * this.m_localAnchor1.y;
//b2Vec2 r2 = b2Mul(b2->m_R, this.m_localAnchor2);
tMat = b2.m_R;
var r2X = tMat.col1.x * this.m_localAnchor2.x + tMat.col2.x * this.m_localAnchor2.y;
var r2Y = tMat.col1.y * this.m_localAnchor2.x + tMat.col2.y * this.m_localAnchor2.y;
//b2Vec2 p1 = b1->m_position + r1;
var p1X = b1.m_position.x + r1X;
var p1Y = b1.m_position.y + r1Y;
//b2Vec2 p2 = b2->m_position + r2;
var p2X = b2.m_position.x + r2X;
var p2Y = b2.m_position.y + r2Y;
//b2Vec2 s1 = this.m_ground->m_position + this.m_groundAnchor1;
var s1X = this.m_ground.m_position.x + this.m_groundAnchor1.x;
var s1Y = this.m_ground.m_position.y + this.m_groundAnchor1.y;
//b2Vec2 s2 = this.m_ground->m_position + this.m_groundAnchor2;
var s2X = this.m_ground.m_position.x + this.m_groundAnchor2.x;
var s2Y = this.m_ground.m_position.y + this.m_groundAnchor2.y;
// Get the pulley axes.
//this.m_u1 = p1 - s1;
this.m_u1.Set(p1X - s1X, p1Y - s1Y);
//this.m_u2 = p2 - s2;
this.m_u2.Set(p2X - s2X, p2Y - s2Y);
var length1 = this.m_u1.Length();
var length2 = this.m_u2.Length();
if (length1 > b2Settings.b2_linearSlop)
{
//this.m_u1 *= 1.0f / length1;
this.m_u1.Multiply(1.0 / length1);
}
else
{
this.m_u1.SetZero();
}
if (length2 > b2Settings.b2_linearSlop)
{
//this.m_u2 *= 1.0f / length2;
this.m_u2.Multiply(1.0 / length2);
}
else
{
this.m_u2.SetZero();
}
if (length1 < this.m_maxLength1)
{
this.m_limitState1 = b2Joint.e_inactiveLimit;
this.m_limitImpulse1 = 0.0;
}
else
{
this.m_limitState1 = b2Joint.e_atUpperLimit;
this.m_limitPositionImpulse1 = 0.0;
}
if (length2 < this.m_maxLength2)
{
this.m_limitState2 = b2Joint.e_inactiveLimit;
this.m_limitImpulse2 = 0.0;
}
else
{
this.m_limitState2 = b2Joint.e_atUpperLimit;
this.m_limitPositionImpulse2 = 0.0;
}
// Compute effective mass.
//var cr1u1 = b2Cross(r1, this.m_u1);
var cr1u1 = r1X * this.m_u1.y - r1Y * this.m_u1.x;
//var cr2u2 = b2Cross(r2, this.m_u2);
var cr2u2 = r2X * this.m_u2.y - r2Y * this.m_u2.x;
this.m_limitMass1 = b1.m_invMass + b1.m_invI * cr1u1 * cr1u1;
this.m_limitMass2 = b2.m_invMass + b2.m_invI * cr2u2 * cr2u2;
this.m_pulleyMass = this.m_limitMass1 + this.m_ratio * this.m_ratio * this.m_limitMass2;
//b2Settings.b2Assert(this.m_limitMass1 > Number.MIN_VALUE);
//b2Settings.b2Assert(this.m_limitMass2 > Number.MIN_VALUE);
//b2Settings.b2Assert(this.m_pulleyMass > Number.MIN_VALUE);
this.m_limitMass1 = 1.0 / this.m_limitMass1;
this.m_limitMass2 = 1.0 / this.m_limitMass2;
this.m_pulleyMass = 1.0 / this.m_pulleyMass;
// Warm starting.
