Update Joint
This commit is contained in:
Nomango
parent
b0b02ddf62
commit
6d77d9ed74
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@ -580,6 +580,7 @@ namespace kiwano
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raw_joint_ = static_cast<b2WeldJoint*>(GetB2Joint());
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}
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//
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// WheelJoint
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//
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@ -91,6 +91,8 @@ namespace kiwano
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Joint(World* world, b2JointDef* joint_def);
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virtual ~Joint();
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/// \~chinese
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/// @brief 初始化关节
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void Init(World* world, b2JointDef* joint_def);
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/// \~chinese
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@ -125,10 +127,10 @@ namespace kiwano
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/// @brief 固定距离关节参数
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struct Param : public Joint::ParamBase
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{
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Point anchor_a; ///< 物体A的锚点位置
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Point anchor_b; ///< 物体B的锚点位置
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float frequency_hz; ///< 弹簧阻尼器频率
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float damping_ratio; ///< 阻尼比
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Point anchor_a; ///< 关节在物体A上的连接点
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Point anchor_b; ///< 关节在物体B上的连接点
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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
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float damping_ratio; ///< 阻尼率，值越大关节运动阻尼越大
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Param(
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Body* body_a,
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@ -164,16 +166,25 @@ namespace kiwano
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/// \~chinese
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/// @brief 设置关节长度
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void SetLength(float length);
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/// \~chinese
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/// @brief 获取关节长度
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float GetLength() const;
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/// \~chinese
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/// @brief 设置弹簧阻尼器频率 [赫兹]
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/// @brief 设置弹簧响应速度 [赫兹]
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void SetFrequency(float hz);
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/// \~chinese
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/// @brief 获取弹簧响应速度 [赫兹]
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float GetFrequency() const;
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/// \~chinese
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/// @brief 设置阻尼比
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/// @brief 设置阻尼率
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void SetDampingRatio(float ratio);
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/// \~chinese
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/// @brief 获取阻尼率
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float GetDampingRatio() const;
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private:
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@ -189,9 +200,9 @@ namespace kiwano
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public:
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struct Param : public Joint::ParamBase
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{
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Point anchor;
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float max_force;
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float max_torque;
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Point anchor; ///< 摩擦作用点
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float max_force; ///< 最大摩擦力
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float max_torque; ///< 最大扭力
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Param(
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Body* body_a,
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@ -222,13 +233,19 @@ namespace kiwano
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FrictionJoint(World* world, Param const& param);
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/// \~chinese
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/// @brief 设定最大摩擦力
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/// @brief 设置最大摩擦力
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void SetMaxForce(float force);
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/// \~chinese
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/// @brief 获取最大摩擦力
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float GetMaxForce() const;
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/// \~chinese
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/// @brief 设定最大转矩
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/// @brief 设置最大转矩
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void SetMaxTorque(float torque);
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/// \~chinese
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/// @brief 获取最大转矩
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float GetMaxTorque() const;
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private:
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@ -246,8 +263,8 @@ namespace kiwano
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/// @brief 齿轮关节参数
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struct Param : public Joint::ParamBase
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{
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JointPtr joint_a; ///< 关节A
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JointPtr joint_b; ///< 关节B
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JointPtr joint_a; ///< 关节A（旋转关节/平移关节）
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JointPtr joint_b; ///< 关节B（旋转关节/平移关节）
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float ratio; ///< 齿轮传动比
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Param(
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@ -277,6 +294,9 @@ namespace kiwano
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/// \~chinese
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/// @brief 设定齿轮传动比
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void SetRatio(float ratio);
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/// \~chinese
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/// @brief 获取齿轮传动比
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float GetRatio() const;
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private:
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@ -327,13 +347,19 @@ namespace kiwano
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MotorJoint(World* world, Param const& param);
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/// \~chinese
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/// @brief 设定最大摩擦力
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/// @brief 设置最大摩擦力
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void SetMaxForce(float force);
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/// \~chinese
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/// @brief 获取最大摩擦力
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float GetMaxForce() const;
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/// \~chinese
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/// @brief 设定最大转矩
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/// @brief 设置最大转矩
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void SetMaxTorque(float torque);
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/// \~chinese
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/// @brief 获取最大转矩
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float GetMaxTorque() const;
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private:
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@ -351,12 +377,12 @@ namespace kiwano
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/// @brief 平移关节参数
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struct Param : public Joint::ParamBase
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{
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Point anchor; ///< 锚点位置
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Vec2 axis; ///< 平移轴向量
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bool enable_limit; ///< 关节限制开关
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float lower_translation; ///< 关节下限
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float upper_translation; ///< 关节上限
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bool enable_motor; ///< 马达开关
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Point anchor; ///< 关节位置
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Vec2 axis; ///< 物体A滑动的方向
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bool enable_limit; ///< 是否启用限制
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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
