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#javascript-physics-js-box2d-dynamics-joints-b2Jacobian.js / js



  /*
  * Copyright (c) 2006-2007 Erin Catto 
* This software is provided 'as-is', without any express or implied
* warranty.  In no event will the authors be held liable for any damages
* arising from the use of this software.
* Permission is granted to anyone to use this software for any purpose,
* including commercial applications, and to alter it and redistribute it
* freely, subject to the following restrictions:
* 1. The origin of this software must not be misrepresented; you must not
* claim that you wrote the original software. If you use this software
* in a product, an acknowledgment in the product documentation would be
* appreciated but is not required.
* 2. Altered source versions must be plainly marked, and must not be
* misrepresented the original software.
* 3. This notice may not be removed or altered from any source distribution.
*/

var b2Jacobian = Class.create();
b2Jacobian.prototype = 
{
        linear1: new b2Vec2(),
        angular1: null,
        linear2: new b2Vec2(),
        angular2: null,

        SetZero: function(){
                this.linear1.SetZero(); this.angular1 = 0.0;
                this.linear2.SetZero(); this.angular2 = 0.0;
        },
        Set: function(x1, a1, x2, a2){
                this.linear1.SetV(x1); this.angular1 = a1;
                this.linear2.SetV(x2); this.angular2 = a2;
        },
        Compute: function(x1, a1, x2, a2){

                //return b2Math.b2Dot(this.linear1, x1) + this.angular1 * a1 + b2Math.b2Dot(this.linear2, x2) + this.angular2 * a2;
                return (this.linear1.x*x1.x + this.linear1.y*x1.y) + this.angular1 * a1 + (this.linear2.x*x2.x + this.linear2.y*x2.y) + this.angular2 * a2;
        },
        initialize: function() {
                // initialize instance variables for references
                this.linear1 = new b2Vec2();
                this.linear2 = new b2Vec2();
                //
}};



  *
  * This software is provided 'as-is', without any express or implied
  * warranty.  In no event will the authors be held liable for any damages
  * arising from the use of this software.
  * Permission is granted to anyone to use this software for any purpose,
  * including commercial applications, and to alter it and redistribute it
  * freely, subject to the following restrictions:
  * 1. The origin of this software must not be misrepresented; you must not
  * claim that you wrote the original software. If you use this software
  * in a product, an acknowledgment in the product documentation would be
  * appreciated but is not required.
  * 2. Altered source versions must be plainly marked, and must not be
  * misrepresented the original software.
  * 3. This notice may not be removed or altered from any source distribution.
  */
  
  var b2Jacobian = Class.create();
  b2Jacobian.prototype = 
  {
          linear1: new b2Vec2(),
          angular1: null,
          linear2: new b2Vec2(),
          angular2: null,
  
          SetZero: function(){
                  this.linear1.SetZero(); this.angular1 = 0.0;
                  this.linear2.SetZero(); this.angular2 = 0.0;
          },
          Set: function(x1, a1, x2, a2){
                  this.linear1.SetV(x1); this.angular1 = a1;
                  this.linear2.SetV(x2); this.angular2 = a2;
          },
          Compute: function(x1, a1, x2, a2){
  
                  //return b2Math.b2Dot(this.linear1, x1) + this.angular1 * a1 + b2Math.b2Dot(this.linear2, x2) + this.angular2 * a2;
                  return (this.linear1.x*x1.x + this.linear1.y*x1.y) + this.angular1 * a1 + (this.linear2.x*x2.x + this.linear2.y*x2.y) + this.angular2 * a2;
          },
          initialize: function() {
                  // initialize instance variables for references
                  this.linear1 = new b2Vec2();
                  this.linear2 = new b2Vec2();
                  //
  }};
  


(C) Æliens 20/2/2008

You may not copy or print any of this material without explicit permission of the author or the publisher. In case of other copyright issues, contact the author.