//b2Vec2 P1 = (-this.m_pulleyImpulse - this.m_limitImpulse1) * this.m_u1;
var P1X = (-this.m_pulleyImpulse - this.m_limitImpulse1) * this.m_u1.x;
var P1Y = (-this.m_pulleyImpulse - this.m_limitImpulse1) * this.m_u1.y;
//b2Vec2 P2 = (-this.m_ratio * this.m_pulleyImpulse - this.m_limitImpulse2) * this.m_u2;
var P2X = (-this.m_ratio * this.m_pulleyImpulse - this.m_limitImpulse2) * this.m_u2.x;
var P2Y = (-this.m_ratio * this.m_pulleyImpulse - this.m_limitImpulse2) * this.m_u2.y;
//b1.m_linearVelocity += b1.m_invMass * P1;
b1.m_linearVelocity.x += b1.m_invMass * P1X;
b1.m_linearVelocity.y += b1.m_invMass * P1Y;
//b1.m_angularVelocity += b1.m_invI * b2Cross(r1, P1);
b1.m_angularVelocity += b1.m_invI * (r1X * P1Y - r1Y * P1X);
//b2.m_linearVelocity += b2.m_invMass * P2;
b2.m_linearVelocity.x += b2.m_invMass * P2X;
b2.m_linearVelocity.y += b2.m_invMass * P2Y;
//b2.m_angularVelocity += b2.m_invI * b2Cross(r2, P2);
b2.m_angularVelocity += b2.m_invI * (r2X * P2Y - r2Y * P2X);
},
SolveVelocityConstraints: function(step){
var b1 = this.m_body1;
var b2 = this.m_body2;
var tMat;
//var r1 = b2Mul(b1.m_R, this.m_localAnchor1);
tMat = b1.m_R;
var r1X = tMat.col1.x * this.m_localAnchor1.x + tMat.col2.x * this.m_localAnchor1.y;
var r1Y = tMat.col1.y * this.m_localAnchor1.x + tMat.col2.y * this.m_localAnchor1.y;
//var r2 = b2Mul(b2.m_R, this.m_localAnchor2);
tMat = b2.m_R;
var r2X = tMat.col1.x * this.m_localAnchor2.x + tMat.col2.x * this.m_localAnchor2.y;
var r2Y = tMat.col1.y * this.m_localAnchor2.x + tMat.col2.y * this.m_localAnchor2.y;
// temp vars
var v1X;
var v1Y;
var v2X;
var v2Y;
var P1X;
var P1Y;
var P2X;
var P2Y;
var Cdot;
var impulse;
var oldLimitImpulse;
//{
//b2Vec2 v1 = b1->m_linearVelocity + b2Cross(b1->m_angularVelocity, r1);
v1X = b1.m_linearVelocity.x + (-b1.m_angularVelocity * r1Y);
v1Y = b1.m_linearVelocity.y + (b1.m_angularVelocity * r1X);
//b2Vec2 v2 = b2->m_linearVelocity + b2Cross(b2->m_angularVelocity, r2);
v2X = b2.m_linearVelocity.x + (-b2.m_angularVelocity * r2Y);
v2Y = b2.m_linearVelocity.y + (b2.m_angularVelocity * r2X);
//Cdot = -b2Dot(this.m_u1, v1) - this.m_ratio * b2Dot(this.m_u2, v2);
Cdot = -(this.m_u1.x * v1X + this.m_u1.y * v1Y) - this.m_ratio * (this.m_u2.x * v2X + this.m_u2.y * v2Y);
impulse = -this.m_pulleyMass * Cdot;
this.m_pulleyImpulse += impulse;
//b2Vec2 P1 = -impulse * this.m_u1;
P1X = -impulse * this.m_u1.x;
P1Y = -impulse * this.m_u1.y;
//b2Vec2 P2 = -this.m_ratio * impulse * this.m_u2;
P2X = -this.m_ratio * impulse * this.m_u2.x;
P2Y = -this.m_ratio * impulse * this.m_u2.y;
//b1.m_linearVelocity += b1.m_invMass * P1;
b1.m_linearVelocity.x += b1.m_invMass * P1X;
b1.m_linearVelocity.y += b1.m_invMass * P1Y;
//b1.m_angularVelocity += b1.m_invI * b2Cross(r1, P1);
b1.m_angularVelocity += b1.m_invI * (r1X * P1Y - r1Y * P1X);
//b2.m_linearVelocity += b2.m_invMass * P2;
b2.m_linearVelocity.x += b2.m_invMass * P2X;
b2.m_linearVelocity.y += b2.m_invMass * P2Y;
//b2.m_angularVelocity += b2.m_invI * b2Cross(r2, P2);
b2.m_angularVelocity += b2.m_invI * (r2X * P2Y - r2Y * P2X);
//}
