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removed unused code in equations
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@schteppe
schteppe committed Jan 22, 2015
1 parent d2cf816 commit 36fff1b
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81 changes: 0 additions & 81 deletions src/equations/ContactEquation.js
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Original file line number Diff line number Diff line change
Expand Up @@ -160,84 +160,3 @@ ContactEquation.prototype.getImpactVelocityAlongNormal = function(){
return this.ni.dot(relVel);
};

// Compute C = GMG+eps in the SPOOK equation
/*
var computeC_temp1 = new Vec3();
var computeC_temp2 = new Vec3();
ContactEquation.prototype.computeC = function(){
var bi = this.bi;
var bj = this.bj;
var rixn = this.rixn;
var rjxn = this.rjxn;
var invMassi = bi.invMass;
var invMassj = bj.invMass;
var C = invMassi + invMassj + this.eps;
var invIi = this.invIi;
var invIj = this.invIj;
// Compute rxn * I * rxn for each body
if(bi.invInertiaWorld) bi.invInertiaWorld.vmult(rixn, this.biInvInertiaTimesRixn);
if(bj.invInertiaWorld) bj.invInertiaWorld.vmult(rjxn, this.bjInvInertiaTimesRjxn);
C += this.biInvInertiaTimesRixn.dot(rixn);
C += this.bjInvInertiaTimesRjxn.dot(rjxn);
return C;
};
var computeGWlambda_ulambda = new Vec3();
ContactEquation.prototype.computeGWlambda = function(){
var bi = this.bi;
var bj = this.bj;
var ulambda = computeGWlambda_ulambda;
var GWlambda = 0.0;
bj.vlambda.vsub(bi.vlambda, ulambda);
GWlambda += ulambda.dot(this.ni);
// Angular
if(bi.wlambda){
GWlambda -= bi.wlambda.dot(this.rixn);
}
if(bj.wlambda){
GWlambda += bj.wlambda.dot(this.rjxn);
}
return GWlambda;
};
var ContactEquation_addToWlambda_temp1 = new Vec3();
var ContactEquation_addToWlambda_temp2 = new Vec3();
ContactEquation.prototype.addToWlambda = function(deltalambda){
var bi = this.bi,
bj = this.bj,
rixn = this.rixn,
rjxn = this.rjxn,
invMassi = bi.invMass,
invMassj = bj.invMass,
n = this.ni,
temp1 = ContactEquation_addToWlambda_temp1,
temp2 = ContactEquation_addToWlambda_temp2;
// Add to linear velocity
n.mult(invMassi * deltalambda, temp2);
bi.vlambda.vsub(temp2,bi.vlambda);
n.mult(invMassj * deltalambda, temp2);
bj.vlambda.vadd(temp2,bj.vlambda);
// Add to angular velocity
if(bi.wlambda !== undefined){
this.biInvInertiaTimesRixn.mult(deltalambda,temp1);
bi.wlambda.vsub(temp1,bi.wlambda);
}
if(bj.wlambda !== undefined){
this.bjInvInertiaTimesRjxn.mult(deltalambda,temp1);
bj.wlambda.vadd(temp1,bj.wlambda);
}
};
*/
77 changes: 0 additions & 77 deletions src/equations/FrictionEquation.js
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Original file line number Diff line number Diff line change
Expand Up @@ -108,80 +108,3 @@ FrictionEquation.prototype.computeB = function(h){

return B;
};

/*
// Compute C = G * Minv * G + eps
//var FEcomputeC_temp1 = new Vec3();
//var FEcomputeC_temp2 = new Vec3();
FrictionEquation.prototype.computeC = function(){
var bi = this.bi,
bj = this.bj,
rixt = this.rixt,
rjxt = this.rjxt,
invMassi = bi.invMass,
invMassj = bj.invMass,
C = invMassi + invMassj + this.eps,
invIi = this.invIi,
invIj = this.invIj;
// Compute rxt * I * rxt for each body
if(bi.invInertiaWorld) bi.invInertiaWorld.vmult(rixt,this.biInvInertiaTimesRixt);
if(bj.invInertiaWorld) bj.invInertiaWorld.vmult(rjxt,this.bjInvInertiaTimesRjxt);
C += this.biInvInertiaTimesRixt.dot(rixt);
C += this.bjInvInertiaTimesRjxt.dot(rjxt);
return C;
};
var FrictionEquation_computeGWlambda_ulambda = new Vec3();
FrictionEquation.prototype.computeGWlambda = function(){
var bi = this.bi;
var bj = this.bj;
var GWlambda = 0.0;
var ulambda = FrictionEquation_computeGWlambda_ulambda;
bj.vlambda.vsub(bi.vlambda,ulambda);
GWlambda += ulambda.dot(this.t);
// Angular
if(bi.wlambda){
GWlambda -= bi.wlambda.dot(this.rixt);
}
if(bj.wlambda){
GWlambda += bj.wlambda.dot(this.rjxt);
}
return GWlambda;
};
var FrictionEquation_addToWlambda_tmp = new Vec3();
FrictionEquation.prototype.addToWlambda = function(deltalambda){
var bi = this.bi,
bj = this.bj,
rixt = this.rixt,
rjxt = this.rjxt,
invMassi = bi.invMass,
invMassj = bj.invMass,
t = this.t,
tmp = FrictionEquation_addToWlambda_tmp,
wi = bi.wlambda,
wj = bj.wlambda;
// Add to linear velocity
t.mult(invMassi * deltalambda, tmp);
bi.vlambda.vsub(tmp,bi.vlambda);
t.mult(invMassj * deltalambda, tmp);
bj.vlambda.vadd(tmp,bj.vlambda);
// Add to angular velocity
if(wi){
this.biInvInertiaTimesRixt.mult(deltalambda,tmp);
wi.vsub(tmp,wi);
}
if(wj){
this.bjInvInertiaTimesRjxt.mult(deltalambda,tmp);
wj.vadd(tmp,wj);
}
};
*/
65 changes: 0 additions & 65 deletions src/equations/RotationalEquation.js
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Original file line number Diff line number Diff line change
Expand Up @@ -86,68 +86,3 @@ RotationalEquation.prototype.computeB = function(h){
return B;
};

