From 6d77d9ed74ac8d3d00aaed4586ce733a25e0c7e9 Mon Sep 17 00:00:00 2001 From: Nomango Date: Tue, 31 Dec 2019 16:02:29 +0800 Subject: [PATCH] Update Joint --- src/kiwano-physics/Joint.cpp | 1 + src/kiwano-physics/Joint.h | 275 +++++++++++++++++++++++++++-------- 2 files changed, 219 insertions(+), 57 deletions(-) diff --git a/src/kiwano-physics/Joint.cpp b/src/kiwano-physics/Joint.cpp index f0bdc620..4005e078 100644 --- a/src/kiwano-physics/Joint.cpp +++ b/src/kiwano-physics/Joint.cpp @@ -580,6 +580,7 @@ namespace kiwano raw_joint_ = static_cast(GetB2Joint()); } + // // WheelJoint // diff --git a/src/kiwano-physics/Joint.h b/src/kiwano-physics/Joint.h index fa049d2f..85881ecc 100644 --- a/src/kiwano-physics/Joint.h +++ b/src/kiwano-physics/Joint.h @@ -91,6 +91,8 @@ namespace kiwano Joint(World* world, b2JointDef* joint_def); virtual ~Joint(); + /// \~chinese + /// @brief 初始化关节 void Init(World* world, b2JointDef* joint_def); /// \~chinese @@ -125,10 +127,10 @@ namespace kiwano /// @brief 固定距离关节参数 struct Param : public Joint::ParamBase { - Point anchor_a; ///< 物体A的锚点位置 - Point anchor_b; ///< 物体B的锚点位置 - float frequency_hz; ///< 弹簧阻尼器频率 - float damping_ratio; ///< 阻尼比 + Point anchor_a; ///< 关节在物体A上的连接点 + Point anchor_b; ///< 关节在物体B上的连接点 + float frequency_hz; ///< 响应速度，数值越高关节响应的速度越快，看上去越坚固 + float damping_ratio; ///< 阻尼率，值越大关节运动阻尼越大 Param( Body* body_a, @@ -164,16 +166,25 @@ namespace kiwano /// \~chinese /// @brief 设置关节长度 void SetLength(float length); + + /// \~chinese + /// @brief 获取关节长度 float GetLength() const; /// \~chinese - /// @brief 设置弹簧阻尼器频率 [赫兹] + /// @brief 设置弹簧响应速度 [赫兹] void SetFrequency(float hz); + + /// \~chinese + /// @brief 获取弹簧响应速度 [赫兹] float GetFrequency() const; /// \~chinese - /// @brief 设置阻尼比 + /// @brief 设置阻尼率 void SetDampingRatio(float ratio); + + /// \~chinese + /// @brief 获取阻尼率 float GetDampingRatio() const; private: @@ -189,9 +200,9 @@ namespace kiwano public: struct Param : public Joint::ParamBase { - Point anchor; - float max_force; - float max_torque; + Point anchor; ///< 摩擦作用点 + float max_force; ///< 最大摩擦力 + float max_torque; ///< 最大扭力 Param( Body* body_a, @@ -222,13 +233,19 @@ namespace kiwano FrictionJoint(World* world, Param const& param); /// \~chinese - /// @brief 设定最大摩擦力 + /// @brief 设置最大摩擦力 void SetMaxForce(float force); + + /// \~chinese + /// @brief 获取最大摩擦力 float GetMaxForce() const; /// \~chinese - /// @brief 设定最大转矩 + /// @brief 设置最大转矩 void SetMaxTorque(float torque); + + /// \~chinese + /// @brief 获取最大转矩 float GetMaxTorque() const; private: @@ -246,8 +263,8 @@ namespace kiwano /// @brief 齿轮关节参数 struct Param : public Joint::ParamBase { - JointPtr joint_a; ///< 关节A - JointPtr joint_b; ///< 关节B + JointPtr joint_a; ///< 关节A（旋转关节/平移关节） + JointPtr joint_b; ///< 关节B（旋转关节/平移关节） float ratio; ///< 齿轮传动比 Param( @@ -277,6 +294,9 @@ namespace kiwano /// \~chinese /// @brief 设定齿轮传动比 void SetRatio(float ratio); + + /// \~chinese + /// @brief 获取齿轮传动比 float GetRatio() const; private: @@ -327,13 +347,19 @@ namespace kiwano MotorJoint(World* world, Param const& param); /// \~chinese - /// @brief 设定最大摩擦力 + /// @brief 设置最大摩擦力 void SetMaxForce(float force); + + /// \~chinese + /// @brief 获取最大摩擦力 float GetMaxForce() const; /// \~chinese - /// @brief 设定最大转矩 + /// @brief 设置最大转矩 void SetMaxTorque(float torque); + + /// \~chinese + /// @brief 获取最大转矩 float GetMaxTorque() const; private: @@ -351,12 +377,12 @@ namespace kiwano /// @brief 平移关节参数 struct Param : public Joint::ParamBase { - Point anchor; ///< 锚点位置 - Vec2 axis; ///< 平移轴向量 - bool enable_limit; ///< 关节限制开关 - float lower_translation; ///< 关节下限 - float upper_translation; ///< 关节上限 - bool enable_motor; ///< 马达开关 + Point anchor; ///< 关节位置 + Vec2 axis; ///< 物体A滑动的方向 + bool enable_limit; ///< 是否启用限制 + float lower_translation; ///< 移动的最小限制，与方向同向为正，反向为负，启用限制后才有效果 + float upper_translation; ///< 移动的最大限制，与方向同向为正，反向为负，启用限制后才有效果 + bool enable_motor; ///< 是否启用马达 float max_motor_force; ///< 最大马达力 [N] float motor_speed; ///< 马达转速 [degree/s] @@ -418,27 +444,45 @@ namespace kiwano /// \~chinese /// @brief 是否启用关节限制 bool IsLimitEnabled() const; + + /// \~chinese + /// @brief 设置是否启用关节限制 void EnableLimit(bool flag); /// \~chinese - /// @brief 设置关节限制 + /// @brief 获取平移最小限制 float GetLowerLimit() const; + + /// \~chinese + /// @brief 获取平移最大限制 float GetUpperLimit() const; + + /// \~chinese + /// @brief 设置关节限制 void SetLimits(float lower, float upper); /// \~chinese /// @brief 是否启用马达 bool IsMotorEnabled() const; + + /// \~chinese + /// @brief 设置是否启用马达 void EnableMotor(bool flag); /// \~chinese /// @brief 设置马达转速 [degree/s] void SetMotorSpeed(float speed); + + /// \~chinese + /// @brief 获取马达转速 [degree/s] float GetMotorSpeed() const; /// \~chinese - /// @brief 设定最大马达力 [N] + /// @brief 设置最大马达力 [N] void SetMaxMotorForce(float force); + + /// \~chinese + /// @brief 获取最大马达力 [N] float GetMaxMotorForce() const; private: @@ -456,11 +500,11 @@ namespace kiwano /// @brief 滑轮关节参数 struct Param : public Joint::ParamBase { - Point anchor_a; ///< - Point anchor_b; ///< - Point ground_anchor_a; ///< - Point ground_anchor_b; ///< - float ratio; ///< + Point anchor_a; ///< 关节在物体A上的作用点 + Point anchor_b; ///< 关节在物体B上的作用点 + Point ground_anchor_a; ///< 物体A对应的滑轮的位置 + Point ground_anchor_b; ///< 物体B对应的滑轮的位置 + float ratio; ///< 滑轮比，关节传动时，滑轮上升和下降的两头的位移比例 Param( Body* body_a, @@ -496,15 +540,32 @@ namespace kiwano PulleyJoint(World* world, b2PulleyJointDef* def); PulleyJoint(World* world, Param const& param); + /// \~chinese + /// @brief 物体A对应的滑轮的位置 Point GetGroundAnchorA() const; + + /// \~chinese + /// @brief 物体B对应的滑轮的位置 Point GetGroundAnchorB() const; + /// \~chinese + /// @brief 获取滑轮传动比 float GetRatio() const; + /// \~chinese + /// @brief 获取物体A与滑轮的距离 float GetLengthA() const; + + /// \~chinese + /// @brief 获取物体B与滑轮的距离 float GetLengthB() const; + /// \~chinese + /// @brief 获取物体A与滑轮的当前距离 float GetCurrentLengthA() const; + + /// \~chinese + /// @brief 获取物体B与滑轮的当前距离 float GetCurrentLengthB() const; private: @@ -518,15 +579,17 @@ namespace kiwano : public Joint { public: + /// \~chinese + /// @brief 旋转关节参数 struct Param : public Joint::ParamBase { - Point anchor; - bool enable_limit; - float lower_angle; - float upper_angle; - bool enable_motor; - float max_motor_torque; - float motor_speed; + Point anchor; ///< 关节位置 + bool enable_limit; ///< 是否启用限制 + float lower_angle; ///< 移动的最小限制，与方向同向为正，反向为负，启用限制后才有效果 + float upper_angle; ///< 移动的最大限制，与方向同向为正，反向为负，启用限制后才有效果 + bool enable_motor; ///< 是否启用马达 + float max_motor_torque; ///< 最大马达力 [N] + float motor_speed; ///< 马达转速 [degree/s] Param( Body* body_a, @@ -568,28 +631,60 @@ namespace kiwano