pkg/box2d: 0.2.0 release

lib/src/dynamics/joints/gear_joint.dart

 /*******************************************************************************
  * Copyright (c) 2015, Daniel Murphy, Google
  * All rights reserved.
  *
  * Redistribution and use in source and binary forms, with or without modification,
  * are permitted provided that the following conditions are met:
  *  * Redistributions of source code must retain the above copyright notice,
  *    this list of conditions and the following disclaimer.
  *  * Redistributions in binary form must reproduce the above copyright notice,
  *    this list of conditions and the following disclaimer in the documentation
@@ skipping 38 matching lines @@
  * constant The ratio can be negative or positive. If one joint is a revolute joint and the other
  * joint is a prismatic joint, then the ratio will have units of length or units of 1/length.
  *
  * @warning The revolute and prismatic joints must be attached to fixed bodies (which must be body1
  *          on those joints).
  * @warning You have to manually destroy the gear joint if joint1 or joint2 is destroyed.
  * @author Daniel Murphy
  */
 
 class GearJoint extends Joint {
-
   final Joint _joint1;
   final Joint _joint2;
 
   final JointType _typeA;
   final JointType _typeB;
 
   // Body A is connected to body C
   // Body B is connected to body D
   final Body _bodyC;
   final Body _bodyD;
@@ skipping 229 matching lines @@
     } else {
       Vector2 u = pool.popVec2();
       Vector2 rD = pool.popVec2();
       Vector2 rB = pool.popVec2();
       Rot.mulToOutUnsafe(qD, _localAxisD, u);
       Rot.mulToOutUnsafe(qD, temp.setFrom(_localAnchorD).sub(_lcD), rD);
       Rot.mulToOutUnsafe(qB, temp.setFrom(_localAnchorB).sub(_lcB), rB);
       _JvBD.setFrom(u).scale(_ratio);
       _JwD = _ratio * rD.cross(u);
       _JwB = _ratio * rB.cross(u);
-      _mass += _ratio * _ratio * (_mD + _mB) +
-          _iD * _JwD * _JwD +
-          _iB * _JwB * _JwB;
+      _mass +=
+          _ratio * _ratio * (_mD + _mB) + _iD * _JwD * _JwD + _iB * _JwB * _JwB;
       pool.pushVec2(3);
     }
 
     // Compute effective mass.
     _mass = _mass > 0.0 ? 1.0 / _mass : 0.0;
 
     if (data.step.warmStarting) {
       vA.x += (_mA * _impulse) * _JvAC.x;
       vA.y += (_mA * _impulse) * _JvAC.y;
       wA += _iA * _impulse * _JwA;
@@ skipping 145 matching lines @@
       Vector2 rD = pool.popVec2();
       Vector2 rB = pool.popVec2();
       Vector2 pD = pool.popVec2();
       Vector2 pB = pool.popVec2();
       Rot.mulToOutUnsafe(qD, _localAxisD, u);
       Rot.mulToOutUnsafe(qD, temp.setFrom(_localAnchorD).sub(_lcD), rD);
       Rot.mulToOutUnsafe(qB, temp.setFrom(_localAnchorB).sub(_lcB), rB);
       JvBD.setFrom(u).scale(_ratio);
       JwD = rD.cross(u);
       JwB = rB.cross(u);
-      mass += _ratio * _ratio * (_mD + _mB) +
-          _iD * JwD * JwD +
-          _iB * JwB * JwB;
+      mass += _ratio * _ratio * (_mD + _mB) + _iD * JwD * JwD + _iB * JwB * JwB;
 
       pD.setFrom(_localAnchorD).sub(_lcD);
       Rot.mulTransUnsafeVec2(qD, temp.setFrom(rB).add(cB).sub(cD), pB);
       coordinateB = pB.sub(pD).dot(_localAxisD);
       pool.pushVec2(5);
     }
 
     double C = (coordinateA + _ratio * coordinateB) - _constant;
 
     double impulse = 0.0;
@@ skipping 25 matching lines @@
     data.positions[_indexB].a = aB;
     // data.positions[_indexC].c = cC;
     data.positions[_indexC].a = aC;
     // data.positions[_indexD].c = cD;
     data.positions[_indexD].a = aD;
 
     // TODO_ERIN not implemented
     return linearError < Settings.linearSlop;
   }
 }