/*
* Chipmunk2d::Mat2x2#transform(vect)
* @param [Chipmunk2d::Vect] vect
*/
static mrb_value
mat2x2_transform(mrb_state *mrb, mrb_value self)
{
cpMat2x2 *mat2x2;
cpVect *vect;
mrb_get_args(mrb, "d", &vect, &mrb_cp_vect_type);
mat2x2 = mrb_data_get_ptr(mrb, self, &mrb_cp_mat2x2_type);
return mrb_cp_vect_value(mrb, cpMat2x2Transform(*mat2x2, *vect));
}
static void
applyImpulse(cpGrooveJoint *joint, cpFloat dt)
{
cpBody *a = joint->constraint.a;
cpBody *b = joint->constraint.b;
cpVect r1 = joint->r1;
cpVect r2 = joint->r2;
// compute impulse
cpVect vr = relative_velocity(a, b, r1, r2);
cpVect j = cpMat2x2Transform(joint->k, cpvsub(joint->bias, vr));
cpVect jOld = joint->jAcc;
joint->jAcc = grooveConstrain(joint, cpvadd(jOld, j), dt);
j = cpvsub(joint->jAcc, jOld);
// apply impulse
apply_impulses(a, b, joint->r1, joint->r2, j);
}
static void
applyImpulse(cpPivotJoint *joint, cpFloat dt)
{
cpBody *a = joint->constraint.a;
cpBody *b = joint->constraint.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 = cpMat2x2Transform(joint->k, cpvsub(joint->bias, vr));
cpVect jOld = joint->jAcc;
joint->jAcc = cpvclamp(cpvadd(joint->jAcc, j), joint->constraint.maxForce*dt);
j = cpvsub(joint->jAcc, jOld);
// apply impulse
apply_impulses(a, b, joint->r1, joint->r2, j);
}