/*
// Compute C = GMG+eps
RotationalEquation.prototype.computeC = function(){
var bi = this.bi;
var bj = this.bj;
var nixnj = this.nixnj;
var njxni = this.njxni;
var invMassi = bi.invMass;
var invMassj = bj.invMass;
var C = this.eps;
C += bi.invInertiaWorld.vmult(njxni).dot(njxni);
C += bj.invInertiaWorld.vmult(nixnj).dot(nixnj);
return C;
};
var computeGWlambda_ulambda = new Vec3();
RotationalEquation.prototype.computeGWlambda = function(){
var bi = this.bi;
var bj = this.bj;
var ulambda = computeGWlambda_ulambda;
var GWlambda = 0.0;
//bj.vlambda.vsub(bi.vlambda, ulambda);
//GWlambda += ulambda.dot(this.ni);
// Angular
if(bi.wlambda){
GWlambda += bi.wlambda.dot(this.njxni);
}
if(bj.wlambda){
GWlambda += bj.wlambda.dot(this.nixnj);
}
//console.log("GWlambda:",GWlambda);
return GWlambda;
};
RotationalEquation.prototype.addToWlambda = function(deltalambda){
var bi = this.bi;
var bj = this.bj;
var nixnj = this.nixnj;
var njxni = this.njxni;
var invMassi = bi.invMass;
var invMassj = bj.invMass;
// Add to linear velocity
//bi.vlambda.vsub(n.mult(invMassi * deltalambda),bi.vlambda);
//bj.vlambda.vadd(n.mult(invMassj * deltalambda),bj.vlambda);
// Add to angular velocity
if(bi.wlambda){
var I = bi.invInertiaWorld;
bi.wlambda.vsub(I.vmult(nixnj).mult(deltalambda),bi.wlambda);
}
if(bj.wlambda){
var I = bj.invInertiaWorld;
bj.wlambda.vadd(I.vmult(nixnj).mult(deltalambda),bj.wlambda);
}
};
*/
67 changes: 0 additions & 67 deletions src/equations/RotationalMotorEquation.js
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Original file line number Diff line number Diff line change
Expand Up @@ -75,70 +75,3 @@ RotationalMotorEquation.prototype.computeB = function(h){

return B;
};

/*
// Compute C = GMG+eps
RotationalMotorEquation.prototype.computeC = function(){
var bi = this.bi;
var bj = this.bj;
var axisA = this.axisA;
var axisB = this.axisB;
var invMassi = bi.invMass;
var invMassj = bj.invMass;
var C = this.eps;
C += bi.invInertiaWorld.vmult(axisA).dot(axisB);
C += bj.invInertiaWorld.vmult(axisB).dot(axisB);
return C;
};
var computeGWlambda_ulambda = new Vec3();
RotationalMotorEquation.prototype.computeGWlambda = function(){
var bi = this.bi;
var bj = this.bj;
var ulambda = computeGWlambda_ulambda;
var axisA = this.axisA;
var axisB = this.axisB;
var GWlambda = 0.0;
//bj.vlambda.vsub(bi.vlambda, ulambda);
//GWlambda += ulambda.dot(this.ni);
// Angular
if(bi.wlambda){
GWlambda += bi.wlambda.dot(axisA);
}
if(bj.wlambda){
GWlambda += bj.wlambda.dot(axisB);
}
//console.log("GWlambda:",GWlambda);
return GWlambda;
};
RotationalMotorEquation.prototype.addToWlambda = function(deltalambda){
var bi = this.bi;
var bj = this.bj;
var axisA = this.axisA;
var axisB = this.axisB;
var invMassi = bi.invMass;
var invMassj = bj.invMass;
// Add to linear velocity
//bi.vlambda.vsub(n.mult(invMassi * deltalambda),bi.vlambda);
//bj.vlambda.vadd(n.mult(invMassj * deltalambda),bj.vlambda);
// Add to angular velocity
if(bi.wlambda){
var I = bi.invInertiaWorld;
bi.wlambda.vsub(I.vmult(axisA).mult(deltalambda),bi.wlambda);
}
if(bj.wlambda){
var I = bj.invInertiaWorld;
bj.wlambda.vadd(I.vmult(axisB).mult(deltalambda),bj.wlambda);
}
};
*/

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