box2d-rails 0.0.1

data/vendor/assets/javascripts/box2d/dynamics/joints/b2PulleyJointDef.js

@@ -0,0 +1,70 @@
+/*
+* 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.
+*/
+
+
+
+
+
+
+// The pulley joint is connected to two bodies and two fixed ground points.
+// The pulley supports a ratio such that:
+// length1 + ratio * length2 = constant
+// Yes, the force transmitted is scaled by the ratio.
+// The pulley also enforces a maximum length limit on both sides. This is
+// useful to prevent one side of the pulley hitting the top.
+
+var b2PulleyJointDef = Class.create();
+Object.extend(b2PulleyJointDef.prototype, b2JointDef.prototype);
+Object.extend(b2PulleyJointDef.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.groundPoint1 = new b2Vec2();
+		this.groundPoint2 = new b2Vec2();
+		this.anchorPoint1 = new b2Vec2();
+		this.anchorPoint2 = new b2Vec2();
+		//
+
+		this.type = b2Joint.e_pulleyJoint;
+		this.groundPoint1.Set(-1.0, 1.0);
+		this.groundPoint2.Set(1.0, 1.0);
+		this.anchorPoint1.Set(-1.0, 0.0);
+		this.anchorPoint2.Set(1.0, 0.0);
+		this.maxLength1 = 0.5 * b2PulleyJoint.b2_minPulleyLength;
+		this.maxLength2 = 0.5 * b2PulleyJoint.b2_minPulleyLength;
+		this.ratio = 1.0;
+		this.collideConnected = true;
+	},
+
+	groundPoint1: new b2Vec2(),
+	groundPoint2: new b2Vec2(),
+	anchorPoint1: new b2Vec2(),
+	anchorPoint2: new b2Vec2(),
+	maxLength1: null,
+	maxLength2: null,
+	ratio: null});
+

data/vendor/assets/javascripts/box2d/dynamics/joints/b2RevoluteJoint.js

@@ -0,0 +1,491 @@
+/*
+* 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.
+*/
+
+
+
+
+
+// Point-to-point constraint
+// C = p2 - p1
+// Cdot = v2 - v1
+//      = v2 + cross(w2, r2) - v1 - cross(w1, r1)
+// J = [-I -r1_skew I r2_skew ]
+// Identity used:
+// w k % (rx i + ry j) = w * (-ry i + rx j)
+
+// Motor constraint
+// Cdot = w2 - w1
+// J = [0 0 -1 0 0 1]
+// K = invI1 + invI2
+
+var b2RevoluteJoint = Class.create();
+Object.extend(b2RevoluteJoint.prototype, b2Joint.prototype);
+Object.extend(b2RevoluteJoint.prototype, 
+{
+	GetAnchor1: function(){
+		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(){
+		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));
+	},
+	GetJointAngle: function(){
+		return this.m_body2.m_rotation - this.m_body1.m_rotation;
+	},
+	GetJointSpeed: function(){
+		return this.m_body2.m_angularVelocity - this.m_body1.m_angularVelocity;
+	},
+	GetMotorTorque: function(invTimeStep){
+		return  invTimeStep * this.m_motorImpulse;
+	},
+
+	SetMotorSpeed: function(speed)
+	{
+		this.m_motorSpeed = speed;
+	},
+
+	SetMotorTorque: function(torque)
+	{
+		this.m_maxMotorTorque = torque;
+	},
+
+	GetReactionForce: function(invTimeStep)
+	{
+		var tVec = this.m_ptpImpulse.Copy();
+		tVec.Multiply(invTimeStep);
+		//return invTimeStep * this.m_ptpImpulse;
+		return tVec;
+	},
+
+	GetReactionTorque: function(invTimeStep)
+	{
+		return invTimeStep * this.m_limitImpulse;
+	},
+
+	//--------------- 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.K = new b2Mat22();
+		this.K1 = new b2Mat22();
+		this.K2 = new b2Mat22();
+		this.K3 = new b2Mat22();
