1 files changed, 84 insertions, 0 deletions
diff --git a/src/sims/dynamics/joints/test/PrismaticJoint.scala b/src/sims/dynamics/joints/test/PrismaticJoint.scala
new file mode 100644
index 0000000..f163261
--- /dev/null
+++ b/src/sims/dynamics/joints/test/PrismaticJoint.scala
@@ -0,0 +1,84 @@
+package sims.dynamics.joints.test
+
+import sims.geometry._
+
+case class PrismaticJoint(node1: Body, anchor1: Vector2D, node2: Body, anchor2: Vector2D) extends Joint{
+  def this(node1: Body, node2: Body) = this(node1, node1.pos, node2, node2.pos)
+  
+  val angle = node2.rotation - node1.rotation
+  
+  private val a1 = anchor1 - node1.pos
+  private val a2 = anchor2 - node2.pos
+  private val initRotation1 = node1.rotation
+  private val initRotation2 = node2.rotation
+  
+  def connection1 = (a1 rotate (node1.rotation - initRotation1)) + node1.pos
+  def connection2 = (a2 rotate (node2.rotation - initRotation2)) + node2.pos
+  
+  /**Relative Position der Bindungspunkte.*/
+  def x = connection2 - connection1
+  
+  /**Relative Geschwindigkeit der Bindungspunkte.*/
+  def v = node2.velocityOfPoint(connection2) - node1.velocityOfPoint(connection1)
+  
+  
+  def correctVelocity(h: Double) = {
+    correctLinear(h)
+    //correctAngular(h)
+  }
+  
+  def correctLinear(h: Double) = {
+    val x = this.x.unit	//relativer Abstand
+    val n0 = x.leftNormal
+    val v = this.v	//relative Geschwindigkeit
+    val r1 = (connection1 - node1.pos)	//Abstand Punkt-Schwerpunkt, Koerper 1
+    val r2 = (connection2 - node2.pos)	//Abstand Punkt-Schwerpunkt, Koerper 2
+    val cr1 = r1 cross n0	//Kreuzprodukt
+    val cr2 = r2 cross n0	//Kreuzprodukt
+    val Cdot = n0 dot v
+    val invMass = 1/node1.mass + 1/node1.I * cr1 * cr1 + 1/node2.mass + 1/node2.I * cr2 * cr2
+    val m = if (invMass == 0.0) 0.0 else 1/invMass
+    val impulse = -n0 * m * Cdot
+    node1.applyImpulse(-impulse, connection1)
+    node2.applyImpulse(impulse, connection2)
+  }
+  
+  //J=[-1,1]
+  
+  def correctAngular(h: Double) = {
+    val w = node2.angularVelocity - node1.angularVelocity
+    val Cdot = w
+    val invMass = node1.I + node2.I
+    val m = 1 / invMass
+    val lambda = m * Cdot
+    node1.angularVelocity += lambda / node1.I
+    node2.angularVelocity += -lambda / node2.I
+  }
+  
+  def correctPosition(h: Double) = {
+    /*
+    val x = this.x.unit	//relativer Abstand
+    val n0 = x.leftNormal
+    val v = this.v	//relative Geschwindigkeit
+    val r1 = (connection1 - node1.pos)	//Abstand Punkt-Schwerpunkt, Koerper 1
+    val r2 = (connection2 - node2.pos)	//Abstand Punkt-Schwerpunkt, Koerper 2
+    val cr1 = r1 cross n0	//Kreuzprodukt
+    val cr2 = r2 cross n0	//Kreuzprodukt
+    val C = n0 dot x
+    val invMass = 1/node1.mass + 1/node1.I * cr1 * cr1 + 1/node2.mass + 1/node2.I * cr2 * cr2
+    val m = if (invMass == 0.0) 0.0 else 1/invMass
+    val impulse = -n0 * m * C
+    node1.pos += -impulse
+    node1.rotation += -impulse cross r1
+    node2.pos += impulse
+    node2.rotation += impulse cross r2
+    
+    val relOmega = node2.angularVelocity - node2.angularVelocity
+    val invMassOmega = node1.I + node2.I
+    val mOmega = if (invMassOmega == 0.0) 0.0 else 1/invMassOmega
+    val Crot = node2.rotation - node2.rotation + angle 
+    node1.rotation += mOmega * Crot
+    node2.rotation += -mOmega * Crot
+      */
+  }
+}