134 lines
		
	
	
		
			3.7 KiB
		
	
	
	
		
			C++
		
	
	
	
			
		
		
	
	
			134 lines
		
	
	
		
			3.7 KiB
		
	
	
	
		
			C++
		
	
	
	
| /*
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| * Copyright (c) 2006-2012 Erin Catto http://www.box2d.org
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| *
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| * This software is provided 'as-is', without any express or implied
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| * warranty.  In no event will the authors be held liable for any damages
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| * arising from the use of this software.
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| * Permission is granted to anyone to use this software for any purpose,
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| * including commercial applications, and to alter it and redistribute it
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| * freely, subject to the following restrictions:
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| * 1. The origin of this software must not be misrepresented; you must not
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| * claim that you wrote the original software. If you use this software
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| * in a product, an acknowledgment in the product documentation would be
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| * appreciated but is not required.
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| * 2. Altered source versions must be plainly marked as such, and must not be
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| * misrepresented as being the original software.
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| * 3. This notice may not be removed or altered from any source distribution.
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| */
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| 
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| #ifndef B2_MOTOR_JOINT_H
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| #define B2_MOTOR_JOINT_H
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| 
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| #include "Box2D/Dynamics/Joints/b2Joint.h"
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| 
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| /// Motor joint definition.
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| struct 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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| 
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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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| 
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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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| 
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| 	/// The bodyB angle minus bodyA angle in radians.
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| 	float32 angularOffset;
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| 	
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| 	/// The maximum motor force in N.
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| 	float32 maxForce;
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| 
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| 	/// The maximum motor torque in N-m.
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| 	float32 maxTorque;
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| 
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| 	/// Position correction factor in the range [0,1].
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| 	float32 correctionFactor;
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| };
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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 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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| 
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| 	b2Vec2 GetReactionForce(float32 inv_dt) const override;
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| 	float32 GetReactionTorque(float32 inv_dt) const override;
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| 
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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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| 
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| 	/// Set/get the target angular offset, in radians.
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| 	void SetAngularOffset(float32 angularOffset);
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| 	float32 GetAngularOffset() const;
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| 
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| 	/// Set the maximum friction force in N.
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| 	void SetMaxForce(float32 force);
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| 
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| 	/// Get the maximum friction force in N.
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| 	float32 GetMaxForce() const;
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| 
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| 	/// Set the maximum friction torque in N*m.
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| 	void SetMaxTorque(float32 torque);
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| 
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| 	/// Get the maximum friction torque in N*m.
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| 	float32 GetMaxTorque() const;
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| 
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| 	/// Set the position correction factor in the range [0,1].
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| 	void SetCorrectionFactor(float32 factor);
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| 
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| 	/// Get the position correction factor in the range [0,1].
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| 	float32 GetCorrectionFactor() const;
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| 
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| 	/// Dump to b2Log
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| 	void Dump() override;
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| 
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| protected:
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| 
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| 	friend class b2Joint;
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| 
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| 	b2MotorJoint(const b2MotorJointDef* def);
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| 
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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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| 
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| 	// Solver shared
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| 	b2Vec2 m_linearOffset;
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| 	float32 m_angularOffset;
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| 	b2Vec2 m_linearImpulse;
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| 	float32 m_angularImpulse;
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| 	float32 m_maxForce;
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| 	float32 m_maxTorque;
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| 	float32 m_correctionFactor;
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| 
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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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| 	float32 m_angularError;
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| 	float32 m_invMassA;
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| 	float32 m_invMassB;
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| 	float32 m_invIA;
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| 	float32 m_invIB;
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| 	b2Mat22 m_linearMass;
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| 	float32 m_angularMass;
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| };
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| 
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| #endif
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