JBoxUtils.clamp(vcp.tangentImpulse + lambda, -maxFriction, maxFriction); lambda = newImpulse - vcp.tangentImpulse; vcp.tangentImpulse = newImpulse;
JBoxUtils.clamp(JBoxSettings.baumgarte * (separation + JBoxSettings.linearSlop), -JBoxSettings.maxLinearCorrection, 0.0f);
JBoxUtils.clamp(JBoxSettings.toiBaugarte * (separation + JBoxSettings.linearSlop), -JBoxSettings.maxLinearCorrection, 0.0f);
m_motorImpulse = JBoxUtils.clamp(m_motorImpulse + impulse, -maxImpulse, maxImpulse); impulse = m_motorImpulse - oldImpulse;
JBoxUtils.clamp(angle - m_lowerAngle, -JBoxSettings.maxAngularCorrection, JBoxSettings.maxAngularCorrection); limitImpulse = -m_motorMass * C; C = JBoxUtils.clamp(C + JBoxSettings.angularSlop, -JBoxSettings.maxAngularCorrection, 0.0f); limitImpulse = -m_motorMass * C; } else if (m_limitState == LimitState.AT_UPPER) { C = JBoxUtils.clamp(C - JBoxSettings.angularSlop, 0.0f, JBoxSettings.maxAngularCorrection); limitImpulse = -m_motorMass * C;
angularImpulse = JBoxUtils.clamp(angularImpulse + impulse, -maxImpulse, maxImpulse); impulse = angularImpulse - oldImpulse;
C = JBoxUtils.clamp(C, -JBoxSettings.maxLinearCorrection, JBoxSettings.maxLinearCorrection);
float C = length - m_maxLength; C = JBoxUtils.clamp(C, 0.0f, JBoxSettings.maxLinearCorrection);
JBoxUtils.clamp(translation, -JBoxSettings.maxLinearCorrection, JBoxSettings.maxLinearCorrection); linearError = JBoxUtils.max(linearError, JBoxUtils.abs(translation)); JBoxUtils.clamp(translation - m_lowerTranslation + JBoxSettings.linearSlop, -JBoxSettings.maxLinearCorrection, 0.0f); linearError = JBoxUtils.max(linearError, m_lowerTranslation - translation); JBoxUtils.clamp(translation - m_upperTranslation - JBoxSettings.linearSlop, 0.0f, JBoxSettings.maxLinearCorrection); linearError = JBoxUtils.max(linearError, translation - m_upperTranslation);
m_angularImpulse = JBoxUtils.clamp(m_angularImpulse + impulse, -maxImpulse, maxImpulse); impulse = m_angularImpulse - oldImpulse;
float oldImpulse = m_motorImpulse; float maxImpulse = data.step.dt * m_maxMotorTorque; m_motorImpulse = JBoxUtils.clamp(m_motorImpulse + impulse, -maxImpulse, maxImpulse); impulse = m_motorImpulse - oldImpulse;
float oldImpulse = m_motorImpulse; float maxImpulse = data.step.dt * m_maxMotorForce; m_motorImpulse = JBoxUtils.clamp(m_motorImpulse + impulse, -maxImpulse, maxImpulse); impulse = m_motorImpulse - oldImpulse;