+		this.m_localAnchor1 = new b2Vec2();
+		this.m_localAnchor2 = new b2Vec2();
+		this.m_ptpImpulse = new b2Vec2();
+		this.m_ptpMass = new b2Mat22();
+		//
+
+		//super(def);
+
+		var tMat;
+		var tX;
+		var tY;
+
+		//this.m_localAnchor1 = b2Math.b2MulTMV(this.m_body1.m_R, b2Math.SubtractVV( def.anchorPoint, this.m_body1.m_position));
+		tMat = this.m_body1.m_R;
+		tX = def.anchorPoint.x - this.m_body1.m_position.x;
+		tY = def.anchorPoint.y - this.m_body1.m_position.y;
+		this.m_localAnchor1.x = tX * tMat.col1.x + tY * tMat.col1.y;
+		this.m_localAnchor1.y = tX * tMat.col2.x + tY * tMat.col2.y;
+		//this.m_localAnchor2 = b2Math.b2MulTMV(this.m_body2.m_R, b2Math.SubtractVV( def.anchorPoint, this.m_body2.m_position));
+		tMat = this.m_body2.m_R;
+		tX = def.anchorPoint.x - this.m_body2.m_position.x;
+		tY = def.anchorPoint.y - this.m_body2.m_position.y;
+		this.m_localAnchor2.x = tX * tMat.col1.x + tY * tMat.col1.y;
+		this.m_localAnchor2.y = tX * tMat.col2.x + tY * tMat.col2.y;
+
+		this.m_intialAngle = this.m_body2.m_rotation - this.m_body1.m_rotation;
+
+		this.m_ptpImpulse.Set(0.0, 0.0);
+		this.m_motorImpulse = 0.0;
+		this.m_limitImpulse = 0.0;
+		this.m_limitPositionImpulse = 0.0;
+
+		this.m_lowerAngle = def.lowerAngle;
+		this.m_upperAngle = def.upperAngle;
+		this.m_maxMotorTorque = def.motorTorque;
+		this.m_motorSpeed = def.motorSpeed;
+		this.m_enableLimit = def.enableLimit;
+		this.m_enableMotor = def.enableMotor;
+	},
+
+	// internal vars
+	K: new b2Mat22(),
+	K1: new b2Mat22(),
+	K2: new b2Mat22(),
+	K3: new b2Mat22(),
+	PrepareVelocitySolver: function(){
+		var b1 = this.m_body1;
+		var b2 = this.m_body2;
+
+		var tMat;
+
+		// Compute the effective mass matrix.
+		//b2Vec2 r1 = b2Mul(b1->m_R, this.m_localAnchor1);
+		tMat = b1.m_R;
+		var r1X = tMat.col1.x * this.m_localAnchor1.x + tMat.col2.x * this.m_localAnchor1.y;
+		var r1Y = tMat.col1.y * this.m_localAnchor1.x + tMat.col2.y * this.m_localAnchor1.y;
+		//b2Vec2 r2 = b2Mul(b2->m_R, this.m_localAnchor2);
+		tMat = b2.m_R;
+		var r2X = tMat.col1.x * this.m_localAnchor2.x + tMat.col2.x * this.m_localAnchor2.y;
+		var r2Y = tMat.col1.y * this.m_localAnchor2.x + tMat.col2.y * this.m_localAnchor2.y;
+
+		// this.K    = [(1/m1 + 1/m2) * eye(2) - skew(r1) * invI1 * skew(r1) - skew(r2) * invI2 * skew(r2)]
+		//      = [1/m1+1/m2     0    ] + invI1 * [r1.y*r1.y -r1.x*r1.y] + invI2 * [r1.y*r1.y -r1.x*r1.y]
+		//        [    0     1/m1+1/m2]           [-r1.x*r1.y r1.x*r1.x]           [-r1.x*r1.y r1.x*r1.x]
+		var invMass1 = b1.m_invMass;
+		var invMass2 = b2.m_invMass;
+		var invI1 = b1.m_invI;
+		var invI2 = b2.m_invI;
+
+		//var this.K1 = new b2Mat22();
+		this.K1.col1.x = invMass1 + invMass2;	this.K1.col2.x = 0.0;
+		this.K1.col1.y = 0.0;					this.K1.col2.y = invMass1 + invMass2;
+
+		//var this.K2 = new b2Mat22();
+		this.K2.col1.x =  invI1 * r1Y * r1Y;	this.K2.col2.x = -invI1 * r1X * r1Y;
+		this.K2.col1.y = -invI1 * r1X * r1Y;	this.K2.col2.y =  invI1 * r1X * r1X;
+
+		//var this.K3 = new b2Mat22();
+		this.K3.col1.x =  invI2 * r2Y * r2Y;	this.K3.col2.x = -invI2 * r2X * r2Y;
