@awayfl/poki-player
Version:
AVM Player for poki games
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text/typescript
import { b2Vec2, b2Mat22, b2Math } from '../../Common/Math';
import { b2Body } from '../b2Body';
import { b2Settings } from '../../Common/b2Settings';
import { b2TimeStep } from '../b2TimeStep';
import { b2Joint, b2PulleyJointDef } from '../Joints';
/**
* The pulley joint is connected to two bodies and two fixed ground points.
* The pulley supports a ratio such that:
* length1 + ratio * length2 <= constant
* Yes, the force transmitted is scaled by the ratio.
* The pulley also enforces a maximum length limit on both sides. This is
* useful to prevent one side of the pulley hitting the top.
* @see b2PulleyJointDef
*/
export class b2PulleyJoint extends b2Joint {
/** @inheritDoc */
public GetAnchorA(): b2Vec2 {
return this.m_bodyA.GetWorldPoint(this.m_localAnchor1);
}
/** @inheritDoc */
public GetAnchorB(): b2Vec2 {
return this.m_bodyB.GetWorldPoint(this.m_localAnchor2);
}
/** @inheritDoc */
public GetReactionForce(inv_dt: number): b2Vec2 {
//b2Vec2 P = this.m_impulse * this.m_u2;
//return inv_dt * P;
return new b2Vec2(inv_dt * this.m_impulse * this.m_u2.x, inv_dt * this.m_impulse * this.m_u2.y);
}
/** @inheritDoc */
public GetReactionTorque(inv_dt: number): number {
//B2_NOT_USED(inv_dt);
return 0.0;
}
/**
* Get the first ground anchor.
*/
public GetGroundAnchorA(): b2Vec2 {
//return this.m_ground.m_xf.position + this.m_groundAnchor1;
const a: b2Vec2 = this.m_ground.m_xf.position.Copy();
a.Add(this.m_groundAnchor1);
return a;
}
/**
* Get the second ground anchor.
*/
public GetGroundAnchorB(): b2Vec2 {
//return this.m_ground.m_xf.position + this.m_groundAnchor2;
const a: b2Vec2 = this.m_ground.m_xf.position.Copy();
a.Add(this.m_groundAnchor2);
return a;
}
/**
* Get the current length of the segment attached to body1.
*/
public GetLength1(): number {
const p: b2Vec2 = this.m_bodyA.GetWorldPoint(this.m_localAnchor1);
//b2Vec2 s = this.m_ground->this.m_xf.position + this.m_groundAnchor1;
const sX: number = this.m_ground.m_xf.position.x + this.m_groundAnchor1.x;
const sY: number = this.m_ground.m_xf.position.y + this.m_groundAnchor1.y;
//b2Vec2 d = p - s;
const dX: number = p.x - sX;
const dY: number = p.y - sY;
//return d.Length();
return Math.sqrt(dX * dX + dY * dY);
}
/**
* Get the current length of the segment attached to body2.
*/
public GetLength2(): number {
const p: b2Vec2 = this.m_bodyB.GetWorldPoint(this.m_localAnchor2);
//b2Vec2 s = this.m_ground->this.m_xf.position + this.m_groundAnchor2;
const sX: number = this.m_ground.m_xf.position.x + this.m_groundAnchor2.x;
const sY: number = this.m_ground.m_xf.position.y + this.m_groundAnchor2.y;
//b2Vec2 d = p - s;
const dX: number = p.x - sX;
const dY: number = p.y - sY;
//return d.Length();
return Math.sqrt(dX * dX + dY * dY);
}
/**
* Get the pulley ratio.