RevoluteJoint(World* world, b2RevoluteJointDef* def); RevoluteJoint(World* world, Param const& param); + /// \~chinese + /// @brief 获取参考角 float GetReferenceAngle() const; + + /// \~chinese + /// @brief 获取关节角度 float GetJointAngle() const; + + /// \~chinese + /// @brief 获取关节速度 float GetJointSpeed() const; + /// \~chinese + /// @brief 是否启用关节限制 bool IsLimitEnabled() const; + + /// \~chinese + /// @brief 设置是否启用关节限制 void EnableLimit(bool flag); + /// \~chinese + /// @brief 获取平移最小限制 float GetLowerLimit() const; + + /// \~chinese + /// @brief 获取平移最大限制 float GetUpperLimit() const; + + /// \~chinese + /// @brief 设置关节限制 void SetLimits(float lower, float upper); + /// \~chinese + /// @brief 是否启用马达 bool IsMotorEnabled() const; + + /// \~chinese + /// @brief 设置是否启用马达 void EnableMotor(bool flag); /// \~chinese /// @brief 设置马达转速 [degree/s] void SetMotorSpeed(float speed); + + /// \~chinese + /// @brief 获取马达转速 [degree/s] float GetMotorSpeed() const; /// \~chinese - /// @brief 设定最大马达转矩 [N/m] + /// @brief 设置最大马达转矩 [N/m] void SetMaxMotorTorque(float torque); + + /// \~chinese + /// @brief 获取最大马达转矩 [N/m] float GetMaxMotorTorque() const; private: @@ -603,11 +698,13 @@ namespace kiwano : public Joint { public: + /// \~chinese + /// @brief 绳关节参数 struct Param : public Joint::ParamBase { - Point local_anchor_a; - Point local_anchor_b; - float max_length; + Point local_anchor_a; ///< 关节在物体A上的连接点 + Point local_anchor_b; ///< 关节在物体B上的连接点 + float max_length; ///< 绳索最大长度 Param( Body* body_a, @@ -637,7 +734,12 @@ namespace kiwano RopeJoint(World* world, b2RopeJointDef* def); RopeJoint(World* world, Param const& param); + /// \~chinese + /// @brief 设置关节最大长度 void SetMaxLength(float length); + + /// \~chinese + /// @brief 获取关节最大长度 float GetMaxLength() const; private: @@ -651,11 +753,13 @@ namespace kiwano : public Joint { public: + /// \~chinese + /// @brief 焊接关节参数 struct Param : public Joint::ParamBase { - Point anchor; - float frequency_hz; - float damping_ratio; + Point anchor; ///< 焊接位置 + float frequency_hz; ///< 响应速度，数值越高关节响应的速度越快，看上去越坚固 + float damping_ratio; ///< 阻尼率，值越大关节运动阻尼越大 Param( Body* body_a, @@ -686,13 +790,23 @@ namespace kiwano WeldJoint(World* world, Param const& param); /// \~chinese - /// @brief 设置弹簧阻尼器频率 [赫兹] + /// @brief 获取物体B相对于物体A的角度 + float GetReferenceAngle() const; + + /// \~chinese + /// @brief 设置弹簧响应速度 [赫兹] void SetFrequency(float hz); + + /// \~chinese + /// @brief 获取弹簧响应速度 [赫兹] float GetFrequency() const; /// \~chinese - /// @brief 设置阻尼比 + /// @brief 设置阻尼率 void SetDampingRatio(float ratio); + + /// \~chinese + /// @brief 获取阻尼率 float GetDampingRatio() const; private: @@ -706,15 +820,17 @@ namespace kiwano : public Joint { public: + /// \~chinese + /// @brief 轮关节参数 struct Param : public Joint::ParamBase { - Point anchor; - Vec2 axis; - bool enable_motor; - float max_motor_torque; - float motor_speed; - float frequency_hz; - float damping_ratio; + Point anchor; ///< 轮关节位置 + Vec2 axis; ///< 物体A滑动方向 + bool enable_motor; ///< 是否启用马达 + float max_motor_torque; ///< 最大马达力 [N] + float motor_speed; ///< 马达转速 [degree/s] + float frequency_hz; ///< 响应速度，数值越高关节响应的速度越快，看上去越坚固 + float damping_ratio; ///< 弹簧阻尼率，值越大关节运动阻尼越大 Param( Body* body_a, @@ -756,28 +872,60 @@ namespace kiwano WheelJoint(World* world, b2WheelJointDef* def); WheelJoint(World* world, Param