+		this.K3.col1.y = -invI2 * r2X * r2Y;	this.K3.col2.y =  invI2 * r2X * r2X;
+
+		//var this.K = b2Math.AddMM(b2Math.AddMM(this.K1, this.K2), this.K3);
+		this.K.SetM(this.K1);
+		this.K.AddM(this.K2);
+		this.K.AddM(this.K3);
+
+		//this.m_ptpMass = this.K.Invert();
+		this.K.Invert(this.m_ptpMass);
+
+		this.m_motorMass = 1.0 / (invI1 + invI2);
+
+		if (this.m_enableMotor == false)
+		{
+			this.m_motorImpulse = 0.0;
+		}
+
+		if (this.m_enableLimit)
+		{
+			var jointAngle = b2.m_rotation - b1.m_rotation - this.m_intialAngle;
+			if (b2Math.b2Abs(this.m_upperAngle - this.m_lowerAngle) < 2.0 * b2Settings.b2_angularSlop)
+			{
+				this.m_limitState = b2Joint.e_equalLimits;
+			}
+			else if (jointAngle <= this.m_lowerAngle)
+			{
+				if (this.m_limitState != b2Joint.e_atLowerLimit)
+				{
+					this.m_limitImpulse = 0.0;
+				}
+				this.m_limitState = b2Joint.e_atLowerLimit;
+			}
+			else if (jointAngle >= this.m_upperAngle)
+			{
+				if (this.m_limitState != b2Joint.e_atUpperLimit)
+				{
+					this.m_limitImpulse = 0.0;
+				}
+				this.m_limitState = b2Joint.e_atUpperLimit;
+			}
+			else
+			{
+				this.m_limitState = b2Joint.e_inactiveLimit;
+				this.m_limitImpulse = 0.0;
+			}
+		}
+		else
+		{
+			this.m_limitImpulse = 0.0;
+		}
+
+		// Warm starting.
+		if (b2World.s_enableWarmStarting)
+		{
+			//b1.m_linearVelocity.Subtract( b2Math.MulFV( invMass1, this.m_ptpImpulse) );
+			b1.m_linearVelocity.x -= invMass1 * this.m_ptpImpulse.x;
+			b1.m_linearVelocity.y -= invMass1 * this.m_ptpImpulse.y;
+			//b1.m_angularVelocity -= invI1 * (b2Math.b2CrossVV(r1, this.m_ptpImpulse) + this.m_motorImpulse + this.m_limitImpulse);
+			b1.m_angularVelocity -= invI1 * ((r1X * this.m_ptpImpulse.y - r1Y * this.m_ptpImpulse.x) + this.m_motorImpulse + this.m_limitImpulse);
+
+			//b2.m_linearVelocity.Add( b2Math.MulFV( invMass2 , this.m_ptpImpulse ));
+			b2.m_linearVelocity.x += invMass2 * this.m_ptpImpulse.x;
+			b2.m_linearVelocity.y += invMass2 * this.m_ptpImpulse.y;
+			//b2.m_angularVelocity += invI2 * (b2Math.b2CrossVV(r2, this.m_ptpImpulse) + this.m_motorImpulse + this.m_limitImpulse);
+			b2.m_angularVelocity += invI2 * ((r2X * this.m_ptpImpulse.y - r2Y * this.m_ptpImpulse.x) + this.m_motorImpulse + this.m_limitImpulse);
+		}
+		else{
+			this.m_ptpImpulse.SetZero();
+			this.m_motorImpulse = 0.0;
+			this.m_limitImpulse = 0.0;
+		}
+
+		this.m_limitPositionImpulse = 0.0;
+	},
+
+
+	SolveVelocityConstraints: function(step){
+		var b1 = this.m_body1;
+		var b2 = this.m_body2;
+
+		var tMat;
+
+		//var r1 = b2Math.b2MulMV(b1.m_R, this.m_localAnchor1);
+		tMat = b1.m_R;
+		var r1X = tMat.col1.x * this.m_localAnchor1.x + tMat.col2.x * this.m_localAnchor1.y;
+		var r1Y = tMat.col1.y * this.m_localAnchor1.x + tMat.col2.y * this.m_localAnchor1.y;
+		//var r2 = b2Math.b2MulMV(b2.m_R, this.m_localAnchor2);
+		tMat = b2.m_R;
+		var r2X = tMat.col1.x * this.m_localAnchor2.x + tMat.col2.x * this.m_localAnchor2.y;
+		var r2Y = tMat.col1.y * this.m_localAnchor2.x + tMat.col2.y * this.m_localAnchor2.y;
+
+		var oldLimitImpulse;
+
+		// Solve point-to-point constraint
