pbox2d 0.6.0-java → 0.8.0-java

data/src/org/jbox2d/dynamics/joints/PrismaticJointDef.java

@@ -0,0 +1,120 @@
+/*******************************************************************************
+ * Copyright (c) 2013, Daniel Murphy
+ * 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
+ * 	  and/or other materials provided with the distribution.
+ * 
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+ * ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+ * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED.
+ * IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT,
+ * INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT
+ * NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR
+ * PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY,
+ * WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+ * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ ******************************************************************************/
+package org.jbox2d.dynamics.joints;
+
+import org.jbox2d.common.Vec2;
+import org.jbox2d.dynamics.Body;
+
+/**
+ * Prismatic joint definition. This requires defining a line of motion using an axis and an anchor
+ * point. The definition uses local anchor points and a local axis so that the initial configuration
+ * can violate the constraint slightly. The joint translation is zero when the local anchor points
+ * coincide in world space. Using local anchors and a local axis helps when saving and loading a
+ * game.
+ * 
+ * @warning at least one body should by dynamic with a non-fixed rotation.
+ * @author Daniel
+ * 
+ */
+public class PrismaticJointDef extends JointDef {
+
+
+  /**
+   * The local anchor point relative to body1's origin.
+   */
+  public final Vec2 localAnchorA;
+
+  /**
+   * The local anchor point relative to body2's origin.
+   */
+  public final Vec2 localAnchorB;
+
+  /**
+   * The local translation axis in body1.
+   */
+  public final Vec2 localAxisA;
+
+  /**
+   * The constrained angle between the bodies: body2_angle - body1_angle.
+   */
+  public float referenceAngle;
+
+  /**
+   * Enable/disable the joint limit.
+   */
+  public boolean enableLimit;
+
+  /**
+   * The lower translation limit, usually in meters.
+   */
+  public float lowerTranslation;
+
+  /**
+   * The upper translation limit, usually in meters.
+   */
+  public float upperTranslation;
+
+  /**
+   * Enable/disable the joint motor.
+   */
+  public boolean enableMotor;
+
+  /**
+   * The maximum motor torque, usually in N-m.
+   */
+  public float maxMotorForce;
+
+  /**
+   * The desired motor speed in radians per second.
+   */
+  public float motorSpeed;
+
+  public PrismaticJointDef() {
+    super(JointType.PRISMATIC);
+    localAnchorA = new Vec2();
+    localAnchorB = new Vec2();
+    localAxisA = new Vec2(1.0f, 0.0f);
+    referenceAngle = 0.0f;
+    enableLimit = false;
+    lowerTranslation = 0.0f;
+    upperTranslation = 0.0f;
+    enableMotor = false;
+    maxMotorForce = 0.0f;
+    motorSpeed = 0.0f;
+  }
+
+
+  /**
+   * Initialize the bodies, anchors, axis, and reference angle using the world anchor and world
+   * axis.
+   */
+  public void initialize(Body b1, Body b2, Vec2 anchor, Vec2 axis) {
+    bodyA = b1;
+    bodyB = b2;
+    bodyA.getLocalPointToOut(anchor, localAnchorA);
+    bodyB.getLocalPointToOut(anchor, localAnchorB);
+    bodyA.getLocalVectorToOut(axis, localAxisA);
+    referenceAngle = bodyB.getAngle() - bodyA.getAngle();
+  }
+}

data/src/org/jbox2d/dynamics/joints/PulleyJoint.java

@@ -0,0 +1,393 @@
+/*******************************************************************************
+ * Copyright (c) 2013, Daniel Murphy
+ * 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
+ * 	  and/or other materials provided with the distribution.
+ * 
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+ * ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+ * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED.
+ * IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT,
+ * INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT
+ * NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR
+ * PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY,
+ * WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+ * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ ******************************************************************************/
+/**
+ * Created at 12:12:02 PM Jan 23, 2011
+ */
+package org.jbox2d.dynamics.joints;
+
+import org.jbox2d.common.MathUtils;
+import org.jbox2d.common.Rot;
+import org.jbox2d.common.Settings;
+import org.jbox2d.common.Vec2;
+import org.jbox2d.dynamics.SolverData;
+import org.jbox2d.pooling.IWorldPool;
+
+/**
+ * The pulley joint is connected to two bodies and two fixed ground points. The pulley supports a
+ * ratio such that: length1 + ratio * length2 <= constant Yes, the force transmitted is scaled by
+ * the ratio. Warning: the pulley joint can get a bit squirrelly by itself. They often work better
+ * when combined with prismatic joints. You should also cover the the anchor points with static
+ * shapes to prevent one side from going to zero length.
+ * 
+ * @author Daniel Murphy
+ */
+public class PulleyJoint extends Joint {
+
+  public static final float MIN_PULLEY_LENGTH = 2.0f;
+
+  private final Vec2 m_groundAnchorA = new Vec2();
+  private final Vec2 m_groundAnchorB = new Vec2();
+  private float m_lengthA;
+  private float m_lengthB;
+
+  // Solver shared
+  private final Vec2 m_localAnchorA = new Vec2();
+  private final Vec2 m_localAnchorB = new Vec2();
+  private float m_constant;
+  private float m_ratio;
+  private float m_impulse;
+
+  // Solver temp
+  private int m_indexA;
+  private int m_indexB;
+  private final Vec2 m_uA = new Vec2();
+  private final Vec2 m_uB = new Vec2();
+  private final Vec2 m_rA = new Vec2();
+  private final Vec2 m_rB = new Vec2();
+  private final Vec2 m_localCenterA = new Vec2();
+  private final Vec2 m_localCenterB = new Vec2();
+  private float m_invMassA;
+  private float m_invMassB;
+  private float m_invIA;
+  private float m_invIB;
+  private float m_mass;
+
+  protected PulleyJoint(IWorldPool argWorldPool, PulleyJointDef def) {
+    super(argWorldPool, def);
+    m_groundAnchorA.set(def.groundAnchorA);
+    m_groundAnchorB.set(def.groundAnchorB);
+    m_localAnchorA.set(def.localAnchorA);
+    m_localAnchorB.set(def.localAnchorB);
+
+    assert (def.ratio != 0.0f);
+    m_ratio = def.ratio;
+
+    m_lengthA = def.lengthA;
+    m_lengthB = def.lengthB;
+
+    m_constant = def.lengthA + m_ratio * def.lengthB;
+    m_impulse = 0.0f;
+  }
+
+  public float getLengthA() {
+    return m_lengthA;
+  }
+
+  public float getLengthB() {
+    return m_lengthB;
+  }
+
+  public float getCurrentLengthA() {
+    final Vec2 p = pool.popVec2();
+    m_bodyA.getWorldPointToOut(m_localAnchorA, p);
+    p.subLocal(m_groundAnchorA);
+    float length = p.length();
+    pool.pushVec2(1);
+    return length;
+  }
+
+  public float getCurrentLengthB() {
+    final Vec2 p = pool.popVec2();
+    m_bodyB.getWorldPointToOut(m_localAnchorB, p);
+    p.subLocal(m_groundAnchorB);
+    float length = p.length();
+    pool.pushVec2(1);
+    return length;
+  }
+
+
+  public Vec2 getLocalAnchorA() {
