50 lines
1.7 KiB
JavaScript
50 lines
1.7 KiB
JavaScript
/*
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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 b2Jacobian = Class.create();
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b2Jacobian.prototype =
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{
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linear1: new b2Vec2(),
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angular1: null,
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linear2: new b2Vec2(),
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angular2: null,
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SetZero: function(){
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this.linear1.SetZero(); this.angular1 = 0.0;
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this.linear2.SetZero(); this.angular2 = 0.0;
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},
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Set: function(x1, a1, x2, a2){
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this.linear1.SetV(x1); this.angular1 = a1;
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this.linear2.SetV(x2); this.angular2 = a2;
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},
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Compute: function(x1, a1, x2, a2){
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//return b2Math.b2Dot(this.linear1, x1) + this.angular1 * a1 + b2Math.b2Dot(this.linear2, x2) + this.angular2 * a2;
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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;
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},
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initialize: function() {
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// initialize instance variables for references
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this.linear1 = new b2Vec2();
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this.linear2 = new b2Vec2();
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//
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}};
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