+		//b2Vec2 ptpCdot = b2.m_linearVelocity + b2Cross(b2.m_angularVelocity, r2) - b1.m_linearVelocity - b2Cross(b1.m_angularVelocity, r1);
+		var ptpCdotX = b2.m_linearVelocity.x + (-b2.m_angularVelocity * r2Y) - b1.m_linearVelocity.x - (-b1.m_angularVelocity * r1Y);
+		var ptpCdotY = b2.m_linearVelocity.y + (b2.m_angularVelocity * r2X) - b1.m_linearVelocity.y - (b1.m_angularVelocity * r1X);
+
+		//b2Vec2 ptpImpulse = -b2Mul(this.m_ptpMass, ptpCdot);
+		var ptpImpulseX = -(this.m_ptpMass.col1.x * ptpCdotX + this.m_ptpMass.col2.x * ptpCdotY);
+		var ptpImpulseY = -(this.m_ptpMass.col1.y * ptpCdotX + this.m_ptpMass.col2.y * ptpCdotY);
+		this.m_ptpImpulse.x += ptpImpulseX;
+		this.m_ptpImpulse.y += ptpImpulseY;
+
+		//b1->m_linearVelocity -= b1->m_invMass * ptpImpulse;
+		b1.m_linearVelocity.x -= b1.m_invMass * ptpImpulseX;
+		b1.m_linearVelocity.y -= b1.m_invMass * ptpImpulseY;
+		//b1->m_angularVelocity -= b1->m_invI * b2Cross(r1, ptpImpulse);
+		b1.m_angularVelocity -= b1.m_invI * (r1X * ptpImpulseY - r1Y * ptpImpulseX);
+
+		//b2->m_linearVelocity += b2->m_invMass * ptpImpulse;
+		b2.m_linearVelocity.x += b2.m_invMass * ptpImpulseX;
+		b2.m_linearVelocity.y += b2.m_invMass * ptpImpulseY;
+		//b2->m_angularVelocity += b2->m_invI * b2Cross(r2, ptpImpulse);
+		b2.m_angularVelocity += b2.m_invI * (r2X * ptpImpulseY - r2Y * ptpImpulseX);
+
+		if (this.m_enableMotor && this.m_limitState != b2Joint.e_equalLimits)
+		{
+			var motorCdot = b2.m_angularVelocity - b1.m_angularVelocity - this.m_motorSpeed;
+			var motorImpulse = -this.m_motorMass * motorCdot;
+			var oldMotorImpulse = this.m_motorImpulse;
+			this.m_motorImpulse = b2Math.b2Clamp(this.m_motorImpulse + motorImpulse, -step.dt * this.m_maxMotorTorque, step.dt * this.m_maxMotorTorque);
+			motorImpulse = this.m_motorImpulse - oldMotorImpulse;
+			b1.m_angularVelocity -= b1.m_invI * motorImpulse;
+			b2.m_angularVelocity += b2.m_invI * motorImpulse;
+		}
+
+		if (this.m_enableLimit && this.m_limitState != b2Joint.e_inactiveLimit)
+		{
+			var limitCdot = b2.m_angularVelocity - b1.m_angularVelocity;
+			var limitImpulse = -this.m_motorMass * limitCdot;
+
+			if (this.m_limitState == b2Joint.e_equalLimits)
+			{
+				this.m_limitImpulse += limitImpulse;
+			}
+			else if (this.m_limitState == b2Joint.e_atLowerLimit)
+			{
+				oldLimitImpulse = this.m_limitImpulse;
+				this.m_limitImpulse = b2Math.b2Max(this.m_limitImpulse + limitImpulse, 0.0);
+				limitImpulse = this.m_limitImpulse - oldLimitImpulse;
+			}
+			else if (this.m_limitState == b2Joint.e_atUpperLimit)
+			{
+				oldLimitImpulse = this.m_limitImpulse;
+				this.m_limitImpulse = b2Math.b2Min(this.m_limitImpulse + limitImpulse, 0.0);
+				limitImpulse = this.m_limitImpulse - oldLimitImpulse;
+			}
+
+			b1.m_angularVelocity -= b1.m_invI * limitImpulse;
+			b2.m_angularVelocity += b2.m_invI * limitImpulse;
+		}
+	},
+
+
+	SolvePositionConstraints: function(){
+
+		var oldLimitImpulse;
+		var limitC;
+
+		var b1 = this.m_body1;
+		var b2 = this.m_body2;
+
+		var positionError = 0.0;
+
+		var tMat;
+
+		// Solve point-to-point position error.
