mirror of https://github.com/axmolengine/axmol.git
139 lines
3.9 KiB
C++
139 lines
3.9 KiB
C++
// MIT License
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// Copyright (c) 2019 Erin Catto
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// Permission is hereby granted, free of charge, to any person obtaining a copy
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// of this software and associated documentation files (the "Software"), to deal
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// in the Software without restriction, including without limitation the rights
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// to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
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// copies of the Software, and to permit persons to whom the Software is
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// furnished to do so, subject to the following conditions:
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// The above copyright notice and this permission notice shall be included in all
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// copies or substantial portions of the Software.
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// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
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// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
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// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
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// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
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// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
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// OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
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// SOFTWARE.
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#ifndef B2_MOTOR_JOINT_H
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#define B2_MOTOR_JOINT_H
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#include "b2_api.h"
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#include "b2_joint.h"
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/// Motor joint definition.
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struct B2_API b2MotorJointDef : public b2JointDef
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{
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b2MotorJointDef()
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{
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type = e_motorJoint;
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linearOffset.SetZero();
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angularOffset = 0.0f;
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maxForce = 1.0f;
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maxTorque = 1.0f;
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correctionFactor = 0.3f;
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}
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/// Initialize the bodies and offsets using the current transforms.
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void Initialize(b2Body* bodyA, b2Body* bodyB);
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/// Position of bodyB minus the position of bodyA, in bodyA's frame, in meters.
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b2Vec2 linearOffset;
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/// The bodyB angle minus bodyA angle in radians.
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float angularOffset;
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/// The maximum motor force in N.
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float maxForce;
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/// The maximum motor torque in N-m.
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float maxTorque;
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/// Position correction factor in the range [0,1].
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float correctionFactor;
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};
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/// A motor joint is used to control the relative motion
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/// between two bodies. A typical usage is to control the movement
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/// of a dynamic body with respect to the ground.
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class B2_API b2MotorJoint : public b2Joint
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{
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public:
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b2Vec2 GetAnchorA() const override;
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b2Vec2 GetAnchorB() const override;
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b2Vec2 GetReactionForce(float inv_dt) const override;
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float GetReactionTorque(float inv_dt) const override;
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/// Set/get the target linear offset, in frame A, in meters.
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void SetLinearOffset(const b2Vec2& linearOffset);
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const b2Vec2& GetLinearOffset() const;
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/// Set/get the target angular offset, in radians.
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void SetAngularOffset(float angularOffset);
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float GetAngularOffset() const;
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/// Set the maximum friction force in N.
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void SetMaxForce(float force);
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/// Get the maximum friction force in N.
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float GetMaxForce() const;
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/// Set the maximum friction torque in N*m.
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void SetMaxTorque(float torque);
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/// Get the maximum friction torque in N*m.
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float GetMaxTorque() const;
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/// Set the position correction factor in the range [0,1].
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void SetCorrectionFactor(float factor);
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/// Get the position correction factor in the range [0,1].
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float GetCorrectionFactor() const;
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/// Dump to b2Log
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void Dump() override;
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protected:
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friend class b2Joint;
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b2MotorJoint(const b2MotorJointDef* def);
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void InitVelocityConstraints(const b2SolverData& data) override;
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void SolveVelocityConstraints(const b2SolverData& data) override;
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bool SolvePositionConstraints(const b2SolverData& data) override;
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// Solver shared
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b2Vec2 m_linearOffset;
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float m_angularOffset;
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b2Vec2 m_linearImpulse;
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float m_angularImpulse;
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float m_maxForce;
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float m_maxTorque;
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float m_correctionFactor;
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// Solver temp
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int32 m_indexA;
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int32 m_indexB;
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b2Vec2 m_rA;
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b2Vec2 m_rB;
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b2Vec2 m_localCenterA;
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b2Vec2 m_localCenterB;
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b2Vec2 m_linearError;
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float m_angularError;
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float m_invMassA;
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float m_invMassB;
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float m_invIA;
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float m_invIB;
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b2Mat22 m_linearMass;
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float m_angularMass;
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};
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#endif
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