box2d-rails 0.0.1

data/vendor/assets/javascripts/box2d/dynamics/joints/b2DistanceJointDef.js

@@ -0,0 +1,49 @@
+/*
+* Copyright (c) 2006-2007 Erin Catto http:
+*
+* 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, and must not be
+* misrepresented the original software.
+* 3. This notice may not be removed or altered from any source distribution.
+*/
+
+
+
+
+
+var b2DistanceJointDef = Class.create();
+Object.extend(b2DistanceJointDef.prototype, b2JointDef.prototype);
+Object.extend(b2DistanceJointDef.prototype, 
+{
+	initialize: function()
+	{
+		// The constructor for b2JointDef
+		this.type = b2Joint.e_unknownJoint;
+		this.userData = null;
+		this.body1 = null;
+		this.body2 = null;
+		this.collideConnected = false;
+		//
+
+		// initialize instance variables for references
+		this.anchorPoint1 = new b2Vec2();
+		this.anchorPoint2 = new b2Vec2();
+		//
+
+		this.type = b2Joint.e_distanceJoint;
+		//this.anchorPoint1.Set(0.0, 0.0);
+		//this.anchorPoint2.Set(0.0, 0.0);
+	},
+
+	anchorPoint1: new b2Vec2(),
+	anchorPoint2: new b2Vec2()});
+