*/
public GetRatio(): number {
return this.m_ratio;
}
//--------------- Internals Below -------------------
/** @private */
constructor(def: b2PulleyJointDef) {
// parent
super(def);
let tMat: b2Mat22;
let tX: number;
let tY: number;
this.m_ground = this.m_bodyA.m_world.m_groundBody;
//this.m_groundAnchor1 = def->groundAnchorA - this.m_ground->this.m_xf.position;
this.m_groundAnchor1.x = def.groundAnchorA.x - this.m_ground.m_xf.position.x;
this.m_groundAnchor1.y = def.groundAnchorA.y - this.m_ground.m_xf.position.y;
//this.m_groundAnchor2 = def->groundAnchorB - this.m_ground->this.m_xf.position;
this.m_groundAnchor2.x = def.groundAnchorB.x - this.m_ground.m_xf.position.x;
this.m_groundAnchor2.y = def.groundAnchorB.y - this.m_ground.m_xf.position.y;
//this.m_localAnchor1 = def->localAnchorA;
this.m_localAnchor1.SetV(def.localAnchorA);
//this.m_localAnchor2 = def->localAnchorB;
this.m_localAnchor2.SetV(def.localAnchorB);
//b2Settings.b2Assert(def.ratio != 0.0);
this.m_ratio = def.ratio;
this.m_constant = def.lengthA + this.m_ratio * def.lengthB;
this.m_maxLength1 = b2Math.Min(def.maxLengthA, this.m_constant - this.m_ratio * b2PulleyJoint.b2_minPulleyLength);
this.m_maxLength2 = b2Math.Min(def.maxLengthB, (this.m_constant - b2PulleyJoint.b2_minPulleyLength) / this.m_ratio);
this.m_impulse = 0.0;
this.m_limitImpulse1 = 0.0;
this.m_limitImpulse2 = 0.0;
}
public InitVelocityConstraints(step: b2TimeStep): void {
const bA: b2Body = this.m_bodyA;
const bB: b2Body = this.m_bodyB;
let tMat: b2Mat22;
//b2Vec2 r1 = b2Mul(bA->this.m_xf.R, this.m_localAnchor1 - bA->GetLocalCenter());
tMat = bA.m_xf.R;
let r1X: number = this.m_localAnchor1.x - bA.m_sweep.localCenter.x;
let r1Y: number = this.m_localAnchor1.y - bA.m_sweep.localCenter.y;
let tX: number = (tMat.col1.x * r1X + tMat.col2.x * r1Y);
r1Y = (tMat.col1.y * r1X + tMat.col2.y * r1Y);
r1X = tX;
//b2Vec2 r2 = b2Mul(bB->this.m_xf.R, this.m_localAnchor2 - bB->GetLocalCenter());
tMat = bB.m_xf.R;
let r2X: number = this.m_localAnchor2.x - bB.m_sweep.localCenter.x;
let r2Y: number = this.m_localAnchor2.y - bB.m_sweep.localCenter.y;
tX = (tMat.col1.x * r2X + tMat.col2.x * r2Y);
r2Y = (tMat.col1.y * r2X + tMat.col2.y * r2Y);
r2X = tX;
//b2Vec2 p1 = bA->this.m_sweep.c + r1;
const p1X: number = bA.m_sweep.c.x + r1X;
const p1Y: number = bA.m_sweep.c.y + r1Y;
//b2Vec2 p2 = bB->this.m_sweep.c + r2;
const p2X: number = bB.m_sweep.c.x + r2X;
const p2Y: number = bB.m_sweep.c.y + r2Y;
//b2Vec2 s1 = this.m_ground->this.m_xf.position + this.m_groundAnchor1;
const s1X: number = this.m_ground.m_xf.position.x + this.m_groundAnchor1.x;
const s1Y: number = this.m_ground.m_xf.position.y + this.m_groundAnchor1.y;
//b2Vec2 s2 = this.m_ground->this.m_xf.position + this.m_groundAnchor2;
const s2X: number = this.m_ground.m_xf.position.x + this.m_groundAnchor2.x;
const s2Y: number = this.m_ground.m_xf.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);
const length1: number = this.m_u1.Length();
const length2: number = 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();
}
const C: number = this.m_constant - length1 - this.m_ratio * length2;
if (C > 0.0) {
this.m_state = b2Joint.e_inactiveLimit;
this.m_impulse = 0.0;
} else {
this.m_state = b2Joint.e_atUpperLimit;
}
if (length1 < this.m_maxLength1) {
this.m_limitState1 = b2Joint.e_inactiveLimit;
this.m_limitImpulse1 = 0.0;
} else {
this.m_limitState1 = b2Joint.e_atUpperLimit;
}
if (length2 < this.m_maxLength2) {
this.m_limitState2 = b2Joint.e_inactiveLimit;
this.m_limitImpulse2 = 0.0;
} else {
this.m_limitState2 = b2Joint.e_atUpperLimit;
}
// Compute effective mass.
