public final void getLocalVectorToOutUnsafe(Vec2 worldVector, Vec2 out) { Rot.mulTransUnsafe(m_xf.q, worldVector, out); }
public final static void mulTransToOutUnsafe(final Transform A, final Transform B, final Transform out) { assert (out != A); assert (out != B); Rot.mulTransUnsafe(A.q, B.q, out.q); pool.set(B.p).subLocal(A.p); Rot.mulTransUnsafe(A.q, pool, out.p); }
public final static Transform mulTrans(final Transform A, final Transform B) { Transform C = new Transform(); Rot.mulTransUnsafe(A.q, B.q, C.q); pool.set(B.p).subLocal(A.p); Rot.mulTransUnsafe(A.q, pool, C.p); return C; }
Rot.mulTransUnsafe(xfa.q, m_axis, axisA); Rot.mulTransUnsafe(xfb.q, m_axis.negateLocal(), axisB); m_axis.negateLocal(); Transform.mulToOutUnsafe(xfa, m_localPoint, pointA); Rot.mulTransUnsafe(xfb.q, normal.negateLocal(), axisB); normal.negateLocal(); Transform.mulToOutUnsafe(xfb, m_localPoint, pointB); Rot.mulTransUnsafe(xfa.q, normal.negateLocal(), axisA); normal.negateLocal();
Rot.mulTransUnsafe(xfa.q, m_axis, axisA); Rot.mulTransUnsafe(xfb.q, m_axis.negateLocal(), axisB); m_axis.negateLocal(); Transform.mulToOutUnsafe(xfa, m_localPoint, pointA); Rot.mulTransUnsafe(xfb.q, normal.negateLocal(), axisB); normal.negateLocal(); Transform.mulToOutUnsafe(xfb, m_localPoint, pointB); Rot.mulTransUnsafe(xfa.q, normal.negateLocal(), axisA); normal.negateLocal();
public final void getLocalVectorToOutUnsafe(Vec2 worldVector, Vec2 out) { Rot.mulTransUnsafe(m_xf.q, worldVector, out); }
public final static void mulTransToOutUnsafe(final Transform A, final Transform B, final Transform out) { assert (out != A); assert (out != B); Rot.mulTransUnsafe(A.q, B.q, out.q); pool.set(B.p).subLocal(A.p); Rot.mulTransUnsafe(A.q, pool, out.p); }
Rot.mulToOutUnsafe(xfA.q, m_localAnchorA, temp); temp.addLocal(xfA.p).subLocal(xfC.p); Rot.mulTransUnsafe(xfC.q, temp, pA); coordinateA = Vec2.dot(pA.subLocal(pC), m_localAxisC); pool.pushVec2(2); Rot.mulToOutUnsafe(xfB.q, m_localAnchorB, temp); temp.addLocal(xfB.p).subLocal(xfD.p); Rot.mulTransUnsafe(xfD.q, temp, pB); coordinateB = Vec2.dot(pB.subLocal(pD), m_localAxisD); pool.pushVec2(2);
public final static Transform mulTrans(final Transform A, final Transform B) { Transform C = new Transform(); Rot.mulTransUnsafe(A.q, B.q, C.q); pool.set(B.p).subLocal(A.p); Rot.mulTransUnsafe(A.q, pool, C.p); return C; }
Rot.mulTransUnsafe(transformA.q, d.negateLocal(), temp); vertex.indexA = proxyA.getSupport(temp); Transform.mulToOutUnsafe(transformA, proxyA.getVertex(vertex.indexA), vertex.wA); Rot.mulTransUnsafe(transformB.q, d.negateLocal(), temp); vertex.indexB = proxyB.getSupport(temp); Transform.mulToOutUnsafe(transformB, proxyB.getVertex(vertex.indexB), vertex.wB);
Rot.mulTransUnsafe(qC, temp.set(rA).addLocal(cA).subLocal(cC), pA); coordinateA = Vec2.dot(pA.subLocal(pC), m_localAxisC); pool.pushVec2(4); Rot.mulTransUnsafe(qD, temp.set(rB).addLocal(cB).subLocal(cD), pB); coordinateB = Vec2.dot(pB.subLocal(pD), m_localAxisD); pool.pushVec2(5);
public final void getLocalVectorToOutUnsafe(Vec2 worldVector, Vec2 out) { Rot.mulTransUnsafe(m_xf.q, worldVector, out); }
Rot.mulTransUnsafe(xfa.q, m_axis, axisA); Rot.mulTransUnsafe(xfb.q, m_axis.negateLocal(), axisB); m_axis.negateLocal(); Transform.mulToOutUnsafe(xfa, m_localPoint, pointA); Rot.mulTransUnsafe(xfb.q, normal.negateLocal(), axisB); normal.negateLocal(); Transform.mulToOutUnsafe(xfb, m_localPoint, pointB); Rot.mulTransUnsafe(xfa.q, normal.negateLocal(), axisA); normal.negateLocal();
public final static void mulTransToOutUnsafe(final Transform A, final Transform B, final Transform out) { assert (out != A); assert (out != B); Rot.mulTransUnsafe(A.q, B.q, out.q); pool.set(B.p).subLocal(A.p); Rot.mulTransUnsafe(A.q, pool, out.p); }
public final static void mulTransToOutUnsafe(final Transform A, final Transform B, final Transform out) { assert (out != A); assert (out != B); Rot.mulTransUnsafe(A.q, B.q, out.q); pool.set(B.p).subLocal(A.p); Rot.mulTransUnsafe(A.q, pool, out.p); }
public final static Transform mulTrans(final Transform A, final Transform B) { Transform C = new Transform(); Rot.mulTransUnsafe(A.q, B.q, C.q); pool.set(B.p).subLocal(A.p); Rot.mulTransUnsafe(A.q, pool, C.p); return C; }
public final static Transform mulTrans(final Transform A, final Transform B) { Transform C = new Transform(); Rot.mulTransUnsafe(A.q, B.q, C.q); pool.set(B.p).subLocal(A.p); Rot.mulTransUnsafe(A.q, pool, C.p); return C; }
Rot.mulToOutUnsafe(xfA.q, m_localAnchorA, temp); temp.addLocal(xfA.p).subLocal(xfC.p); Rot.mulTransUnsafe(xfC.q, temp, pA); coordinateA = Vec2.dot(pA.subLocal(pC), m_localAxisC); pool.pushVec2(2); Rot.mulToOutUnsafe(xfB.q, m_localAnchorB, temp); temp.addLocal(xfB.p).subLocal(xfD.p); Rot.mulTransUnsafe(xfD.q, temp, pB); coordinateB = Vec2.dot(pB.subLocal(pD), m_localAxisD); pool.pushVec2(2);
Rot.mulTransUnsafe(transformA.q, d.negateLocal(), temp); vertex.indexA = proxyA.getSupport(temp); Transform.mulToOutUnsafe(transformA, proxyA.getVertex(vertex.indexA), vertex.wA); Rot.mulTransUnsafe(transformB.q, d.negateLocal(), temp); vertex.indexB = proxyB.getSupport(temp); Transform.mulToOutUnsafe(transformB, proxyB.getVertex(vertex.indexB), vertex.wB);
Rot.mulTransUnsafe(qC, temp.set(rA).addLocal(cA).subLocal(cC), pA); coordinateA = Vec2.dot(pA.subLocal(pC), m_localAxisC); pool.pushVec2(4); Rot.mulTransUnsafe(qD, temp.set(rB).addLocal(cB).subLocal(cD), pB); coordinateB = Vec2.dot(pB.subLocal(pD), m_localAxisD); pool.pushVec2(5);