static void
applyImpulse(cpGrooveJoint *joint)
{
CONSTRAINT_BEGIN(joint, a, b);
cpVect r1 = joint->r1;
cpVect r2 = joint->r2;
// compute impulse
cpVect vr = relative_velocity(a, b, r1, r2);
cpVect j = mult_k(cpvsub(joint->bias, vr), joint->k1, joint->k2);
cpVect jOld = joint->jAcc;
joint->jAcc = grooveConstrain(joint, cpvadd(jOld, j));
j = cpvsub(joint->jAcc, jOld);
// apply impulse
apply_impulses(a, b, joint->r1, joint->r2, j);
}
static void
applyImpulse(cpPivotJoint *joint)
{
CONSTRAINT_BEGIN(joint, a, b);
cpVect r1 = joint->r1;
cpVect r2 = joint->r2;
// compute relative velocity
cpVect vr = relative_velocity(a, b, r1, r2);
// compute normal impulse
cpVect j = mult_k(cpvsub(joint->bias, vr), joint->k1, joint->k2);
cpVect jOld = joint->jAcc;
joint->jAcc = cpvclamp(cpvadd(joint->jAcc, j), joint->jMaxLen);
j = cpvsub(joint->jAcc, jOld);
// apply impulse
apply_impulses(a, b, joint->r1, joint->r2, j);
}