if (this.m_limitState1 == b2Joint.e_atUpperLimit)
{
//b2Vec2 v1 = b1->m_linearVelocity + b2Cross(b1->m_angularVelocity, r1);
v1X = b1.m_linearVelocity.x + (-b1.m_angularVelocity * r1Y);
v1Y = b1.m_linearVelocity.y + (b1.m_angularVelocity * r1X);
//float32 Cdot = -b2Dot(this.m_u1, v1);
Cdot = -(this.m_u1.x * v1X + this.m_u1.y * v1Y);
impulse = -this.m_limitMass1 * Cdot;
oldLimitImpulse = this.m_limitImpulse1;
this.m_limitImpulse1 = b2Math.b2Max(0.0, this.m_limitImpulse1 + impulse);
impulse = this.m_limitImpulse1 - oldLimitImpulse;
//b2Vec2 P1 = -impulse * this.m_u1;
P1X = -impulse * this.m_u1.x;
P1Y = -impulse * this.m_u1.y;
//b1.m_linearVelocity += b1->m_invMass * P1;
b1.m_linearVelocity.x += b1.m_invMass * P1X;
b1.m_linearVelocity.y += b1.m_invMass * P1Y;
//b1.m_angularVelocity += b1->m_invI * b2Cross(r1, P1);
b1.m_angularVelocity += b1.m_invI * (r1X * P1Y - r1Y * P1X);
}
if (this.m_limitState2 == b2Joint.e_atUpperLimit)
{
//b2Vec2 v2 = b2->m_linearVelocity + b2Cross(b2->m_angularVelocity, r2);
v2X = b2.m_linearVelocity.x + (-b2.m_angularVelocity * r2Y);
v2Y = b2.m_linearVelocity.y + (b2.m_angularVelocity * r2X);
//float32 Cdot = -b2Dot(this.m_u2, v2);
Cdot = -(this.m_u2.x * v2X + this.m_u2.y * v2Y);
impulse = -this.m_limitMass2 * Cdot;
oldLimitImpulse = this.m_limitImpulse2;
this.m_limitImpulse2 = b2Math.b2Max(0.0, this.m_limitImpulse2 + impulse);
impulse = this.m_limitImpulse2 - oldLimitImpulse;
//b2Vec2 P2 = -impulse * this.m_u2;
P2X = -impulse * this.m_u2.x;
P2Y = -impulse * this.m_u2.y;
//b2->m_linearVelocity += b2->m_invMass * P2;
b2.m_linearVelocity.x += b2.m_invMass * P2X;
b2.m_linearVelocity.y += b2.m_invMass * P2Y;
//b2->m_angularVelocity += b2->m_invI * b2Cross(r2, P2);
b2.m_angularVelocity += b2.m_invI * (r2X * P2Y - r2Y * P2X);
}
},
SolvePositionConstraints: function(){
var b1 = this.m_body1;
var b2 = this.m_body2;
var tMat;
//b2Vec2 s1 = this.m_ground->m_position + this.m_groundAnchor1;
var s1X = this.m_ground.m_position.x + this.m_groundAnchor1.x;
var s1Y = this.m_ground.m_position.y + this.m_groundAnchor1.y;
//b2Vec2 s2 = this.m_ground->m_position + this.m_groundAnchor2;
var s2X = this.m_ground.m_position.x + this.m_groundAnchor2.x;
var s2Y = this.m_ground.m_position.y + this.m_groundAnchor2.y;
// temp vars
var r1X;
var r1Y;
var r2X;
var r2Y;
var p1X;
var p1Y;
var p2X;
var p2Y;
var length1;
var length2;
var C;
var impulse;
var oldLimitPositionImpulse;
var linearError = 0.0;
{
//var r1 = b2Mul(b1.m_R, this.m_localAnchor1);
tMat = b1.m_R;
r1X = tMat.col1.x * this.m_localAnchor1.x + tMat.col2.x * this.m_localAnchor1.y;
r1Y = tMat.col1.y * this.m_localAnchor1.x + tMat.col2.y * this.m_localAnchor1.y;
//var r2 = b2Mul(b2.m_R, this.m_localAnchor2);
tMat = b2.m_R;
r2X = tMat.col1.x * this.m_localAnchor2.x + tMat.col2.x * this.m_localAnchor2.y;
r2Y = tMat.col1.y * this.m_localAnchor2.x + tMat.col2.y * this.m_localAnchor2.y;
//b2Vec2 p1 = b1->m_position + r1;
p1X = b1.m_position.x + r1X;
p1Y = b1.m_position.y + r1Y;
//b2Vec2 p2 = b2->m_position + r2;
p2X = b2.m_position.x + r2X;
p2Y = b2.m_position.y + r2Y;
// Get the pulley axes.
