pkg/box2d: 0.2.0 release

lib/src/dynamics/joints/prismatic_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 466 matching lines @@
 
     if (data.step.warmStarting) {
       // Account for variable time step.
       _impulse.scale(data.step.dtRatio);
       _motorImpulse *= data.step.dtRatio;
 
       final Vector2 P = pool.popVec2();
       temp.setFrom(_axis).scale(_motorImpulse + _impulse.z);
       P.setFrom(_perp).scale(_impulse.x).add(temp);
 
-      double LA = _impulse.x * _s1 +
-          _impulse.y +
-          (_motorImpulse + _impulse.z) * _a1;
-      double LB = _impulse.x * _s2 +
-          _impulse.y +
-          (_motorImpulse + _impulse.z) * _a2;
+      double LA =
+          _impulse.x * _s1 + _impulse.y + (_motorImpulse + _impulse.z) * _a1;
+      double LB =
+          _impulse.x * _s2 + _impulse.y + (_motorImpulse + _impulse.z) * _a2;
 
       vA.x -= mA * P.x;
       vA.y -= mA * P.y;
       wA -= iA * LA;
 
       vB.x += mB * P.x;
       vB.y += mB * P.y;
       wB += iB * LB;
 
       pool.pushVec2(1);
@@ skipping 79 matching lines @@
         _impulse.z = Math.max(_impulse.z, 0.0);
       } else if (_limitState == LimitState.AT_UPPER) {
         _impulse.z = Math.min(_impulse.z, 0.0);
       }
 
       // f2(1:2) = invK(1:2,1:2) * (-Cdot(1:2) - K(1:2,3) * (f2(3) - f1(3))) +
       // f1(1:2)
       final Vector2 b = pool.popVec2();
       final Vector2 f2r = pool.popVec2();
 
-      temp
-          .setValues(_K.entry(0, 2), _K.entry(1, 2))
-          .scale(_impulse.z - f1.z);
+      temp.setValues(_K.entry(0, 2), _K.entry(1, 2)).scale(_impulse.z - f1.z);
       b.setFrom(Cdot1).negate().sub(temp);
 
       Matrix3.solve2(_K, f2r, b);
       f2r.add(new Vector2(f1.x, f1.y));
       _impulse.x = f2r.x;
       _impulse.y = f2r.y;
 
       df.setFrom(_impulse).sub(f1);
 
       final Vector2 P = pool.popVec2();
@@ skipping 66 matching lines @@
 
     qA.setAngle(aA);
     qB.setAngle(aB);
 
     double mA = _invMassA,
         mB = _invMassB;
     double iA = _invIA,
         iB = _invIB;
 
     // Compute fresh Jacobians
-    Rot.mulToOutUnsafe(
-        qA, temp.setFrom(_localAnchorA).sub(_localCenterA), rA);
-    Rot.mulToOutUnsafe(
-        qB, temp.setFrom(_localAnchorB).sub(_localCenterB), rB);
+    Rot.mulToOutUnsafe(qA, temp.setFrom(_localAnchorA).sub(_localCenterA), rA);
+    Rot.mulToOutUnsafe(qB, temp.setFrom(_localAnchorB).sub(_localCenterB), rB);
     d.setFrom(cB).add(rB).sub(cA).sub(rA);
 
     Rot.mulToOutUnsafe(qA, _localXAxisA, axis);
     double a1 = temp.setFrom(d).add(rA).cross(axis);
     double a2 = rB.cross(axis);
     Rot.mulToOutUnsafe(qA, _localYAxisA, perp);
 
     double s1 = temp.setFrom(d).add(rA).cross(perp);
     double s2 = rB.cross(perp);
 
@@ skipping 94 matching lines @@
     data.positions[_indexB].a = aB;
 
     pool.pushVec2(7);
     pool.pushVec3(1);
     pool.pushRot(2);
 
     return linearError <= Settings.linearSlop &&
         angularError <= Settings.angularSlop;
   }
 }