131 lines
3.1 KiB
JavaScript
131 lines
3.1 KiB
JavaScript
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/*
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* Copyright (c) 2006-2007 Erin Catto http:
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*
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* This software is provided 'as-is', without any express or implied
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* warranty. In no event will the authors be held liable for any damages
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* arising from the use of this software.
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* Permission is granted to anyone to use this software for any purpose,
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* including commercial applications, and to alter it and redistribute it
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* freely, subject to the following restrictions:
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* 1. The origin of this software must not be misrepresented; you must not
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* claim that you wrote the original software. If you use this software
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* in a product, an acknowledgment in the product documentation would be
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* appreciated but is not required.
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* 2. Altered source versions must be plainly marked, and must not be
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* misrepresented the original software.
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* 3. This notice may not be removed or altered from any source distribution.
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*/
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var b2Mat22 = Class.create();
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b2Mat22.prototype =
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{
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initialize: function(angle, c1, c2)
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{
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if (angle==null) angle = 0;
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// initialize instance variables for references
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this.col1 = new b2Vec2();
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this.col2 = new b2Vec2();
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//
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if (c1!=null && c2!=null){
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this.col1.SetV(c1);
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this.col2.SetV(c2);
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}
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else{
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var c = Math.cos(angle);
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var s = Math.sin(angle);
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this.col1.x = c; this.col2.x = -s;
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this.col1.y = s; this.col2.y = c;
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}
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},
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Set: function(angle)
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{
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var c = Math.cos(angle);
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var s = Math.sin(angle);
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this.col1.x = c; this.col2.x = -s;
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this.col1.y = s; this.col2.y = c;
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},
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SetVV: function(c1, c2)
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{
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this.col1.SetV(c1);
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this.col2.SetV(c2);
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},
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Copy: function(){
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return new b2Mat22(0, this.col1, this.col2);
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},
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SetM: function(m)
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{
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this.col1.SetV(m.col1);
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this.col2.SetV(m.col2);
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},
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AddM: function(m)
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{
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this.col1.x += m.col1.x;
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this.col1.y += m.col1.y;
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this.col2.x += m.col2.x;
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this.col2.y += m.col2.y;
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},
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SetIdentity: function()
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{
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this.col1.x = 1.0; this.col2.x = 0.0;
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this.col1.y = 0.0; this.col2.y = 1.0;
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},
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SetZero: function()
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{
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this.col1.x = 0.0; this.col2.x = 0.0;
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this.col1.y = 0.0; this.col2.y = 0.0;
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},
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Invert: function(out)
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{
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var a = this.col1.x;
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var b = this.col2.x;
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var c = this.col1.y;
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var d = this.col2.y;
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//var B = new b2Mat22();
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var det = a * d - b * c;
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//b2Settings.b2Assert(det != 0.0);
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det = 1.0 / det;
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out.col1.x = det * d; out.col2.x = -det * b;
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out.col1.y = -det * c; out.col2.y = det * a;
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return out;
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},
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// this.Solve A * x = b
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Solve: function(out, bX, bY)
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{
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//float32 a11 = this.col1.x, a12 = this.col2.x, a21 = this.col1.y, a22 = this.col2.y;
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var a11 = this.col1.x;
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var a12 = this.col2.x;
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var a21 = this.col1.y;
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var a22 = this.col2.y;
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//float32 det = a11 * a22 - a12 * a21;
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var det = a11 * a22 - a12 * a21;
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//b2Settings.b2Assert(det != 0.0);
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det = 1.0 / det;
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out.x = det * (a22 * bX - a12 * bY);
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out.y = det * (a11 * bY - a21 * bX);
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return out;
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},
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Abs: function()
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{
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this.col1.Abs();
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this.col2.Abs();
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},
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col1: new b2Vec2(),
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col2: new b2Vec2()};
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