//this.m_u1 = p1 - s1;
this.m_u1.Set(p1X - s1X, p1Y - s1Y);
//this.m_u2 = p2 - s2;
this.m_u2.Set(p2X - s2X, p2Y - s2Y);
length1 = this.m_u1.Length();
length2 = this.m_u2.Length();
if (length1 > b2Settings.b2_linearSlop)
{
//this.m_u1 *= 1.0f / length1;
this.m_u1.Multiply( 1.0 / length1 );
}
else
{
this.m_u1.SetZero();
}
if (length2 > b2Settings.b2_linearSlop)
{
//this.m_u2 *= 1.0f / length2;
this.m_u2.Multiply( 1.0 / length2 );
}
else
{
this.m_u2.SetZero();
}
C = this.m_constant - length1 - this.m_ratio * length2;
linearError = b2Math.b2Max(linearError, Math.abs(C));
C = b2Math.b2Clamp(C, -b2Settings.b2_maxLinearCorrection, b2Settings.b2_maxLinearCorrection);
impulse = -this.m_pulleyMass * C;
p1X = -impulse * this.m_u1.x;
p1Y = -impulse * this.m_u1.y;
p2X = -this.m_ratio * impulse * this.m_u2.x;
p2Y = -this.m_ratio * impulse * this.m_u2.y;
b1.m_position.x += b1.m_invMass * p1X;
b1.m_position.y += b1.m_invMass * p1Y;
b1.m_rotation += b1.m_invI * (r1X * p1Y - r1Y * p1X);
b2.m_position.x += b2.m_invMass * p2X;
b2.m_position.y += b2.m_invMass * p2Y;
b2.m_rotation += b2.m_invI * (r2X * p2Y - r2Y * p2X);
b1.m_R.Set(b1.m_rotation);
b2.m_R.Set(b2.m_rotation);
}
if (this.m_limitState1 == b2Joint.e_atUpperLimit)
{
//b2Vec2 r1 = b2Mul(b1->m_R, this.m_localAnchor1);
tMat = b1.m_R;
r1X = tMat.col1.x * this.m_localAnchor1.x + tMat.col2.x * this.m_localAnchor1.y;
r1Y = tMat.col1.y * this.m_localAnchor1.x + tMat.col2.y * this.m_localAnchor1.y;
//b2Vec2 p1 = b1->m_position + r1;
p1X = b1.m_position.x + r1X;
p1Y = b1.m_position.y + r1Y;
//this.m_u1 = p1 - s1;
this.m_u1.Set(p1X - s1X, p1Y - s1Y);
length1 = this.m_u1.Length();
if (length1 > b2Settings.b2_linearSlop)
{
//this.m_u1 *= 1.0 / length1;
this.m_u1.x *= 1.0 / length1;
this.m_u1.y *= 1.0 / length1;
}
else
{
this.m_u1.SetZero();
}
C = this.m_maxLength1 - length1;
linearError = b2Math.b2Max(linearError, -C);
C = b2Math.b2Clamp(C + b2Settings.b2_linearSlop, -b2Settings.b2_maxLinearCorrection, 0.0);
impulse = -this.m_limitMass1 * C;
oldLimitPositionImpulse = this.m_limitPositionImpulse1;
this.m_limitPositionImpulse1 = b2Math.b2Max(0.0, this.m_limitPositionImpulse1 + impulse);
impulse = this.m_limitPositionImpulse1 - oldLimitPositionImpulse;
//P1 = -impulse * this.m_u1;
p1X = -impulse * this.m_u1.x;
p1Y = -impulse * this.m_u1.y;
