org.jbox2d.dynamics.joints.Jacobian Maven / Gradle / Ivy

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A 2D java physics engine, a port of the C++ Box2d engine. This is the core physics engine.

There is a newer version: 2.2.1.1

/*******************************************************************************
 * Copyright (c) 2011, Daniel Murphy
 * All rights reserved.
 * 
 * Redistribution and use in source and binary forms, with or without modification,
 * are permitted provided that the following conditions are met:
 * 	* Redistributions of source code must retain the above copyright notice,
 * 	  this list of conditions and the following disclaimer.
 * 	* Redistributions in binary form must reproduce the above copyright notice,
 * 	  this list of conditions and the following disclaimer in the documentation
 * 	  and/or other materials provided with the distribution.
 * 
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
 * ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
 * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED.
 * IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT,
 * INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT
 * NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR
 * PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY,
 * WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
 * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 * POSSIBILITY OF SUCH DAMAGE.
 ******************************************************************************/
package org.jbox2d.dynamics.joints;

import org.jbox2d.common.Vec2;

//updated to rev 100
public class Jacobian {
	public final Vec2 linearA = new Vec2();
	public float angularA;
	public final Vec2 linearB = new Vec2();
	public float angularB;
	
	public void setZero(){
		linearA.setZero();
		linearB.setZero();
		angularA = 0f;
		angularB = 0f;
	}
	
	public void set(Vec2 x1, float a1, Vec2 x2, float a2){
		linearA.set(x1);
		linearB.set(x2);
		angularA = a1;
		angularB = a2;
	}
	
	public float compute(Vec2 x1, float a1, Vec2 x2, float a2){
		return Vec2.dot(linearA, x1) + angularA * a1 + Vec2.dot(linearB, x2) + angularB * a2;
	}
}