pbox2d 0.6.0-java → 0.8.0-java

data/src/org/jbox2d/dynamics/joints/Joint.java

@@ -0,0 +1,235 @@
+/*******************************************************************************
+ * Copyright (c) 2013, Daniel Murphy
+ * All rights reserved.
+ * 
+ * Redistribution and use in source and binary forms, with or without modification,
+ * are permitted provided that the following conditions are met:
+ * 	* Redistributions of source code must retain the above copyright notice,
+ * 	  this list of conditions and the following disclaimer.
+ * 	* Redistributions in binary form must reproduce the above copyright notice,
+ * 	  this list of conditions and the following disclaimer in the documentation
+ * 	  and/or other materials provided with the distribution.
+ * 
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+ * ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+ * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED.
+ * IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT,
+ * INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT
+ * NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR
+ * PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY,
+ * WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+ * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ ******************************************************************************/
+package org.jbox2d.dynamics.joints;
+
+import org.jbox2d.common.Vec2;
+import org.jbox2d.dynamics.Body;
+import org.jbox2d.dynamics.SolverData;
+import org.jbox2d.dynamics.World;
+import org.jbox2d.pooling.IWorldPool;
+
+// updated to rev 100
+/**
+ * The base joint class. Joints are used to constrain two bodies together in various fashions. Some
+ * joints also feature limits and motors.
+ * 
+ * @author Daniel Murphy
+ */
+public abstract class Joint {
+
+  public static Joint create(World world, JointDef def) {
+    // Joint joint = null;
+    switch (def.type) {
+      case MOUSE:
+        return new MouseJoint(world.getPool(), (MouseJointDef) def);
+      case DISTANCE:
+        return new DistanceJoint(world.getPool(), (DistanceJointDef) def);
+      case PRISMATIC:
+        return new PrismaticJoint(world.getPool(), (PrismaticJointDef) def);
+      case REVOLUTE:
+        return new RevoluteJoint(world.getPool(), (RevoluteJointDef) def);
+      case WELD:
+        return new WeldJoint(world.getPool(), (WeldJointDef) def);
+      case FRICTION:
+        return new FrictionJoint(world.getPool(), (FrictionJointDef) def);
+      case WHEEL:
+        return new WheelJoint(world.getPool(), (WheelJointDef) def);
+      case GEAR:
+        return new GearJoint(world.getPool(), (GearJointDef) def);
+      case PULLEY:
+        return new PulleyJoint(world.getPool(), (PulleyJointDef) def);
+      case CONSTANT_VOLUME:
+        return new ConstantVolumeJoint(world, (ConstantVolumeJointDef) def);
+      case ROPE:
+        return new RopeJoint(world.getPool(), (RopeJointDef) def);
+      case MOTOR:
+        return new MotorJoint(world.getPool(), (MotorJointDef) def);
+      case UNKNOWN:
+      default:
+        return null;
+    }
+  }
+
+  public static void destroy(Joint joint) {
+    joint.destructor();
+  }
+
+  private final JointType m_type;
+  public Joint m_prev;
+  public Joint m_next;
+  public JointEdge m_edgeA;
+  public JointEdge m_edgeB;
+  protected Body m_bodyA;
+  protected Body m_bodyB;
+
+  public boolean m_islandFlag;
+  private boolean m_collideConnected;
+
+  public Object m_userData;
+
+  protected IWorldPool pool;
+
+  // Cache here per time step to reduce cache misses.
+  // final Vec2 m_localCenterA, m_localCenterB;
+  // float m_invMassA, m_invIA;
+  // float m_invMassB, m_invIB;
+
+  protected Joint(IWorldPool worldPool, JointDef def) {
+    assert (def.bodyA != def.bodyB);
+
+    pool = worldPool;
+    m_type = def.type;
+    m_prev = null;
+    m_next = null;
+    m_bodyA = def.bodyA;
+    m_bodyB = def.bodyB;
+    m_collideConnected = def.collideConnected;
+    m_islandFlag = false;
+    m_userData = def.userData;
+
+    m_edgeA = new JointEdge();
+    m_edgeA.joint = null;
+    m_edgeA.other = null;
+    m_edgeA.prev = null;
+    m_edgeA.next = null;
+
+    m_edgeB = new JointEdge();
+    m_edgeB.joint = null;
+    m_edgeB.other = null;
+    m_edgeB.prev = null;
+    m_edgeB.next = null;
+
+    // m_localCenterA = new Vec2();
+    // m_localCenterB = new Vec2();
+  }
+
+  /**
+   * get the type of the concrete joint.
+   * 
+   * @return
+   */
+  public JointType getType() {
+    return m_type;
+  }
+
+  /**
+   * get the first body attached to this joint.
+   */
+  public final Body getBodyA() {
+    return m_bodyA;
+  }
+
+  /**
+   * get the second body attached to this joint.
+   * 
+   * @return
+   */
+  public final Body getBodyB() {
+    return m_bodyB;
+  }
+
+  /**
+   * get the anchor point on bodyA in world coordinates.
+   * 
+   * @return
+   */
+  public abstract void getAnchorA(Vec2 out);
+
+  /**
+   * get the anchor point on bodyB in world coordinates.
+   * 
+   * @return
+   */
+  public abstract void getAnchorB(Vec2 out);
+
+  /**
+   * get the reaction force on body2 at the joint anchor in Newtons.
+   * 
+   * @param inv_dt
+   * @return
+   */
+  public abstract void getReactionForce(float inv_dt, Vec2 out);
+
+  /**
+   * get the reaction torque on body2 in N*m.
+   * 
+   * @param inv_dt
+   * @return
+   */
+  public abstract float getReactionTorque(float inv_dt);
+
+  /**
+   * get the next joint the world joint list.
+   */
+  public Joint getNext() {
+    return m_next;
+  }
+
+  /**
+   * get the user data pointer.
+   */
+  public Object getUserData() {
+    return m_userData;
+  }
+
+  /**
+   * Set the user data pointer.
+   */
+  public void setUserData(Object data) {
+    m_userData = data;
+  }
+
+  /**
+   * Get collide connected. Note: modifying the collide connect flag won't work correctly because
+   * the flag is only checked when fixture AABBs begin to overlap.
+   */
+  public final boolean getCollideConnected() {
+    return m_collideConnected;
+  }
+
+  /**
+   * Short-cut function to determine if either body is inactive.
+   * 
+   * @return
+   */
+  public boolean isActive() {
+    return m_bodyA.isActive() && m_bodyB.isActive();
+  }
+
+  /** Internal */
+  public abstract void initVelocityConstraints(SolverData data);
+
+  /** Internal */
+  public abstract void solveVelocityConstraints(SolverData data);
+
+  /**
+   * This returns true if the position errors are within tolerance. Internal.
+   */
+  public abstract boolean solvePositionConstraints(SolverData data);
+
+  /**
+   * Override to handle destruction of joint
+   */
+  public void destructor() {}
+}