+    return m_localAnchorA;
+  }
+
+  public Vec2 getLocalAnchorB() {
+    return m_localAnchorB;
+  }
+
+
+  @Override
+  public void getAnchorA(Vec2 argOut) {
+    m_bodyA.getWorldPointToOut(m_localAnchorA, argOut);
+  }
+
+  @Override
+  public void getAnchorB(Vec2 argOut) {
+    m_bodyB.getWorldPointToOut(m_localAnchorB, argOut);
+  }
+
+  @Override
+  public void getReactionForce(float inv_dt, Vec2 argOut) {
+    argOut.set(m_uB).mulLocal(m_impulse).mulLocal(inv_dt);
+  }
+
+  @Override
+  public float getReactionTorque(float inv_dt) {
+    return 0f;
+  }
+
+  public Vec2 getGroundAnchorA() {
+    return m_groundAnchorA;
+  }
+
+  public Vec2 getGroundAnchorB() {
+    return m_groundAnchorB;
+  }
+
+  public float getLength1() {
+    final Vec2 p = pool.popVec2();
+    m_bodyA.getWorldPointToOut(m_localAnchorA, p);
+    p.subLocal(m_groundAnchorA);
+
+    float len = p.length();
+    pool.pushVec2(1);
+    return len;
+  }
+
+  public float getLength2() {
+    final Vec2 p = pool.popVec2();
+    m_bodyB.getWorldPointToOut(m_localAnchorB, p);
+    p.subLocal(m_groundAnchorB);
+
+    float len = p.length();
+    pool.pushVec2(1);
+    return len;
+  }
+
+  public float getRatio() {
+    return m_ratio;
+  }
+
+  @Override
+  public void initVelocityConstraints(final SolverData data) {
+    m_indexA = m_bodyA.m_islandIndex;
+    m_indexB = m_bodyB.m_islandIndex;
+    m_localCenterA.set(m_bodyA.m_sweep.localCenter);
+    m_localCenterB.set(m_bodyB.m_sweep.localCenter);
+    m_invMassA = m_bodyA.m_invMass;
+    m_invMassB = m_bodyB.m_invMass;
+    m_invIA = m_bodyA.m_invI;
+    m_invIB = m_bodyB.m_invI;
+
+    Vec2 cA = data.positions[m_indexA].c;
+    float aA = data.positions[m_indexA].a;
+    Vec2 vA = data.velocities[m_indexA].v;
+    float wA = data.velocities[m_indexA].w;
+
+    Vec2 cB = data.positions[m_indexB].c;
+    float aB = data.positions[m_indexB].a;
+    Vec2 vB = data.velocities[m_indexB].v;
+    float wB = data.velocities[m_indexB].w;
+
+    final Rot qA = pool.popRot();
+    final Rot qB = pool.popRot();
+    final Vec2 temp = pool.popVec2();
+
+    qA.set(aA);
+    qB.set(aB);
+
+    // Compute the effective masses.
+    Rot.mulToOutUnsafe(qA, temp.set(m_localAnchorA).subLocal(m_localCenterA), m_rA);
+    Rot.mulToOutUnsafe(qB, temp.set(m_localAnchorB).subLocal(m_localCenterB), m_rB);
+
+    m_uA.set(cA).addLocal(m_rA).subLocal(m_groundAnchorA);
+    m_uB.set(cB).addLocal(m_rB).subLocal(m_groundAnchorB);
+
+    float lengthA = m_uA.length();
+    float lengthB = m_uB.length();
+
+    if (lengthA > 10f * Settings.linearSlop) {
+      m_uA.mulLocal(1.0f / lengthA);
+    } else {
+      m_uA.setZero();
+    }
+
+    if (lengthB > 10f * Settings.linearSlop) {
+      m_uB.mulLocal(1.0f / lengthB);
+    } else {
+      m_uB.setZero();
+    }
+
+    // Compute effective mass.
+    float ruA = Vec2.cross(m_rA, m_uA);
+    float ruB = Vec2.cross(m_rB, m_uB);
+
+    float mA = m_invMassA + m_invIA * ruA * ruA;
+    float mB = m_invMassB + m_invIB * ruB * ruB;
+
+    m_mass = mA + m_ratio * m_ratio * mB;
+
+    if (m_mass > 0.0f) {
+      m_mass = 1.0f / m_mass;
+    }
+
+    if (data.step.warmStarting) {
+
+      // Scale impulses to support variable time steps.
+      m_impulse *= data.step.dtRatio;
+
+      // Warm starting.