data/vendor/assets/javascripts/box2d/dynamics/joints/b2GearJoint.js

@@ -0,0 +1,307 @@
+/*
+* Copyright (c) 2006-2007 Erin Catto http:
+*
+* 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, and must not be
+* misrepresented the original software.
+* 3. This notice may not be removed or altered from any source distribution.
+*/
+
+
+
+
+
+
+var b2GearJoint = Class.create();
+Object.extend(b2GearJoint.prototype, b2Joint.prototype);
+Object.extend(b2GearJoint.prototype, 
+{
+	GetAnchor1: function(){
+		//return this.m_body1.m_position + b2MulMV(this.m_body1.m_R, this.m_localAnchor1);
+		var tMat = this.m_body1.m_R;
+		return new b2Vec2(	this.m_body1.m_position.x + (tMat.col1.x * this.m_localAnchor1.x + tMat.col2.x * this.m_localAnchor1.y),
+							this.m_body1.m_position.y + (tMat.col1.y * this.m_localAnchor1.x + tMat.col2.y * this.m_localAnchor1.y));
+	},
+	GetAnchor2: function(){
+		//return this.m_body2->m_position + b2Mul(this.m_body2->m_R, this.m_localAnchor2);
+		var tMat = this.m_body2.m_R;
+		return new b2Vec2(	this.m_body2.m_position.x + (tMat.col1.x * this.m_localAnchor2.x + tMat.col2.x * this.m_localAnchor2.y),
+							this.m_body2.m_position.y + (tMat.col1.y * this.m_localAnchor2.x + tMat.col2.y * this.m_localAnchor2.y));
+	},
+
+	GetReactionForce: function(invTimeStep){
+		//b2Vec2 F(0.0f, 0.0f);
+		return new b2Vec2();
+	},
+	GetReactionTorque: function(invTimeStep){
+		return 0.0;
+	},
+
+	GetRatio: function(){
+		return this.m_ratio;
+	},
+
+	//--------------- Internals Below -------------------
+
+	initialize: function(def){
+		// The constructor for b2Joint
+		// initialize instance variables for references
+		this.m_node1 = new b2JointNode();
+		this.m_node2 = new b2JointNode();
+		//
+		this.m_type = def.type;
+		this.m_prev = null;
+		this.m_next = null;
+		this.m_body1 = def.body1;
+		this.m_body2 = def.body2;
+		this.m_collideConnected = def.collideConnected;
+		this.m_islandFlag = false;
+		this.m_userData = def.userData;
+		//
+
+		// initialize instance variables for references
+		this.m_groundAnchor1 = new b2Vec2();
+		this.m_groundAnchor2 = new b2Vec2();
+		this.m_localAnchor1 = new b2Vec2();
+		this.m_localAnchor2 = new b2Vec2();
+		this.m_J = new b2Jacobian();
+		//
+
+		// parent constructor
+		//super(def);
+
+		//b2Settings.b2Assert(def.joint1.m_type == b2Joint.e_revoluteJoint || def.joint1.m_type == b2Joint.e_prismaticJoint);
+		//b2Settings.b2Assert(def.joint2.m_type == b2Joint.e_revoluteJoint || def.joint2.m_type == b2Joint.e_prismaticJoint);
+		//b2Settings.b2Assert(def.joint1.m_body1.IsStatic());
+		//b2Settings.b2Assert(def.joint2.m_body1.IsStatic());
+
+		this.m_revolute1 = null;
+		this.m_prismatic1 = null;
+		this.m_revolute2 = null;
+		this.m_prismatic2 = null;
+
+		var coordinate1;
+		var coordinate2;
+
+		this.m_ground1 = def.joint1.m_body1;
+		this.m_body1 = def.joint1.m_body2;
+		if (def.joint1.m_type == b2Joint.e_revoluteJoint)
+		{
+			this.m_revolute1 = def.joint1;
+			this.m_groundAnchor1.SetV( this.m_revolute1.m_localAnchor1 );
+			this.m_localAnchor1.SetV( this.m_revolute1.m_localAnchor2 );
+			coordinate1 = this.m_revolute1.GetJointAngle();
+		}
+		else
+		{
+			this.m_prismatic1 = def.joint1;
+			this.m_groundAnchor1.SetV( this.m_prismatic1.m_localAnchor1 );
+			this.m_localAnchor1.SetV( this.m_prismatic1.m_localAnchor2 );
+			coordinate1 = this.m_prismatic1.GetJointTranslation();
+		}
+
+		this.m_ground2 = def.joint2.m_body1;
+		this.m_body2 = def.joint2.m_body2;
+		if (def.joint2.m_type == b2Joint.e_revoluteJoint)
+		{
+			this.m_revolute2 = def.joint2;
+			this.m_groundAnchor2.SetV( this.m_revolute2.m_localAnchor1 );
+			this.m_localAnchor2.SetV( this.m_revolute2.m_localAnchor2 );
+			coordinate2 = this.m_revolute2.GetJointAngle();
+		}
+		else
+		{
+			this.m_prismatic2 = def.joint2;
+			this.m_groundAnchor2.SetV( this.m_prismatic2.m_localAnchor1 );
+			this.m_localAnchor2.SetV( this.m_prismatic2.m_localAnchor2 );
+			coordinate2 = this.m_prismatic2.GetJointTranslation();
+		}
+
+		this.m_ratio = def.ratio;
+
+		this.m_constant = coordinate1 + this.m_ratio * coordinate2;
+
+		this.m_impulse = 0.0;
+
+	},
+
+	PrepareVelocitySolver: function(){
+		var g1 = this.m_ground1;
+		var g2 = this.m_ground2;
+		var b1 = this.m_body1;
+		var b2 = this.m_body2;
+
+		// temp vars
+		var ugX;
+		var ugY;
+		var rX;
+		var rY;
+		var tMat;
+		var tVec;
+		var crug;
+
+		var K = 0.0;
+		this.m_J.SetZero();
+
+		if (this.m_revolute1)
+		{
+			this.m_J.angular1 = -1.0;
+			K += b1.m_invI;
+		}
+		else
+		{
+			//b2Vec2 ug = b2MulMV(g1->m_R, this.m_prismatic1->m_localXAxis1);
+			tMat = g1.m_R;
