pkg/box2d: 0.2.0 release

lib/src/dynamics/joints/weld_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 118 matching lines @@
     double wB = data.velocities[_indexB].w;
 
     final Rot qA = pool.popRot();
     final Rot qB = pool.popRot();
     final Vector2 temp = pool.popVec2();
 
     qA.setAngle(aA);
     qB.setAngle(aB);
 
     // Compute the effective masses.
-    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);
 
     // J = [-I -r1_skew I r2_skew]
     // [ 0 -1 0 1]
     // r_skew = [-ry; rx]
 
     // Matlab
     // K = [ mA+r1y^2*iA+mB+r2y^2*iB, -r1y*iA*r1x-r2y*iB*r2x, -r1y*iA-r2y*iB]
     // [ -r1y*iA*r1x-r2y*iB*r2x, mA+r1x^2*iA+mB+r2x^2*iB, r1x*iA+r2x*iB]
     // [ -r1y*iA-r2y*iB, r1x*iA+r2x*iB, iA+iB]
 
@@ skipping 166 matching lines @@
     final Vector2 rB = pool.popVec2();
 
     qA.setAngle(aA);
     qB.setAngle(aB);
 
     double mA = _invMassA,
         mB = _invMassB;
     double iA = _invIA,
         iB = _invIB;
 
-    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);
     double positionError, angularError;
 
     final Matrix3 K = pool.popMat33();
     final Vector2 C1 = pool.popVec2();
     final Vector2 P = pool.popVec2();
 
     double ex_x = mA + mB + rA.y * rA.y * iA + rB.y * rB.y * iB;
     double ey_x = -rA.y * rA.x * iA - rB.y * rB.x * iB;
     double ez_x = -rA.y * iA - rB.y * iB;
     double ex_y = K.entry(0, 1);
@@ skipping 52 matching lines @@
     data.positions[_indexB].a = aB;
 
     pool.pushVec2(5);
     pool.pushRot(2);
     pool.pushMat33(1);
 
     return positionError <= Settings.linearSlop &&
         angularError <= Settings.angularSlop;
   }
 }