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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
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bool enable_motor; ///< 是否启用马达
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float max_motor_force; ///< 最大马达力 [N]
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float motor_speed; ///< 马达转速 [degree/s]
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@ -418,27 +444,45 @@ namespace kiwano
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/// \~chinese
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/// @brief 是否启用关节限制
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bool IsLimitEnabled() const;
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/// \~chinese
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/// @brief 设置是否启用关节限制
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void EnableLimit(bool flag);
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/// \~chinese
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/// @brief 设置关节限制
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/// @brief 获取平移最小限制
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float GetLowerLimit() const;
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/// \~chinese
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/// @brief 获取平移最大限制
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float GetUpperLimit() const;
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/// \~chinese
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/// @brief 设置关节限制
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void SetLimits(float lower, float upper);
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/// \~chinese
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/// @brief 是否启用马达
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bool IsMotorEnabled() const;
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/// \~chinese
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/// @brief 设置是否启用马达
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void EnableMotor(bool flag);
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/// \~chinese
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/// @brief 设置马达转速 [degree/s]
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void SetMotorSpeed(float speed);
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/// \~chinese
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/// @brief 获取马达转速 [degree/s]
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float GetMotorSpeed() const;
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/// \~chinese
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/// @brief 设定最大马达力 [N]
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/// @brief 设置最大马达力 [N]
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void SetMaxMotorForce(float force);
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/// \~chinese
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/// @brief 获取最大马达力 [N]
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float GetMaxMotorForce() const;
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private:
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@ -456,11 +500,11 @@ namespace kiwano
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/// @brief 滑轮关节参数
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struct Param : public Joint::ParamBase
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{
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Point anchor_a; ///<
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Point anchor_b; ///<
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Point ground_anchor_a; ///<
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Point ground_anchor_b; ///<
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float ratio; ///<
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Point anchor_a; ///< 关节在物体A上的作用点
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Point anchor_b; ///< 关节在物体B上的作用点
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Point ground_anchor_a; ///< 物体A对应的滑轮的位置
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Point ground_anchor_b; ///< 物体B对应的滑轮的位置
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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
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Param(
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Body* body_a,
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@ -496,15 +540,32 @@ namespace kiwano
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PulleyJoint(World* world, b2PulleyJointDef* def);
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PulleyJoint(World* world, Param const& param);
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/// \~chinese
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/// @brief 物体A对应的滑轮的位置
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Point GetGroundAnchorA() const;
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/// \~chinese
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/// @brief 物体B对应的滑轮的位置
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Point GetGroundAnchorB() const;
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/// \~chinese
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/// @brief 获取滑轮传动比
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float GetRatio() const;
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/// \~chinese
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/// @brief 获取物体A与滑轮的距离
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float GetLengthA() const;
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/// \~chinese
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/// @brief 获取物体B与滑轮的距离
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float GetLengthB() const;
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/// \~chinese
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/// @brief 获取物体A与滑轮的当前距离
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float GetCurrentLengthA() const;
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/// \~chinese
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/// @brief 获取物体B与滑轮的当前距离
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float GetCurrentLengthB() const;
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private:
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@ -518,15 +579,17 @@ namespace kiwano
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: public Joint
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{
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public:
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/// \~chinese
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/// @brief 旋转关节参数
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struct Param : public Joint::ParamBase
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{
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Point anchor;
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bool enable_limit;
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float lower_angle;
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float upper_angle;
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bool enable_motor;
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float max_motor_torque;
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float motor_speed;
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Point anchor; ///< 关节位置
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bool enable_limit; ///< 是否启用限制
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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
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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
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bool enable_motor; ///< 是否启用马达
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float max_motor_torque; ///< 最大马达力 [N]
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float motor_speed; ///< 马达转速 [degree/s]
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Param(
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Body* body_a,
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@ -568,28 +631,60 @@ namespace kiwano
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RevoluteJoint(World* world, b2RevoluteJointDef* def);
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RevoluteJoint(World* world, Param const& param);
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/// \~chinese
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/// @brief 获取参考角
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float GetReferenceAngle() const;
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/// \~chinese
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/// @brief 获取关节角度
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float GetJointAngle() const;
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/// \~chinese
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/// @brief 获取关节速度
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float GetJointSpeed() const;
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/// \~chinese
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/// @brief 是否启用关节限制
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bool IsLimitEnabled() const;
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/// \~chinese
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/// @brief 设置是否启用关节限制
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void EnableLimit(bool flag);
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/// \~chinese
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/// @brief 获取平移最小限制