data/src/org/jbox2d/dynamics/joints/JointDef.java

@@ -0,0 +1,65 @@
+/*******************************************************************************
+ * Copyright (c) 2013, Daniel Murphy
+ * All rights reserved.
+ * 
+ * Redistribution and use in source and binary forms, with or without modification,
+ * are permitted provided that the following conditions are met:
+ * 	* Redistributions of source code must retain the above copyright notice,
+ * 	  this list of conditions and the following disclaimer.
+ * 	* Redistributions in binary form must reproduce the above copyright notice,
+ * 	  this list of conditions and the following disclaimer in the documentation
+ * 	  and/or other materials provided with the distribution.
+ * 
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+ * ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+ * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED.
+ * IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT,
+ * INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT
+ * NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR
+ * PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY,
+ * WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+ * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ ******************************************************************************/
+package org.jbox2d.dynamics.joints;
+
+import org.jbox2d.dynamics.Body;
+
+/**
+ * Joint definitions are used to construct joints.
+ * @author Daniel Murphy
+ */
+public class JointDef {
+
+	public JointDef(JointType type){
+		this.type = type;
+		userData = null;
+		bodyA = null;
+		bodyB = null;
+		collideConnected = false;
+	}
+	/**
+	 * The joint type is set automatically for concrete joint types.
+	 */
+	public JointType type;
+	
+	/**
+	 * Use this to attach application specific data to your joints.
+	 */
+	public Object userData;
+	
+	/**
+	 * The first attached body.
+	 */
+	public Body bodyA;
+	
+	/**
+	 * The second attached body.
+	 */
+	public Body bodyB;
+	
+	/**
+	 * Set this flag to true if the attached bodies should collide.
+	 */
+	public boolean collideConnected;
+}

