mirror of https://github.com/axmolengine/axmol.git
134 lines
3.6 KiB
C++
134 lines
3.6 KiB
C++
/*
|
|
* Copyright (c) 2006-2012 Erin Catto http://www.box2d.org
|
|
*
|
|
* This software is provided 'as-is', without any express or implied
|
|
* warranty. In no event will the authors be held liable for any damages
|
|
* arising from the use of this software.
|
|
* Permission is granted to anyone to use this software for any purpose,
|
|
* including commercial applications, and to alter it and redistribute it
|
|
* freely, subject to the following restrictions:
|
|
* 1. The origin of this software must not be misrepresented; you must not
|
|
* claim that you wrote the original software. If you use this software
|
|
* in a product, an acknowledgment in the product documentation would be
|
|
* appreciated but is not required.
|
|
* 2. Altered source versions must be plainly marked as such, and must not be
|
|
* misrepresented as being the original software.
|
|
* 3. This notice may not be removed or altered from any source distribution.
|
|
*/
|
|
|
|
#ifndef B2_MOTOR_JOINT_H
|
|
#define B2_MOTOR_JOINT_H
|
|
|
|
#include <Box2D/Dynamics/Joints/b2Joint.h>
|
|
|
|
/// Motor joint definition.
|
|
struct b2MotorJointDef : public b2JointDef
|
|
{
|
|
b2MotorJointDef()
|
|
{
|
|
type = e_motorJoint;
|
|
linearOffset.SetZero();
|
|
angularOffset = 0.0f;
|
|
maxForce = 1.0f;
|
|
maxTorque = 1.0f;
|
|
correctionFactor = 0.3f;
|
|
}
|
|
|
|
/// Initialize the bodies and offsets using the current transforms.
|
|
void Initialize(b2Body* bodyA, b2Body* bodyB);
|
|
|
|
/// Position of bodyB minus the position of bodyA, in bodyA's frame, in meters.
|
|
b2Vec2 linearOffset;
|
|
|
|
/// The bodyB angle minus bodyA angle in radians.
|
|
float32 angularOffset;
|
|
|
|
/// The maximum motor force in N.
|
|
float32 maxForce;
|
|
|
|
/// The maximum motor torque in N-m.
|
|
float32 maxTorque;
|
|
|
|
/// Position correction factor in the range [0,1].
|
|
float32 correctionFactor;
|
|
};
|
|
|
|
/// A motor joint is used to control the relative motion
|
|
/// between two bodies. A typical usage is to control the movement
|
|
/// of a dynamic body with respect to the ground.
|
|
class b2MotorJoint : public b2Joint
|
|
{
|
|
public:
|
|
b2Vec2 GetAnchorA() const;
|
|
b2Vec2 GetAnchorB() const;
|
|
|
|
b2Vec2 GetReactionForce(float32 inv_dt) const;
|
|
float32 GetReactionTorque(float32 inv_dt) const;
|
|
|
|
/// Set/get the target linear offset, in frame A, in meters.
|
|
void SetLinearOffset(const b2Vec2& linearOffset);
|
|
const b2Vec2& GetLinearOffset() const;
|
|
|
|
/// Set/get the target angular offset, in radians.
|
|
void SetAngularOffset(float32 angularOffset);
|
|
float32 GetAngularOffset() const;
|
|
|
|
/// Set the maximum friction force in N.
|
|
void SetMaxForce(float32 force);
|
|
|
|
/// Get the maximum friction force in N.
|
|
float32 GetMaxForce() const;
|
|
|
|
/// Set the maximum friction torque in N*m.
|
|
void SetMaxTorque(float32 torque);
|
|
|
|
/// Get the maximum friction torque in N*m.
|
|
float32 GetMaxTorque() const;
|
|
|
|
/// Set the position correction factor in the range [0,1].
|
|
void SetCorrectionFactor(float32 factor);
|
|
|
|
/// Get the position correction factor in the range [0,1].
|
|
float32 GetCorrectionFactor() const;
|
|
|
|
/// Dump to b2Log
|
|
void Dump();
|
|
|
|
protected:
|
|
|
|
friend class b2Joint;
|
|
|
|
b2MotorJoint(const b2MotorJointDef* def);
|
|
|
|
void InitVelocityConstraints(const b2SolverData& data);
|
|
void SolveVelocityConstraints(const b2SolverData& data);
|
|
bool SolvePositionConstraints(const b2SolverData& data);
|
|
|
|
// Solver shared
|
|
b2Vec2 m_linearOffset;
|
|
float32 m_angularOffset;
|
|
b2Vec2 m_linearImpulse;
|
|
float32 m_angularImpulse;
|
|
float32 m_maxForce;
|
|
float32 m_maxTorque;
|
|
float32 m_correctionFactor;
|
|
|
|
// Solver temp
|
|
int32 m_indexA;
|
|
int32 m_indexB;
|
|
b2Vec2 m_rA;
|
|
b2Vec2 m_rB;
|
|
b2Vec2 m_localCenterA;
|
|
b2Vec2 m_localCenterB;
|
|
b2Vec2 m_linearError;
|
|
float32 m_angularError;
|
|
float32 m_invMassA;
|
|
float32 m_invMassB;
|
|
float32 m_invIA;
|
|
float32 m_invIB;
|
|
b2Mat22 m_linearMass;
|
|
float32 m_angularMass;
|
|
};
|
|
|
|
#endif
|