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package sims.test.gui
import sims.dynamics._
import sims.dynamics.constraints._
import sims.math._
class MouseJoint(val body1: Body, var anchor: Vector2D) extends Joint {
val body2 = new Body() {fixed = true}
private val self = this
private val local1 = anchor - body1.position
private val rotation01 = body1.rotation
def r1 = (local1 rotate (body1.rotation - rotation01))
def x1 = body1.position + r1
def x2 = anchor
def x = x2 - x1
val constraints = List(
new Constraint {
val body1 = self.body1
val body2 = self.body2
def value = x.x
def jacobian = new Jacobian(-Vector2D(1, 0), r1.y, Vector2D.i, 0)
},
new Constraint {
val body1 = self.body1
val body2 = self.body2
def value = x.y
def jacobian = new Jacobian(-Vector2D(0, 1), -r1.x, Vector2D.j, 0)
}
)
}
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