GetWorldVector() public method

Get the world coordinates of a vector given the local coordinates.
public GetWorldVector ( System.Vector2 localVector ) : System.Vector2
localVector System.Vector2 A vector fixed in the body.
return System.Vector2
Ejemplo n.º 1
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        public float GetJointTranslation()
        {
            Body body        = this._body1;
            Body body2       = this._body2;
            Vec2 worldPoint  = body.GetWorldPoint(this._localAnchor1);
            Vec2 worldPoint2 = body2.GetWorldPoint(this._localAnchor2);
            Vec2 a           = worldPoint2 - worldPoint;
            Vec2 worldVector = body.GetWorldVector(this._localXAxis1);

            return(Vec2.Dot(a, worldVector));
        }
Ejemplo n.º 2
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        /// <summary>
        /// Get the current joint translation, usually in meters.
        /// </summary>
        public float GetJointTranslation()
        {
            Body b1 = _body1;
            Body b2 = _body2;

            Vector2 p1   = b1.GetWorldPoint(_localAnchor1);
            Vector2 p2   = b2.GetWorldPoint(_localAnchor2);
            Vector2 d    = p2 - p1;
            Vector2 axis = b1.GetWorldVector(_localXAxis1);

            float translation = Vector2.Dot(d, axis);

            return(translation);
        }
Ejemplo n.º 3
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        public float GetJointSpeed()
        {
            Body  body             = this._body1;
            Body  body2            = this._body2;
            Vec2  vec              = Box2DX.Common.Math.Mul(body.GetXForm().R, this._localAnchor1 - body.GetLocalCenter());
            Vec2  vec2             = Box2DX.Common.Math.Mul(body2.GetXForm().R, this._localAnchor2 - body2.GetLocalCenter());
            Vec2  v                = body._sweep.C + vec;
            Vec2  v2               = body2._sweep.C + vec2;
            Vec2  a                = v2 - v;
            Vec2  worldVector      = body.GetWorldVector(this._localXAxis1);
            Vec2  linearVelocity   = body._linearVelocity;
            Vec2  linearVelocity2  = body2._linearVelocity;
            float angularVelocity  = body._angularVelocity;
            float angularVelocity2 = body2._angularVelocity;

            return(Vec2.Dot(a, Vec2.Cross(angularVelocity, worldVector)) + Vec2.Dot(worldVector, linearVelocity2 + Vec2.Cross(angularVelocity2, vec2) - linearVelocity - Vec2.Cross(angularVelocity, vec)));
        }
Ejemplo n.º 4
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        /// <summary>
        /// Get the current joint translation speed, usually in meters per second.
        /// </summary>
        public float GetJointSpeed()
        {
            Body b1 = _body1;
            Body b2 = _body2;

            Vector2 r1   = b1.GetTransform().TransformDirection(_localAnchor1 - b1.GetLocalCenter());
            Vector2 r2   = b2.GetTransform().TransformDirection(_localAnchor2 - b2.GetLocalCenter());
            Vector2 p1   = b1._sweep.C + r1;
            Vector2 p2   = b2._sweep.C + r2;
            Vector2 d    = p2 - p1;
            Vector2 axis = b1.GetWorldVector(_localXAxis1);

            Vector2 v1 = b1._linearVelocity;
            Vector2 v2 = b2._linearVelocity;
            float   w1 = b1._angularVelocity;
            float   w2 = b2._angularVelocity;

            float speed = Vector2.Dot(d, axis.CrossScalarPreMultiply(w1)) + Vector2.Dot(axis, v2 + r2.CrossScalarPreMultiply(w2) - v1 - r1.CrossScalarPreMultiply(w1));

            return(speed);
        }
Ejemplo n.º 5
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        /// <summary>
        /// Get the current joint translation speed, usually in meters per second.
        /// </summary>
        public float GetJointSpeed()
        {
            Body b1 = _bodyA;
            Body b2 = _bodyB;

            Vec2 r1   = Box2DX.Common.Math.Mul(b1.GetTransform().R, _localAnchor1 - b1.GetLocalCenter());
            Vec2 r2   = Box2DX.Common.Math.Mul(b2.GetTransform().R, _localAnchor2 - b2.GetLocalCenter());
            Vec2 p1   = b1._sweep.C + r1;
            Vec2 p2   = b2._sweep.C + r2;
            Vec2 d    = p2 - p1;
            Vec2 axis = b1.GetWorldVector(_localXAxis1);

            Vec2  v1 = b1._linearVelocity;
            Vec2  v2 = b2._linearVelocity;
            float w1 = b1._angularVelocity;
            float w2 = b2._angularVelocity;

            float speed = Vec2.Dot(d, Vec2.Cross(w1, axis)) + Vec2.Dot(axis, v2 + Vec2.Cross(w2, r2) - v1 - Vec2.Cross(w1, r1));

            return(speed);
        }
Ejemplo n.º 6
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		/// <summary>
		/// Add a spring force
		/// </summary>
		void AddSpringForce(Body bA, Vec2 localA, Body bB, Vec2 localB, float k, float friction, float desiredDist)
		{
			Vec2 pA = bA.GetWorldPoint(localA);
			Vec2 pB = bB.GetWorldPoint(localB);
			Vec2 diff = pB - pA;
			//Find velocities of attach points
			Vec2 vA = bA.GetLinearVelocity() - Vec2.Cross(bA.GetWorldVector(localA), bA.GetAngularVelocity());
			Vec2 vB = bB.GetLinearVelocity() - Vec2.Cross(bB.GetWorldVector(localB), bB.GetAngularVelocity());
			Vec2 vdiff = vB - vA;
			float dx = diff.Normalize(); //normalizes diff and puts length into dx
			float vrel = vdiff.X * diff.X + vdiff.Y * diff.Y;
			float forceMag = -k * (dx - desiredDist) - friction * vrel;
			diff *= forceMag; // diff *= forceMag
			bB.ApplyForce(diff, bA.GetWorldPoint(localA));
			diff *= -1.0f;
			bA.ApplyForce(diff, bB.GetWorldPoint(localB));
		}