public void update(double dt)
{
sp = Math.Max(-maxTorque, Math.Min(maxTorque, sp + av));
double dx = -curr.y;
double dy = curr.x;
double len = Math.Sqrt(dx * dx + dy * dy);
dx = dx / len;
dy = dy / len;
curr.x = curr.x + sp * dx;
curr.y = curr.y + sp * dy;
double ox = prev.x;
double oy = prev.y;
prev.x = curr.x;
double px = prev.x;
//= curr.x
prev.y = curr.y;
double py = prev.y;
//= curr.y
curr.x = curr.x + APEngine.getDamping() * (px - ox);
curr.y = curr.y + APEngine.getDamping() * (py - oy);
double clen = Math.Sqrt(curr.x * curr.x + curr.y * curr.y);
double diff = (clen - wr) / clen;
curr.x = curr.x - curr.x * diff;
curr.y = curr.y - curr.y * diff;
}
public virtual void update(double dt2)
{
if (_fixed)
{
return;
return;
}
addForce(APEngine.force);
addMasslessForce(APEngine.masslessForce);
temp.copy(curr);
Vector nv = getVelocity().plus(forces.multEquals(dt2));
curr.plusEquals(nv.multEquals(APEngine.getDamping()));
prev.copy(temp);
forces.setTo(0, 0);
}