data/src/org/jbox2d/dynamics/joints/JointEdge.java

@@ -0,0 +1,57 @@
+/*******************************************************************************
+ * Copyright (c) 2013, Daniel Murphy
+ * All rights reserved.
+ * 
+ * Redistribution and use in source and binary forms, with or without modification,
+ * are permitted provided that the following conditions are met:
+ * 	* Redistributions of source code must retain the above copyright notice,
+ * 	  this list of conditions and the following disclaimer.
+ * 	* Redistributions in binary form must reproduce the above copyright notice,
+ * 	  this list of conditions and the following disclaimer in the documentation
+ * 	  and/or other materials provided with the distribution.
+ * 
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+ * ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+ * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED.
+ * IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT,
+ * INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT
+ * NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR
+ * PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY,
+ * WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+ * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ ******************************************************************************/
+package org.jbox2d.dynamics.joints;
+
+import org.jbox2d.dynamics.Body;
+
+/**
+ * A joint edge is used to connect bodies and joints together
+ * in a joint graph where each body is a node and each joint
+ * is an edge. A joint edge belongs to a doubly linked list
+ * maintained in each attached body. Each joint has two joint
+ * nodes, one for each attached body.
+ * @author Daniel
+ */
+public class JointEdge {
+	
+	/**
+	 * Provides quick access to the other body attached
+	 */
+	public Body other = null;
+	
+	/**
+	 * the joint
+	 */
+	public Joint joint = null;
+	
+	/**
+	 * the previous joint edge in the body's joint list
+	 */
+	public JointEdge prev = null;
+	
+	/**
+	 * the next joint edge in the body's joint list
+	 */
+	public JointEdge next = null;
+}

data/src/org/jbox2d/dynamics/joints/JointType.java

@@ -0,0 +1,28 @@
+/*******************************************************************************
+ * Copyright (c) 2013, Daniel Murphy
+ * All rights reserved.
+ * 
+ * Redistribution and use in source and binary forms, with or without modification,
+ * are permitted provided that the following conditions are met:
+ * 	* Redistributions of source code must retain the above copyright notice,
+ * 	  this list of conditions and the following disclaimer.
+ * 	* Redistributions in binary form must reproduce the above copyright notice,
+ * 	  this list of conditions and the following disclaimer in the documentation
+ * 	  and/or other materials provided with the distribution.
+ * 
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+ * ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+ * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED.
+ * IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT,
+ * INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT
+ * NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR
+ * PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY,
+ * WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+ * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ ******************************************************************************/
+package org.jbox2d.dynamics.joints;
+
+public enum JointType {
+  UNKNOWN, REVOLUTE, PRISMATIC, DISTANCE, PULLEY, MOUSE, GEAR, WHEEL, WELD, FRICTION, ROPE, CONSTANT_VOLUME, MOTOR
+}

data/src/org/jbox2d/dynamics/joints/LimitState.java

@@ -0,0 +1,28 @@
+/*******************************************************************************
+ * Copyright (c) 2013, Daniel Murphy
+ * All rights reserved.
+ * 
+ * Redistribution and use in source and binary forms, with or without modification,
+ * are permitted provided that the following conditions are met:
+ * 	* Redistributions of source code must retain the above copyright notice,
+ * 	  this list of conditions and the following disclaimer.
+ * 	* Redistributions in binary form must reproduce the above copyright notice,
+ * 	  this list of conditions and the following disclaimer in the documentation
+ * 	  and/or other materials provided with the distribution.
+ * 
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+ * ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+ * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED.
+ * IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT,
+ * INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT
+ * NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR
+ * PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY,
+ * WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+ * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ ******************************************************************************/
+package org.jbox2d.dynamics.joints;
+
+public enum LimitState {
+	INACTIVE, AT_LOWER, AT_UPPER, EQUAL
+}