//var cr1u1:number = b2Cross(r1, this.m_u1);
const cr1u1: number = r1X * this.m_u1.y - r1Y * this.m_u1.x;
//var cr2u2:number = b2Cross(r2, this.m_u2);
const cr2u2: number = r2X * this.m_u2.y - r2Y * this.m_u2.x;
this.m_limitMass1 = bA.m_invMass + bA.m_invI * cr1u1 * cr1u1;
this.m_limitMass2 = bB.m_invMass + bB.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;
if (step.warmStarting) {
// Scale impulses to support variable time steps.
this.m_impulse *= step.dtRatio;
this.m_limitImpulse1 *= step.dtRatio;
this.m_limitImpulse2 *= step.dtRatio;
// Warm starting.
//b2Vec2 P1 = (-this.m_impulse - this.m_limitImpulse1) * this.m_u1;
const P1X: number = (-this.m_impulse - this.m_limitImpulse1) * this.m_u1.x;
const P1Y: number = (-this.m_impulse - this.m_limitImpulse1) * this.m_u1.y;
//b2Vec2 P2 = (-this.m_ratio * this.m_impulse - this.m_limitImpulse2) * this.m_u2;
const P2X: number = (-this.m_ratio * this.m_impulse - this.m_limitImpulse2) * this.m_u2.x;
const P2Y: number = (-this.m_ratio * this.m_impulse - this.m_limitImpulse2) * this.m_u2.y;
//bA.m_linearVelocity += bA.m_invMass * P1;
bA.m_linearVelocity.x += bA.m_invMass * P1X;
bA.m_linearVelocity.y += bA.m_invMass * P1Y;
//bA.m_angularVelocity += bA.m_invI * b2Cross(r1, P1);
bA.m_angularVelocity += bA.m_invI * (r1X * P1Y - r1Y * P1X);
//bB.m_linearVelocity += bB.m_invMass * P2;
bB.m_linearVelocity.x += bB.m_invMass * P2X;
bB.m_linearVelocity.y += bB.m_invMass * P2Y;
//bB.m_angularVelocity += bB.m_invI * b2Cross(r2, P2);
bB.m_angularVelocity += bB.m_invI * (r2X * P2Y - r2Y * P2X);
} else {
this.m_impulse = 0.0;
this.m_limitImpulse1 = 0.0;
this.m_limitImpulse2 = 0.0;
}
}
public SolveVelocityConstraints(step: b2TimeStep): void {
//B2_NOT_USED(step)
const bA: b2Body = this.m_bodyA;
const bB: b2Body = this.m_bodyB;
let tMat: b2Mat22;
//b2Vec2 r1 = b2Mul(bA->this.m_xf.R, this.m_localAnchor1 - bA->GetLocalCenter());
tMat = bA.m_xf.R;
let r1X: number = this.m_localAnchor1.x - bA.m_sweep.localCenter.x;
let r1Y: number = this.m_localAnchor1.y - bA.m_sweep.localCenter.y;
let tX: number = (tMat.col1.x * r1X + tMat.col2.x * r1Y);
r1Y = (tMat.col1.y * r1X + tMat.col2.y * r1Y);
r1X = tX;
//b2Vec2 r2 = b2Mul(bB->this.m_xf.R, this.m_localAnchor2 - bB->GetLocalCenter());
tMat = bB.m_xf.R;
let r2X: number = this.m_localAnchor2.x - bB.m_sweep.localCenter.x;
let r2Y: number = this.m_localAnchor2.y - bB.m_sweep.localCenter.y;
tX = (tMat.col1.x * r2X + tMat.col2.x * r2Y);
r2Y = (tMat.col1.y * r2X + tMat.col2.y * r2Y);
r2X = tX;
// temp vars
let v1X: number;
let v1Y: number;
let v2X: number;
let v2Y: number;
let P1X: number;
let P1Y: number;
let P2X: number;
let P2Y: number;
let Cdot: number;