+		//var r1 = b2Math.b2MulMV(b1.m_R, this.m_localAnchor1);
+		tMat = b1.m_R;
+		var r1X = tMat.col1.x * this.m_localAnchor1.x + tMat.col2.x * this.m_localAnchor1.y;
+		var r1Y = tMat.col1.y * this.m_localAnchor1.x + tMat.col2.y * this.m_localAnchor1.y;
+		//var r2 = b2Math.b2MulMV(b2.m_R, this.m_localAnchor2);
+		tMat = b2.m_R;
+		var r2X = tMat.col1.x * this.m_localAnchor2.x + tMat.col2.x * this.m_localAnchor2.y;
+		var r2Y = tMat.col1.y * this.m_localAnchor2.x + tMat.col2.y * this.m_localAnchor2.y;
+
+		//b2Vec2 p1 = b1->m_position + r1;
+		var p1X = b1.m_position.x + r1X;
+		var p1Y = b1.m_position.y + r1Y;
+		//b2Vec2 p2 = b2->m_position + r2;
+		var p2X = b2.m_position.x + r2X;
+		var p2Y = b2.m_position.y + r2Y;
+
+		//b2Vec2 ptpC = p2 - p1;
+		var ptpCX = p2X - p1X;
+		var ptpCY = p2Y - p1Y;
+
+		//float32 positionError = ptpC.Length();
+		positionError = Math.sqrt(ptpCX*ptpCX + ptpCY*ptpCY);
+
+		// Prevent overly large corrections.
+		//b2Vec2 dpMax(b2_maxLinearCorrection, b2_maxLinearCorrection);
+		//ptpC = b2Clamp(ptpC, -dpMax, dpMax);
+
+		//float32 invMass1 = b1->m_invMass, invMass2 = b2->m_invMass;
+		var invMass1 = b1.m_invMass;
+		var invMass2 = b2.m_invMass;
+		//float32 invI1 = b1->m_invI, invI2 = b2->m_invI;
+		var invI1 = b1.m_invI;
+		var invI2 = b2.m_invI;
+
+		//b2Mat22 this.K1;
+		this.K1.col1.x = invMass1 + invMass2;	this.K1.col2.x = 0.0;
+		this.K1.col1.y = 0.0;					this.K1.col2.y = invMass1 + invMass2;
+
+		//b2Mat22 this.K2;
+		this.K2.col1.x =  invI1 * r1Y * r1Y;	this.K2.col2.x = -invI1 * r1X * r1Y;
+		this.K2.col1.y = -invI1 * r1X * r1Y;	this.K2.col2.y =  invI1 * r1X * r1X;
+
+		//b2Mat22 this.K3;
+		this.K3.col1.x =  invI2 * r2Y * r2Y;		this.K3.col2.x = -invI2 * r2X * r2Y;
+		this.K3.col1.y = -invI2 * r2X * r2Y;		this.K3.col2.y =  invI2 * r2X * r2X;
+
+		//b2Mat22 this.K = this.K1 + this.K2 + this.K3;
+		this.K.SetM(this.K1);
+		this.K.AddM(this.K2);
+		this.K.AddM(this.K3);
+		//b2Vec2 impulse = this.K.Solve(-ptpC);
+		this.K.Solve(b2RevoluteJoint.tImpulse, -ptpCX, -ptpCY);
+		var impulseX = b2RevoluteJoint.tImpulse.x;
+		var impulseY = b2RevoluteJoint.tImpulse.y;
+
+		//b1.m_position -= b1.m_invMass * impulse;
+		b1.m_position.x -= b1.m_invMass * impulseX;
+		b1.m_position.y -= b1.m_invMass * impulseY;
+		//b1.m_rotation -= b1.m_invI * b2Cross(r1, impulse);
+		b1.m_rotation -= b1.m_invI * (r1X * impulseY - r1Y * impulseX);
+		b1.m_R.Set(b1.m_rotation);
+
+		//b2.m_position += b2.m_invMass * impulse;
+		b2.m_position.x += b2.m_invMass * impulseX;
+		b2.m_position.y += b2.m_invMass * impulseY;
+		//b2.m_rotation += b2.m_invI * b2Cross(r2, impulse);
+		b2.m_rotation += b2.m_invI * (r2X * impulseY - r2Y * impulseX);
+		b2.m_R.Set(b2.m_rotation);
+
+
+		// Handle limits.