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float GetLowerLimit() const;
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/// \~chinese
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/// @brief 获取平移最大限制
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float GetUpperLimit() const;
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/// \~chinese
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/// @brief 设置关节限制
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void SetLimits(float lower, float upper);
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/// \~chinese
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/// @brief 是否启用马达
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bool IsMotorEnabled() const;
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/// \~chinese
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/// @brief 设置是否启用马达
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void EnableMotor(bool flag);
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/// \~chinese
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/// @brief 设置马达转速 [degree/s]
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void SetMotorSpeed(float speed);
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/// \~chinese
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/// @brief 获取马达转速 [degree/s]
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float GetMotorSpeed() const;
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/// \~chinese
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/// @brief 设定最大马达转矩 [N/m]
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/// @brief 设置最大马达转矩 [N/m]
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void SetMaxMotorTorque(float torque);
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/// \~chinese
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/// @brief 获取最大马达转矩 [N/m]
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float GetMaxMotorTorque() const;
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private:
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@ -603,11 +698,13 @@ namespace kiwano
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: public Joint
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{
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public:
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/// \~chinese
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/// @brief 绳关节参数
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struct Param : public Joint::ParamBase
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{
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Point local_anchor_a;
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Point local_anchor_b;
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float max_length;
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Point local_anchor_a; ///< 关节在物体A上的连接点
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Point local_anchor_b; ///< 关节在物体B上的连接点
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float max_length; ///< 绳索最大长度
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Param(
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Body* body_a,
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@ -637,7 +734,12 @@ namespace kiwano
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RopeJoint(World* world, b2RopeJointDef* def);
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RopeJoint(World* world, Param const& param);
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/// \~chinese
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/// @brief 设置关节最大长度
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void SetMaxLength(float length);
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/// \~chinese
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/// @brief 获取关节最大长度
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float GetMaxLength() const;
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private:
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@ -651,11 +753,13 @@ namespace kiwano
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: public Joint
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{
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public:
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/// \~chinese
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/// @brief 焊接关节参数
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struct Param : public Joint::ParamBase
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{
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Point anchor;
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float frequency_hz;
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float damping_ratio;
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Point anchor; ///< 焊接位置
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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
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float damping_ratio; ///< 阻尼率，值越大关节运动阻尼越大
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Param(
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Body* body_a,
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@ -686,13 +790,23 @@ namespace kiwano
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WeldJoint(World* world, Param const& param);
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/// \~chinese
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/// @brief 设置弹簧阻尼器频率 [赫兹]
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/// @brief 获取物体B相对于物体A的角度
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float GetReferenceAngle() const;
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/// \~chinese
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/// @brief 设置弹簧响应速度 [赫兹]
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void SetFrequency(float hz);
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/// \~chinese
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/// @brief 获取弹簧响应速度 [赫兹]
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float GetFrequency() const;
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/// \~chinese
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/// @brief 设置阻尼比
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/// @brief 设置阻尼率
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void SetDampingRatio(float ratio);
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/// \~chinese
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/// @brief 获取阻尼率
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float GetDampingRatio() const;
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private:
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@ -706,15 +820,17 @@ namespace kiwano
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: public Joint
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{
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public:
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/// \~chinese
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/// @brief 轮关节参数
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struct Param : public Joint::ParamBase
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{
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Point anchor;
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Vec2 axis;
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bool enable_motor;
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float max_motor_torque;
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float motor_speed;
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float frequency_hz;
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float damping_ratio;
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Point anchor; ///< 轮关节位置
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Vec2 axis; ///< 物体A滑动方向
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bool enable_motor; ///< 是否启用马达
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float max_motor_torque; ///< 最大马达力 [N]
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float motor_speed; ///< 马达转速 [degree/s]
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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
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float damping_ratio; ///< 弹簧阻尼率，值越大关节运动阻尼越大
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Param(
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Body* body_a,
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@ -756,28 +872,60 @@ namespace kiwano
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WheelJoint(World* world, b2WheelJointDef* def);
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WheelJoint(World* world, Param const& param);
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/// \~chinese
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/// @brief 获取关节当前的平移距离
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float GetJointTranslation() const;
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/// \~chinese
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/// @brief 获取关节当前的线性速度
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float GetJointLinearSpeed() const;
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/// \~chinese
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/// @brief 获取关节当前的角度
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float GetJointAngle() const;
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/// \~chinese
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/// @brief 获取关节当前的旋转速度
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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(); }
|
||||
|
|
|
|||
Loading…
Reference in New Issue