public static TSVector2 Lerp(TSVector2 value1, TSVector2 value2, FP amount) { amount = TSMath.Clamp(amount, 0, 1); return(new TSVector2( TSMath.Lerp(value1.x, value2.x, amount), TSMath.Lerp(value1.y, value2.y, amount))); }
public static TSQuaternion Slerp(TSQuaternion from, TSQuaternion to, FP t) { t = TSMath.Clamp(t, 0, 1); FP dot = Dot(from, to); if (dot < 0.0f) { to = Multiply(to, -1); dot = -dot; } FP halfTheta = FP.Acos(dot); return(Multiply(Multiply(from, FP.Sin((1 - t) * halfTheta)) + Multiply(to, FP.Sin(t * halfTheta)), 1 / FP.Sin(halfTheta))); }
internal void Solve(Manifold manifold) { VoltBody bodyA = manifold.ShapeA.Body; VoltBody bodyB = manifold.ShapeB.Body; FP elasticity = bodyA.World.Elasticity; // Calculate relative bias velocity TSVector2 vb1 = bodyA.BiasVelocity + (bodyA.BiasRotation * this.toALeft); TSVector2 vb2 = bodyB.BiasVelocity + (bodyB.BiasRotation * this.toBLeft); FP vbn = TSVector2.Dot((vb1 - vb2), this.normal); // Calculate and clamp the bias impulse FP jbn = this.nMass * (vbn - this.bias); jbn = TSMath.Max(-this.jBias, jbn); this.jBias += jbn; // Apply the bias impulse this.ApplyNormalBiasImpulse(bodyA, bodyB, jbn); // Calculate relative velocity TSVector2 vr = this.RelativeVelocity(bodyA, bodyB); FP vrn = TSVector2.Dot(vr, this.normal); // Calculate and clamp the normal impulse FP jn = nMass * (vrn + (this.restitution * elasticity)); jn = TSMath.Max(-this.cachedNormalImpulse, jn); this.cachedNormalImpulse += jn; // Calculate the relative tangent velocity FP vrt = TSVector2.Dot(vr, this.normal.Left()); // Calculate and clamp the friction impulse FP jtMax = manifold.Friction * this.cachedNormalImpulse; FP jt = vrt * tMass; FP result = TSMath.Clamp(this.cachedTangentImpulse + jt, -jtMax, jtMax); jt = result - this.cachedTangentImpulse; this.cachedTangentImpulse = result; // Apply the normal and tangent impulse this.ApplyContactImpulse(bodyA, bodyB, jn, jt); }
public static void Clamp(ref TSVector2 value1, ref TSVector2 min, ref TSVector2 max, out TSVector2 result) { result = new TSVector2( TSMath.Clamp(value1.x, min.x, max.x), TSMath.Clamp(value1.y, min.y, max.y)); }
public static TSVector2 Clamp(TSVector2 value1, TSVector2 min, TSVector2 max) { return(new TSVector2( TSMath.Clamp(value1.x, min.x, max.x), TSMath.Clamp(value1.y, min.y, max.y))); }
public static TSQuaternion Lerp(TSQuaternion a, TSQuaternion b, FP t) { t = TSMath.Clamp(t, FP.Zero, FP.One); return(LerpUnclamped(a, b, t)); }