+		var angularError = 0.0;
+
+		if (this.m_enableLimit && this.m_limitState != b2Joint.e_inactiveLimit)
+		{
+			var angle = b2.m_rotation - b1.m_rotation - this.m_intialAngle;
+			var limitImpulse = 0.0;
+
+			if (this.m_limitState == b2Joint.e_equalLimits)
+			{
+				// Prevent large angular corrections
+				limitC = b2Math.b2Clamp(angle, -b2Settings.b2_maxAngularCorrection, b2Settings.b2_maxAngularCorrection);
+				limitImpulse = -this.m_motorMass * limitC;
+				angularError = b2Math.b2Abs(limitC);
+			}
+			else if (this.m_limitState == b2Joint.e_atLowerLimit)
+			{
+				limitC = angle - this.m_lowerAngle;
+				angularError = b2Math.b2Max(0.0, -limitC);
+
+				// Prevent large angular corrections and allow some slop.
+				limitC = b2Math.b2Clamp(limitC + b2Settings.b2_angularSlop, -b2Settings.b2_maxAngularCorrection, 0.0);
+				limitImpulse = -this.m_motorMass * limitC;
+				oldLimitImpulse = this.m_limitPositionImpulse;
+				this.m_limitPositionImpulse = b2Math.b2Max(this.m_limitPositionImpulse + limitImpulse, 0.0);
+				limitImpulse = this.m_limitPositionImpulse - oldLimitImpulse;
+			}
+			else if (this.m_limitState == b2Joint.e_atUpperLimit)
+			{
+				limitC = angle - this.m_upperAngle;
+				angularError = b2Math.b2Max(0.0, limitC);
+
+				// Prevent large angular corrections and allow some slop.
+				limitC = b2Math.b2Clamp(limitC - b2Settings.b2_angularSlop, 0.0, b2Settings.b2_maxAngularCorrection);
+				limitImpulse = -this.m_motorMass * limitC;
+				oldLimitImpulse = this.m_limitPositionImpulse;
+				this.m_limitPositionImpulse = b2Math.b2Min(this.m_limitPositionImpulse + limitImpulse, 0.0);
+				limitImpulse = this.m_limitPositionImpulse - oldLimitImpulse;
+			}
+
+			b1.m_rotation -= b1.m_invI * limitImpulse;
+			b1.m_R.Set(b1.m_rotation);
+			b2.m_rotation += b2.m_invI * limitImpulse;
+			b2.m_R.Set(b2.m_rotation);
+		}
+
+		return positionError <= b2Settings.b2_linearSlop && angularError <= b2Settings.b2_angularSlop;
+	},
+
+	m_localAnchor1: new b2Vec2(),
+	m_localAnchor2: new b2Vec2(),
+	m_ptpImpulse: new b2Vec2(),
+	m_motorImpulse: null,
+	m_limitImpulse: null,
+	m_limitPositionImpulse: null,
+
+	m_ptpMass: new b2Mat22(),
+	m_motorMass: null,
+	m_intialAngle: null,
+	m_lowerAngle: null,
+	m_upperAngle: null,
+	m_maxMotorTorque: null,
+	m_motorSpeed: null,
+
+	m_enableLimit: null,
+	m_enableMotor: null,
+	m_limitState: 0});
+
+b2RevoluteJoint.tImpulse = new b2Vec2();