+			tVec = this.m_prismatic1.m_localXAxis1;
+			ugX = tMat.col1.x * tVec.x + tMat.col2.x * tVec.y;
+			ugY = tMat.col1.y * tVec.x + tMat.col2.y * tVec.y;
+			//b2Vec2 r = b2MulMV(b1->m_R, this.m_localAnchor1);
+			tMat = b1.m_R;
+			rX = tMat.col1.x * this.m_localAnchor1.x + tMat.col2.x * this.m_localAnchor1.y;
+			rY = tMat.col1.y * this.m_localAnchor1.x + tMat.col2.y * this.m_localAnchor1.y;
+
+			//var crug = b2Cross(r, ug);
+			crug = rX * ugY - rY * ugX;
+			//this.m_J.linear1 = -ug;
+			this.m_J.linear1.Set(-ugX, -ugY);
+			this.m_J.angular1 = -crug;
+			K += b1.m_invMass + b1.m_invI * crug * crug;
+		}
+
+		if (this.m_revolute2)
+		{
+			this.m_J.angular2 = -this.m_ratio;
+			K += this.m_ratio * this.m_ratio * b2.m_invI;
+		}
+		else
+		{
+			//b2Vec2 ug = b2Mul(g2->m_R, this.m_prismatic2->m_localXAxis1);
+			tMat = g2.m_R;
+			tVec = this.m_prismatic2.m_localXAxis1;
+			ugX = tMat.col1.x * tVec.x + tMat.col2.x * tVec.y;
+			ugY = tMat.col1.y * tVec.x + tMat.col2.y * tVec.y;
+			//b2Vec2 r = b2Mul(b2->m_R, this.m_localAnchor2);
+			tMat = b2.m_R;
+			rX = tMat.col1.x * this.m_localAnchor2.x + tMat.col2.x * this.m_localAnchor2.y;
+			rY = tMat.col1.y * this.m_localAnchor2.x + tMat.col2.y * this.m_localAnchor2.y;
+			//float32 crug = b2Cross(r, ug);
+			crug = rX * ugY - rY * ugX;
+			//this.m_J.linear2 = -this.m_ratio * ug;
+			this.m_J.linear2.Set(-this.m_ratio*ugX, -this.m_ratio*ugY);
+			this.m_J.angular2 = -this.m_ratio * crug;
+			K += this.m_ratio * this.m_ratio * (b2.m_invMass + b2.m_invI * crug * crug);
+		}
+
+		// Compute effective mass.
+		//b2Settings.b2Assert(K > 0.0);
+		this.m_mass = 1.0 / K;
+
+		// Warm starting.
+		//b1.m_linearVelocity += b1.m_invMass * this.m_impulse * this.m_J.linear1;
+		b1.m_linearVelocity.x += b1.m_invMass * this.m_impulse * this.m_J.linear1.x;
+		b1.m_linearVelocity.y += b1.m_invMass * this.m_impulse * this.m_J.linear1.y;
+		b1.m_angularVelocity += b1.m_invI * this.m_impulse * this.m_J.angular1;
+		//b2.m_linearVelocity += b2.m_invMass * this.m_impulse * this.m_J.linear2;
+		b2.m_linearVelocity.x += b2.m_invMass * this.m_impulse * this.m_J.linear2.x;
+		b2.m_linearVelocity.y += b2.m_invMass * this.m_impulse * this.m_J.linear2.y;
+		b2.m_angularVelocity += b2.m_invI * this.m_impulse * this.m_J.angular2;
+	},
+
+
+	SolveVelocityConstraints: function(step){
+		var b1 = this.m_body1;
+		var b2 = this.m_body2;
+
+		var Cdot = this.m_J.Compute(	b1.m_linearVelocity, b1.m_angularVelocity,
+										b2.m_linearVelocity, b2.m_angularVelocity);
+
+		var impulse = -this.m_mass * Cdot;
+		this.m_impulse += impulse;
+
+		b1.m_linearVelocity.x += b1.m_invMass * impulse * this.m_J.linear1.x;
+		b1.m_linearVelocity.y += b1.m_invMass * impulse * this.m_J.linear1.y;
+		b1.m_angularVelocity  += b1.m_invI * impulse * this.m_J.angular1;
+		b2.m_linearVelocity.x += b2.m_invMass * impulse * this.m_J.linear2.x;
+		b2.m_linearVelocity.y += b2.m_invMass * impulse * this.m_J.linear2.y;
+		b2.m_angularVelocity  += b2.m_invI * impulse * this.m_J.angular2;
+	},
+
+	SolvePositionConstraints: function(){
+		var linearError = 0.0;
+
+		var b1 = this.m_body1;
+		var b2 = this.m_body2;
+
+		var coordinate1;
+		var coordinate2;
+		if (this.m_revolute1)
+		{
+			coordinate1 = this.m_revolute1.GetJointAngle();
+		}
+		else
+		{
+			coordinate1 = this.m_prismatic1.GetJointTranslation();
+		}
+
+		if (this.m_revolute2)
+		{
+			coordinate2 = this.m_revolute2.GetJointAngle();
+		}
+		else
+		{
+			coordinate2 = this.m_prismatic2.GetJointTranslation();
+		}
+
+		var C = this.m_constant - (coordinate1 + this.m_ratio * coordinate2);
+
+		var impulse = -this.m_mass * C;
+
+		b1.m_position.x += b1.m_invMass * impulse * this.m_J.linear1.x;
+		b1.m_position.y += b1.m_invMass * impulse * this.m_J.linear1.y;
+		b1.m_rotation += b1.m_invI * impulse * this.m_J.angular1;
+		b2.m_position.x += b2.m_invMass * impulse * this.m_J.linear2.x;
+		b2.m_position.y += b2.m_invMass * impulse * this.m_J.linear2.y;
+		b2.m_rotation += b2.m_invI * impulse * this.m_J.angular2;
+		b1.m_R.Set(b1.m_rotation);
+		b2.m_R.Set(b2.m_rotation);
+
+		return linearError < b2Settings.b2_linearSlop;
+	},
+
+	m_ground1: null,
+	m_ground2: null,
+
+	// One of these is NULL.
+	m_revolute1: null,
+	m_prismatic1: null,
+
+	// One of these is NULL.
+	m_revolute2: null,
+	m_prismatic2: null,
+
+	m_groundAnchor1: new b2Vec2(),
+	m_groundAnchor2: new b2Vec2(),
+
+	m_localAnchor1: new b2Vec2(),
+	m_localAnchor2: new b2Vec2(),
+
+	m_J: new b2Jacobian(),
+
+	m_constant: null,
+	m_ratio: null,
+
+	// Effective mass
+	m_mass: null,
+
+	// Impulse for accumulation/warm starting.
+	m_impulse: null});
+