let impulse: number;
let oldImpulse: number;
if (this.m_state == b2Joint.e_atUpperLimit) {
//b2Vec2 v1 = bA->this.m_linearVelocity + b2Cross(bA->this.m_angularVelocity, r1);
v1X = bA.m_linearVelocity.x + (-bA.m_angularVelocity * r1Y);
v1Y = bA.m_linearVelocity.y + (bA.m_angularVelocity * r1X);
//b2Vec2 v2 = bB->this.m_linearVelocity + b2Cross(bB->this.m_angularVelocity, r2);
v2X = bB.m_linearVelocity.x + (-bB.m_angularVelocity * r2Y);
v2Y = bB.m_linearVelocity.y + (bB.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);
oldImpulse = this.m_impulse;
this.m_impulse = b2Math.Max(0.0, this.m_impulse + impulse);
impulse = this.m_impulse - oldImpulse;
//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;
//bA.m_linearVelocity += bA.m_invMass * P1;
bA.m_linearVelocity.x += bA.m_invMass * P1X;
bA.m_linearVelocity.y += bA.m_invMass * P1Y;
//bA.m_angularVelocity += bA.m_invI * b2Cross(r1, P1);
bA.m_angularVelocity += bA.m_invI * (r1X * P1Y - r1Y * P1X);
//bB.m_linearVelocity += bB.m_invMass * P2;
bB.m_linearVelocity.x += bB.m_invMass * P2X;
bB.m_linearVelocity.y += bB.m_invMass * P2Y;
//bB.m_angularVelocity += bB.m_invI * b2Cross(r2, P2);
bB.m_angularVelocity += bB.m_invI * (r2X * P2Y - r2Y * P2X);
}
if (this.m_limitState1 == b2Joint.e_atUpperLimit) {
//b2Vec2 v1 = bA->this.m_linearVelocity + b2Cross(bA->this.m_angularVelocity, r1);
v1X = bA.m_linearVelocity.x + (-bA.m_angularVelocity * r1Y);
v1Y = bA.m_linearVelocity.y + (bA.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;
oldImpulse = this.m_limitImpulse1;
this.m_limitImpulse1 = b2Math.Max(0.0, this.m_limitImpulse1 + impulse);
impulse = this.m_limitImpulse1 - oldImpulse;
//b2Vec2 P1 = -impulse * this.m_u1;
P1X = -impulse * this.m_u1.x;
P1Y = -impulse * this.m_u1.y;
//bA.m_linearVelocity += bA->this.m_invMass * P1;
bA.m_linearVelocity.x += bA.m_invMass * P1X;
bA.m_linearVelocity.y += bA.m_invMass * P1Y;
//bA.m_angularVelocity += bA->this.m_invI * b2Cross(r1, P1);
bA.m_angularVelocity += bA.m_invI * (r1X * P1Y - r1Y * P1X);
}
if (this.m_limitState2 == b2Joint.e_atUpperLimit) {
//b2Vec2 v2 = bB->this.m_linearVelocity + b2Cross(bB->this.m_angularVelocity, r2);
v2X = bB.m_linearVelocity.x + (-bB.m_angularVelocity * r2Y);
v2Y = bB.m_linearVelocity.y + (bB.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;
oldImpulse = this.m_limitImpulse2;
this.m_limitImpulse2 = b2Math.Max(0.0, this.m_limitImpulse2 + impulse);
impulse = this.m_limitImpulse2 - oldImpulse;
//b2Vec2 P2 = -impulse * this.m_u2;
P2X = -impulse * this.m_u2.x;
P2Y = -impulse * this.m_u2.y;
//bB->this.m_linearVelocity += bB->this.m_invMass * P2;
bB.m_linearVelocity.x += bB.m_invMass * P2X;