const& param); + /// \~chinese + /// @brief 获取关节当前的平移距离 float GetJointTranslation() const; + + /// \~chinese + /// @brief 获取关节当前的线性速度 float GetJointLinearSpeed() const; + + /// \~chinese + /// @brief 获取关节当前的角度 float GetJointAngle() const; + + /// \~chinese + /// @brief 获取关节当前的旋转速度 float GetJointAngularSpeed() const; + /// \~chinese + /// @brief 是否启用马达 bool IsMotorEnabled() const; + + /// \~chinese + /// @brief 设置是否启用马达 void EnableMotor(bool flag); /// \~chinese /// @brief 设置马达转速 [degree/s] void SetMotorSpeed(float speed); + + /// \~chinese + /// @brief 获取马达转速 [degree/s] float GetMotorSpeed() const; /// \~chinese - /// @brief 设定最大马达转矩 [N/m] + /// @brief 设置最大马达转矩 [N/m] void SetMaxMotorTorque(float torque); + + /// \~chinese + /// @brief 获取最大马达转矩 [N/m] float GetMaxMotorTorque() const; + /// \~chinese + /// @brief 设置弹簧响应速度 void SetSpringFrequencyHz(float hz); + + /// \~chinese + /// @brief 获取弹簧响应速度 float GetSpringFrequencyHz() const; + /// \~chinese + /// @brief 设置弹簧阻尼率 void SetSpringDampingRatio(float ratio); + + /// \~chinese + /// @brief 获取弹簧阻尼率 float GetSpringDampingRatio() const; private: @@ -792,12 +940,14 @@ namespace kiwano : public Joint { public: + /// \~chinese + /// @brief 鼠标关节参数 struct Param : public Joint::ParamBase { - Point target; - float max_force; - float frequency_hz; - float damping_ratio; + Point target; ///< 关节作用目标位置 + float max_force; ///< 作用在物体A上的最大力 + float frequency_hz; ///< 响应速度，数值越高关节响应的速度越快，看上去越坚固 + float damping_ratio; ///< 阻尼率，值越大关节运动阻尼越大 Param( Body* body_a, @@ -826,16 +976,25 @@ namespace kiwano /// \~chinese /// @brief 设定最大摩擦力 [N] void SetMaxForce(float force); + + /// \~chinese + /// @brief 获取最大摩擦力 [N] float GetMaxForce() const; /// \~chinese /// @brief 设置响应速度 [hz] void SetFrequency(float hz); + + /// \~chinese + /// @brief 获取响应速度 [hz] float GetFrequency() const; /// \~chinese - /// @brief 设置阻尼比 + /// @brief 设置阻尼率 void SetDampingRatio(float ratio); + + /// \~chinese + /// @brief 获取阻尼率 float GetDampingRatio() const; private: @@ -871,10 +1030,12 @@ namespace kiwano inline void RevoluteJoint::SetMotorSpeed(float speed) { KGE_ASSERT(raw_joint_); raw_joint_->SetMotorSpeed(math::Degree2Radian(speed)); } inline float RevoluteJoint::GetMotorSpeed() const { KGE_ASSERT(raw_joint_); return math::Radian2Degree(raw_joint_->GetMotorSpeed()); } + inline float WeldJoint::GetReferenceAngle() const { KGE_ASSERT(raw_joint_); return math::Radian2Degree(raw_joint_->GetReferenceAngle()); } inline void WeldJoint::SetFrequency(float hz) { KGE_ASSERT(raw_joint_); raw_joint_->SetFrequency(hz); } inline float WeldJoint::GetFrequency() const { KGE_ASSERT(raw_joint_); return raw_joint_->GetFrequency(); } inline void WeldJoint::SetDampingRatio(float ratio) { KGE_ASSERT(raw_joint_); raw_joint_->SetDampingRatio(ratio); } inline float WeldJoint::GetDampingRatio() const { KGE_ASSERT(raw_joint_); return raw_joint_->GetDampingRatio(); } + inline float WheelJoint::GetJointAngle() const { KGE_ASSERT(raw_joint_); return math::Radian2Degree(raw_joint_->GetJointAngle()); } inline float WheelJoint::GetJointAngularSpeed() const { KGE_ASSERT(raw_joint_); return math::Radian2Degree(raw_joint_->GetJointAngularSpeed()); } inline bool WheelJoint::IsMotorEnabled() const { KGE_ASSERT(raw_joint_); return raw_joint_->IsMotorEnabled(); }