data/vendor/assets/javascripts/box2d/dynamics/joints/b2GearJointDef.js

@@ -0,0 +1,50 @@
+/*
+* Copyright (c) 2006-2007 Erin Catto http:
+*
+* 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, and must not be
+* misrepresented the original software.
+* 3. This notice may not be removed or altered from any source distribution.
+*/
+
+
+
+
+
+
+// A gear joint is used to connect two joints together. Either joint
+// can be a revolute or prismatic joint. You specify a gear ratio
+// to bind the motions together:
+// coordinate1 + ratio * coordinate2 = constant
+// The ratio can be negative or positive. If one joint is a revolute joint
+// and the other joint is a prismatic joint, then the ratio will have units
+// of length or units of 1/length.
+//
+// RESTRICITON: The revolute and prismatic joints must be attached to
+// a fixed body (which must be body1 on those joints).
+
+var b2GearJointDef = Class.create();
+Object.extend(b2GearJointDef.prototype, b2JointDef.prototype);
+Object.extend(b2GearJointDef.prototype, 
+{
+	initialize: function()
+	{
+		this.type = b2Joint.e_gearJoint;
+		this.joint1 = null;
+		this.joint2 = null;
+		this.ratio = 1.0;
+	},
+
+	joint1: null,
+	joint2: null,
+	ratio: null});
+

data/vendor/assets/javascripts/box2d/dynamics/joints/b2Jacobian.js

@@ -0,0 +1,49 @@
+/*
+* Copyright (c) 2006-2007 Erin Catto http:
+*
+* 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, and must not be
+* misrepresented the original software.
+* 3. This notice may not be removed or altered from any source distribution.
+*/
+
+
+
+
+
+var b2Jacobian = Class.create();
+b2Jacobian.prototype = 
+{
+	linear1: new b2Vec2(),
+	angular1: null,
+	linear2: new b2Vec2(),
+	angular2: null,
+
+	SetZero: function(){
+		this.linear1.SetZero(); this.angular1 = 0.0;
+		this.linear2.SetZero(); this.angular2 = 0.0;
+	},
+	Set: function(x1, a1, x2, a2){
+		this.linear1.SetV(x1); this.angular1 = a1;
+		this.linear2.SetV(x2); this.angular2 = a2;
+	},
+	Compute: function(x1, a1, x2, a2){
+
+		//return b2Math.b2Dot(this.linear1, x1) + this.angular1 * a1 + b2Math.b2Dot(this.linear2, x2) + this.angular2 * a2;
+		return (this.linear1.x*x1.x + this.linear1.y*x1.y) + this.angular1 * a1 + (this.linear2.x*x2.x + this.linear2.y*x2.y) + this.angular2 * a2;
+	},
+	initialize: function() {
+		// initialize instance variables for references
+		this.linear1 = new b2Vec2();
+		this.linear2 = new b2Vec2();
+		//
+}};