bB.m_linearVelocity.y += bB.m_invMass * P2Y;
//bB->this.m_angularVelocity += bB->this.m_invI * b2Cross(r2, P2);
bB.m_angularVelocity += bB.m_invI * (r2X * P2Y - r2Y * P2X);
}
}
public SolvePositionConstraints(baumgarte: number): boolean {
//B2_NOT_USED(baumgarte)
const bA: b2Body = this.m_bodyA;
const bB: b2Body = this.m_bodyB;
let tMat: b2Mat22;
//b2Vec2 s1 = this.m_ground->this.m_xf.position + this.m_groundAnchor1;
const s1X: number = this.m_ground.m_xf.position.x + this.m_groundAnchor1.x;
const s1Y: number = this.m_ground.m_xf.position.y + this.m_groundAnchor1.y;
//b2Vec2 s2 = this.m_ground->this.m_xf.position + this.m_groundAnchor2;
const s2X: number = this.m_ground.m_xf.position.x + this.m_groundAnchor2.x;
const s2Y: number = this.m_ground.m_xf.position.y + this.m_groundAnchor2.y;
// temp vars
let r1X: number;
let r1Y: number;
let r2X: number;
let r2Y: number;
let p1X: number;
let p1Y: number;
let p2X: number;
let p2Y: number;
let length1: number;
let length2: number;
let C: number;
let impulse: number;
let oldImpulse: number;
let oldLimitPositionImpulse: number;
let tX: number;
let linearError: number = 0.0;
if (this.m_state == b2Joint.e_atUpperLimit) {
//b2Vec2 r1 = b2Mul(bA->this.m_xf.R, this.m_localAnchor1 - bA->GetLocalCenter());
tMat = bA.m_xf.R;
r1X = this.m_localAnchor1.x - bA.m_sweep.localCenter.x;
r1Y = this.m_localAnchor1.y - bA.m_sweep.localCenter.y;
tX = (tMat.col1.x * r1X + tMat.col2.x * r1Y);
r1Y = (tMat.col1.y * r1X + tMat.col2.y * r1Y);
r1X = tX;
//b2Vec2 r2 = b2Mul(bB->this.m_xf.R, this.m_localAnchor2 - bB->GetLocalCenter());
tMat = bB.m_xf.R;
r2X = this.m_localAnchor2.x - bB.m_sweep.localCenter.x;
r2Y = this.m_localAnchor2.y - bB.m_sweep.localCenter.y;
tX = (tMat.col1.x * r2X + tMat.col2.x * r2Y);
r2Y = (tMat.col1.y * r2X + tMat.col2.y * r2Y);
r2X = tX;
//b2Vec2 p1 = bA->this.m_sweep.c + r1;
p1X = bA.m_sweep.c.x + r1X;
p1Y = bA.m_sweep.c.y + r1Y;
//b2Vec2 p2 = bB->this.m_sweep.c + r2;
p2X = bB.m_sweep.c.x + r2X;
p2Y = bB.m_sweep.c.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.Max(linearError, -C);
C = b2Math.Clamp(C + b2Settings.b2_linearSlop, -b2Settings.b2_maxLinearCorrection, 0.0);
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;
bA.m_sweep.c.x += bA.m_invMass * p1X;
bA.m_sweep.c.y += bA.m_invMass * p1Y;
bA.m_sweep.a += bA.m_invI * (r1X * p1Y - r1Y * p1X);
bB.m_sweep.c.x += bB.m_invMass * p2X;
bB.m_sweep.c.y += bB.m_invMass * p2Y;
bB.m_sweep.a += bB.m_invI * (r2X * p2Y - r2Y * p2X);
bA.SynchronizeTransform();
bB.SynchronizeTransform();
}
if (this.m_limitState1 == b2Joint.e_atUpperLimit) {
//b2Vec2 r1 = b2Mul(bA->this.m_xf.R, this.m_localAnchor1 - bA->GetLocalCenter());
tMat = bA.m_xf.R;
