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package sims.dynamics.joints.test
import sims.dynamics._
import sims.dynamics.joints._
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
def x = connection2 - connection1
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
val n0 = x.leftNormal
val v = this.v
val r1 = (connection1 - node1.pos)
val r2 = (connection2 - node2.pos)
val cr1 = r1 cross n0
val cr2 = r2 cross n0
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
val n0 = x.leftNormal
val v = this.v
val r1 = (connection1 - node1.pos)
val r2 = (connection2 - node2.pos)
val cr1 = r1 cross n0
val cr2 = r2 cross n0
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
*/
}
}
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