+      final Vec2 PA = pool.popVec2();
+      final Vec2 PB = pool.popVec2();
+
+      PA.set(m_uA).mulLocal(-m_impulse);
+      PB.set(m_uB).mulLocal(-m_ratio * m_impulse);
+
+      vA.x += m_invMassA * PA.x;
+      vA.y += m_invMassA * PA.y;
+      wA += m_invIA * Vec2.cross(m_rA, PA);
+      vB.x += m_invMassB * PB.x;
+      vB.y += m_invMassB * PB.y;
+      wB += m_invIB * Vec2.cross(m_rB, PB);
+
+      pool.pushVec2(2);
+    } else {
+      m_impulse = 0.0f;
+    }
+//    data.velocities[m_indexA].v.set(vA);
+    data.velocities[m_indexA].w = wA;
+//    data.velocities[m_indexB].v.set(vB);
+    data.velocities[m_indexB].w = wB;
+
+    pool.pushVec2(1);
+    pool.pushRot(2);
+  }
+
+  @Override
+  public void solveVelocityConstraints(final SolverData data) {
+    Vec2 vA = data.velocities[m_indexA].v;
+    float wA = data.velocities[m_indexA].w;
+    Vec2 vB = data.velocities[m_indexB].v;
+    float wB = data.velocities[m_indexB].w;
+
+    final Vec2 vpA = pool.popVec2();
+    final Vec2 vpB = pool.popVec2();
+    final Vec2 PA = pool.popVec2();
+    final Vec2 PB = pool.popVec2();
+
+    Vec2.crossToOutUnsafe(wA, m_rA, vpA);
+    vpA.addLocal(vA);
+    Vec2.crossToOutUnsafe(wB, m_rB, vpB);
+    vpB.addLocal(vB);
+
+    float Cdot = -Vec2.dot(m_uA, vpA) - m_ratio * Vec2.dot(m_uB, vpB);
+    float impulse = -m_mass * Cdot;
+    m_impulse += impulse;
+
+    PA.set(m_uA).mulLocal(-impulse);
+    PB.set(m_uB).mulLocal(-m_ratio * impulse);
+    vA.x += m_invMassA * PA.x;
+    vA.y += m_invMassA * PA.y;
+    wA += m_invIA * Vec2.cross(m_rA, PA);
+    vB.x += m_invMassB * PB.x;
+    vB.y += m_invMassB * PB.y;
+    wB += m_invIB * Vec2.cross(m_rB, PB);
+
+//    data.velocities[m_indexA].v.set(vA);
+    data.velocities[m_indexA].w = wA;
+//    data.velocities[m_indexB].v.set(vB);
+    data.velocities[m_indexB].w = wB;
+
+    pool.pushVec2(4);
+  }
+
+  @Override
+  public boolean solvePositionConstraints(final SolverData data) {
+    final Rot qA = pool.popRot();
+    final Rot qB = pool.popRot();
+    final Vec2 rA = pool.popVec2();
+    final Vec2 rB = pool.popVec2();
+    final Vec2 uA = pool.popVec2();
+    final Vec2 uB = pool.popVec2();
+    final Vec2 temp = pool.popVec2();
+    final Vec2 PA = pool.popVec2();
+    final Vec2 PB = pool.popVec2();
+
+    Vec2 cA = data.positions[m_indexA].c;
+    float aA = data.positions[m_indexA].a;
+    Vec2 cB = data.positions[m_indexB].c;
+    float aB = data.positions[m_indexB].a;
+
+    qA.set(aA);
+    qB.set(aB);
+
+    Rot.mulToOutUnsafe(qA, temp.set(m_localAnchorA).subLocal(m_localCenterA), rA);
+    Rot.mulToOutUnsafe(qB, temp.set(m_localAnchorB).subLocal(m_localCenterB), rB);
+
+    uA.set(cA).addLocal(rA).subLocal(m_groundAnchorA);
+    uB.set(cB).addLocal(rB).subLocal(m_groundAnchorB);
+
+    float lengthA = uA.length();
+    float lengthB = uB.length();
+
+    if (lengthA > 10.0f * Settings.linearSlop) {
+      uA.mulLocal(1.0f / lengthA);
+    } else {
+      uA.setZero();
+    }
+
+    if (lengthB > 10.0f * Settings.linearSlop) {
+      uB.mulLocal(1.0f / lengthB);
+    } else {
+      uB.setZero();
+    }
+
+    // Compute effective mass.