r1X = this.m_localAnchor1.x - bA.m_sweep.localCenter.x;
r1Y = this.m_localAnchor1.y - bA.m_sweep.localCenter.y;
tX = (tMat.col1.x * r1X + tMat.col2.x * r1Y);
r1Y = (tMat.col1.y * r1X + tMat.col2.y * r1Y);
r1X = tX;
//b2Vec2 p1 = bA->this.m_sweep.c + r1;
p1X = bA.m_sweep.c.x + r1X;
p1Y = bA.m_sweep.c.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.Max(linearError, -C);
C = b2Math.Clamp(C + b2Settings.b2_linearSlop, -b2Settings.b2_maxLinearCorrection, 0.0);
impulse = -this.m_limitMass1 * C;
//P1 = -impulse * this.m_u1;
p1X = -impulse * this.m_u1.x;
p1Y = -impulse * this.m_u1.y;
bA.m_sweep.c.x += bA.m_invMass * p1X;
bA.m_sweep.c.y += bA.m_invMass * p1Y;
//bA.m_rotation += bA.m_invI * b2Cross(r1, P1);
bA.m_sweep.a += bA.m_invI * (r1X * p1Y - r1Y * p1X);
bA.SynchronizeTransform();
}
if (this.m_limitState2 == b2Joint.e_atUpperLimit) {
//b2Vec2 r2 = b2Mul(bB->this.m_xf.R, this.m_localAnchor2 - bB->GetLocalCenter());
tMat = bB.m_xf.R;
r2X = this.m_localAnchor2.x - bB.m_sweep.localCenter.x;
r2Y = this.m_localAnchor2.y - bB.m_sweep.localCenter.y;
tX = (tMat.col1.x * r2X + tMat.col2.x * r2Y);
r2Y = (tMat.col1.y * r2X + tMat.col2.y * r2Y);
r2X = tX;
//b2Vec2 p2 = bB->this.m_position + r2;
p2X = bB.m_sweep.c.x + r2X;
p2Y = bB.m_sweep.c.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.Max(linearError, -C);
C = b2Math.Clamp(C + b2Settings.b2_linearSlop, -b2Settings.b2_maxLinearCorrection, 0.0);
impulse = -this.m_limitMass2 * C;
//P2 = -impulse * this.m_u2;
p2X = -impulse * this.m_u2.x;
p2Y = -impulse * this.m_u2.y;
//bB.m_sweep.c += bB.m_invMass * P2;
bB.m_sweep.c.x += bB.m_invMass * p2X;
bB.m_sweep.c.y += bB.m_invMass * p2Y;
//bB.m_sweep.a += bB.m_invI * b2Cross(r2, P2);
bB.m_sweep.a += bB.m_invI * (r2X * p2Y - r2Y * p2X);
bB.SynchronizeTransform();
}
return linearError < b2Settings.b2_linearSlop;
}
private m_ground: b2Body;
private m_groundAnchor1: b2Vec2 = new b2Vec2();
private m_groundAnchor2: b2Vec2 = new b2Vec2();
private m_localAnchor1: b2Vec2 = new b2Vec2();
private m_localAnchor2: b2Vec2 = new b2Vec2();
private m_u1: b2Vec2 = new b2Vec2();
private m_u2: b2Vec2 = new b2Vec2();
private m_constant: number;
private m_ratio: number;
private m_maxLength1: number;
private m_maxLength2: number;
// Effective masses
private m_pulleyMass: number;
private m_limitMass1: number;
private m_limitMass2: number;
// Impulses for accumulation/warm starting.
private m_impulse: number;
private m_limitImpulse1: number;
private m_limitImpulse2: number;
private m_state: number /** int */;
private m_limitState1: number /** int */;
private m_limitState2: number /** int */;
// static
public static readonly b2_minPulleyLength: number = 2.0;
}