b1.m_position.x += b1.m_invMass * p1X;
b1.m_position.y += b1.m_invMass * p1Y;
//b1.m_rotation += b1.m_invI * b2Cross(r1, P1);
b1.m_rotation += b1.m_invI * (r1X * p1Y - r1Y * p1X);
b1.m_R.Set(b1.m_rotation);
}
if (this.m_limitState2 == b2Joint.e_atUpperLimit)
{
//b2Vec2 r2 = b2Mul(b2->m_R, this.m_localAnchor2);
tMat = b2.m_R;
r2X = tMat.col1.x * this.m_localAnchor2.x + tMat.col2.x * this.m_localAnchor2.y;
r2Y = tMat.col1.y * this.m_localAnchor2.x + tMat.col2.y * this.m_localAnchor2.y;
//b2Vec2 p2 = b2->m_position + r2;
p2X = b2.m_position.x + r2X;
p2Y = b2.m_position.y + r2Y;
//this.m_u2 = p2 - s2;
this.m_u2.Set(p2X - s2X, p2Y - s2Y);
length2 = this.m_u2.Length();
if (length2 > b2Settings.b2_linearSlop)
{
//this.m_u2 *= 1.0 / length2;
this.m_u2.x *= 1.0 / length2;
this.m_u2.y *= 1.0 / length2;
}
else
{
this.m_u2.SetZero();
}
C = this.m_maxLength2 - length2;
linearError = b2Math.b2Max(linearError, -C);
C = b2Math.b2Clamp(C + b2Settings.b2_linearSlop, -b2Settings.b2_maxLinearCorrection, 0.0);
impulse = -this.m_limitMass2 * C;
oldLimitPositionImpulse = this.m_limitPositionImpulse2;
this.m_limitPositionImpulse2 = b2Math.b2Max(0.0, this.m_limitPositionImpulse2 + impulse);
impulse = this.m_limitPositionImpulse2 - oldLimitPositionImpulse;
//P2 = -impulse * this.m_u2;
p2X = -impulse * this.m_u2.x;
p2Y = -impulse * this.m_u2.y;
//b2.m_position += b2.m_invMass * P2;
b2.m_position.x += b2.m_invMass * p2X;
b2.m_position.y += b2.m_invMass * p2Y;
//b2.m_rotation += b2.m_invI * b2Cross(r2, P2);
b2.m_rotation += b2.m_invI * (r2X * p2Y - r2Y * p2X);
b2.m_R.Set(b2.m_rotation);
}
return linearError < b2Settings.b2_linearSlop;
},
m_ground: null,
m_groundAnchor1: new b2Vec2(),
m_groundAnchor2: new b2Vec2(),
m_localAnchor1: new b2Vec2(),
m_localAnchor2: new b2Vec2(),
m_u1: new b2Vec2(),
m_u2: new b2Vec2(),
m_constant: null,
m_ratio: null,
m_maxLength1: null,
m_maxLength2: null,
// Effective masses
m_pulleyMass: null,
m_limitMass1: null,
m_limitMass2: null,
// Impulses for accumulation/warm starting.
m_pulleyImpulse: null,
m_limitImpulse1: null,
m_limitImpulse2: null,
// Position impulses for accumulation.
m_limitPositionImpulse1: null,
m_limitPositionImpulse2: null,
m_limitState1: 0,
m_limitState2: 0
// static
});
b2PulleyJoint.b2_minPulleyLength = b2Settings.b2_lengthUnitsPerMeter;