+    float ruA = Vec2.cross(rA, uA);
+    float ruB = Vec2.cross(rB, uB);
+
+    float mA = m_invMassA + m_invIA * ruA * ruA;
+    float mB = m_invMassB + m_invIB * ruB * ruB;
+
+    float mass = mA + m_ratio * m_ratio * mB;
+
+    if (mass > 0.0f) {
+      mass = 1.0f / mass;
+    }
+
+    float C = m_constant - lengthA - m_ratio * lengthB;
+    float linearError = MathUtils.abs(C);
+
+    float impulse = -mass * C;
+
+    PA.set(uA).mulLocal(-impulse);
+    PB.set(uB).mulLocal(-m_ratio * impulse);
+
+    cA.x += m_invMassA * PA.x;
+    cA.y += m_invMassA * PA.y;
+    aA += m_invIA * Vec2.cross(rA, PA);
+    cB.x += m_invMassB * PB.x;
+    cB.y += m_invMassB * PB.y;
+    aB += m_invIB * Vec2.cross(rB, PB);
+
+//    data.positions[m_indexA].c.set(cA);
+    data.positions[m_indexA].a = aA;
+//    data.positions[m_indexB].c.set(cB);
+    data.positions[m_indexB].a = aB;
+
+    pool.pushRot(2);
+    pool.pushVec2(7);
+
+    return linearError < Settings.linearSlop;
+  }
+}

data/src/org/jbox2d/dynamics/joints/PulleyJointDef.java

@@ -0,0 +1,105 @@
+/*******************************************************************************
+ * Copyright (c) 2013, Daniel Murphy
+ * 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
+ * 	  and/or other materials provided with the distribution.
+ * 
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+ * ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+ * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED.
+ * IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT,
+ * INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT
+ * NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR
+ * PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY,
+ * WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+ * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ ******************************************************************************/
+/**
+ * Created at 12:11:41 PM Jan 23, 2011
+ */
+package org.jbox2d.dynamics.joints;
+
+import org.jbox2d.common.Settings;
+import org.jbox2d.common.Vec2;
+import org.jbox2d.dynamics.Body;
+
+/**
+ * Pulley joint definition. This requires two ground anchors, two dynamic body anchor points, and a
+ * pulley ratio.
+ * 
+ * @author Daniel Murphy
+ */
+public class PulleyJointDef extends JointDef {
+
+  /**
+   * The first ground anchor in world coordinates. This point never moves.
+   */
+  public Vec2 groundAnchorA;
+
+  /**
+   * The second ground anchor in world coordinates. This point never moves.
+   */
+  public Vec2 groundAnchorB;
+
+  /**
+   * The local anchor point relative to bodyA's origin.
+   */
+  public Vec2 localAnchorA;
+
+  /**
+   * The local anchor point relative to bodyB's origin.
+   */
+  public Vec2 localAnchorB;
+
+  /**
+   * The a reference length for the segment attached to bodyA.
+   */
+  public float lengthA;
+
+  /**
+   * The a reference length for the segment attached to bodyB.
+   */
+  public float lengthB;
+
+  /**
+   * The pulley ratio, used to simulate a block-and-tackle.
+   */
+  public float ratio;
+
+  public PulleyJointDef() {
+    super(JointType.PULLEY);
+    groundAnchorA = new Vec2(-1.0f, 1.0f);
+    groundAnchorB = new Vec2(1.0f, 1.0f);
+    localAnchorA = new Vec2(-1.0f, 0.0f);
+    localAnchorB = new Vec2(1.0f, 0.0f);
+    lengthA = 0.0f;
+    lengthB = 0.0f;
+    ratio = 1.0f;
+    collideConnected = true;
+  }
+
+  /**
+   * Initialize the bodies, anchors, lengths, max lengths, and ratio using the world anchors.
+   */
+  public void initialize(Body b1, Body b2, Vec2 ga1, Vec2 ga2, Vec2 anchor1, Vec2 anchor2, float r) {
+    bodyA = b1;
+    bodyB = b2;
+    groundAnchorA = ga1;
+    groundAnchorB = ga2;
+    localAnchorA = bodyA.getLocalPoint(anchor1);
+    localAnchorB = bodyB.getLocalPoint(anchor2);
+    Vec2 d1 = anchor1.sub(ga1);
+    lengthA = d1.length();
+    Vec2 d2 = anchor2.sub(ga2);
+    lengthB = d2.length();
+    ratio = r;
+    assert (ratio > Settings.EPSILON);
+  }
+}