pbox2d 0.6.0-java → 0.8.0-java

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

@@ -0,0 +1,554 @@
+/*******************************************************************************
+ * 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.Mat22;
+import org.jbox2d.common.Mat33;
+import org.jbox2d.common.MathUtils;
+import org.jbox2d.common.Rot;
+import org.jbox2d.common.Settings;
+import org.jbox2d.common.Vec2;
+import org.jbox2d.common.Vec3;
+import org.jbox2d.dynamics.Body;
+import org.jbox2d.dynamics.SolverData;
+import org.jbox2d.pooling.IWorldPool;
+
+//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
+
+/**
+ * A revolute joint constrains two bodies to share a common point while they are free to rotate
+ * about the point. The relative rotation about the shared point is the joint angle. You can limit
+ * the relative rotation with a joint limit that specifies a lower and upper angle. You can use a
+ * motor to drive the relative rotation about the shared point. A maximum motor torque is provided
+ * so that infinite forces are not generated.
+ * 
+ * @author Daniel Murphy
+ */
+public class RevoluteJoint extends Joint {
+
+  // Solver shared
+  protected final Vec2 m_localAnchorA = new Vec2();
+  protected final Vec2 m_localAnchorB = new Vec2();
+  private final Vec3 m_impulse = new Vec3();
+  private float m_motorImpulse;
+
+  private boolean m_enableMotor;
+  private float m_maxMotorTorque;
+  private float m_motorSpeed;
+
+  private boolean m_enableLimit;
+  protected float m_referenceAngle;
+  private float m_lowerAngle;
+  private float m_upperAngle;
+
+  // Solver temp
+  private int m_indexA;
+  private int m_indexB;
+  private final Vec2 m_rA = new Vec2();
+  private final Vec2 m_rB = new Vec2();
+  private final Vec2 m_localCenterA = new Vec2();
+  private final Vec2 m_localCenterB = new Vec2();
+  private float m_invMassA;
+  private float m_invMassB;
+  private float m_invIA;
+  private float m_invIB;
+  private final Mat33 m_mass = new Mat33(); // effective mass for point-to-point constraint.
+  private float m_motorMass; // effective mass for motor/limit angular constraint.
+  private LimitState m_limitState;
+
+  protected RevoluteJoint(IWorldPool argWorld, RevoluteJointDef def) {
+    super(argWorld, def);
+    m_localAnchorA.set(def.localAnchorA);
+    m_localAnchorB.set(def.localAnchorB);
+    m_referenceAngle = def.referenceAngle;
+
+    m_motorImpulse = 0;
+
+    m_lowerAngle = def.lowerAngle;
+    m_upperAngle = def.upperAngle;
+    m_maxMotorTorque = def.maxMotorTorque;
+    m_motorSpeed = def.motorSpeed;
+    m_enableLimit = def.enableLimit;
+    m_enableMotor = def.enableMotor;
+    m_limitState = LimitState.INACTIVE;
+  }
+
+  @Override
+  public void initVelocityConstraints(final SolverData data) {
+    m_indexA = m_bodyA.m_islandIndex;
+    m_indexB = m_bodyB.m_islandIndex;
+    m_localCenterA.set(m_bodyA.m_sweep.localCenter);
+    m_localCenterB.set(m_bodyB.m_sweep.localCenter);
+    m_invMassA = m_bodyA.m_invMass;
+    m_invMassB = m_bodyB.m_invMass;
+    m_invIA = m_bodyA.m_invI;
+    m_invIB = m_bodyB.m_invI;
+
+    // Vec2 cA = data.positions[m_indexA].c;
+    float aA = data.positions[m_indexA].a;
+    Vec2 vA = data.velocities[m_indexA].v;
+    float wA = data.velocities[m_indexA].w;
+
+    // Vec2 cB = data.positions[m_indexB].c;
+    float aB = data.positions[m_indexB].a;
+    Vec2 vB = data.velocities[m_indexB].v;
+    float wB = data.velocities[m_indexB].w;
+    final Rot qA = pool.popRot();
+    final Rot qB = pool.popRot();
+    final Vec2 temp = pool.popVec2();
+
+    qA.set(aA);
+    qB.set(aB);
+
+    // Compute the effective masses.
+    Rot.mulToOutUnsafe(qA, temp.set(m_localAnchorA).subLocal(m_localCenterA), m_rA);
+    Rot.mulToOutUnsafe(qB, temp.set(m_localAnchorB).subLocal(m_localCenterB), m_rB);
+
+    // J = [-I -r1_skew I r2_skew]
+    // [ 0 -1 0 1]
+    // r_skew = [-ry; rx]
+
+    // Matlab
+    // K = [ mA+r1y^2*iA+mB+r2y^2*iB, -r1y*iA*r1x-r2y*iB*r2x, -r1y*iA-r2y*iB]
+    // [ -r1y*iA*r1x-r2y*iB*r2x, mA+r1x^2*iA+mB+r2x^2*iB, r1x*iA+r2x*iB]
+    // [ -r1y*iA-r2y*iB, r1x*iA+r2x*iB, iA+iB]
+
+    float mA = m_invMassA, mB = m_invMassB;
+    float iA = m_invIA, iB = m_invIB;
+
+    boolean fixedRotation = (iA + iB == 0.0f);
+
+    m_mass.ex.x = mA + mB + m_rA.y * m_rA.y * iA + m_rB.y * m_rB.y * iB;
+    m_mass.ey.x = -m_rA.y * m_rA.x * iA - m_rB.y * m_rB.x * iB;
+    m_mass.ez.x = -m_rA.y * iA - m_rB.y * iB;
+    m_mass.ex.y = m_mass.ey.x;
+    m_mass.ey.y = mA + mB + m_rA.x * m_rA.x * iA + m_rB.x * m_rB.x * iB;
+    m_mass.ez.y = m_rA.x * iA + m_rB.x * iB;
+    m_mass.ex.z = m_mass.ez.x;
+    m_mass.ey.z = m_mass.ez.y;
+    m_mass.ez.z = iA + iB;
+
+    m_motorMass = iA + iB;
+    if (m_motorMass > 0.0f) {
+      m_motorMass = 1.0f / m_motorMass;
+    }
+
+    if (m_enableMotor == false || fixedRotation) {
+      m_motorImpulse = 0.0f;
+    }
+
+    if (m_enableLimit && fixedRotation == false) {
+      float jointAngle = aB - aA - m_referenceAngle;
+      if (MathUtils.abs(m_upperAngle - m_lowerAngle) < 2.0f * Settings.angularSlop) {
+        m_limitState = LimitState.EQUAL;
+      } else if (jointAngle <= m_lowerAngle) {
+        if (m_limitState != LimitState.AT_LOWER) {
+          m_impulse.z = 0.0f;
+        }
+        m_limitState = LimitState.AT_LOWER;
+      } else if (jointAngle >= m_upperAngle) {
+        if (m_limitState != LimitState.AT_UPPER) {
+          m_impulse.z = 0.0f;
+        }
+        m_limitState = LimitState.AT_UPPER;
+      } else {
+        m_limitState = LimitState.INACTIVE;
+        m_impulse.z = 0.0f;
+      }
+    } else {
+      m_limitState = LimitState.INACTIVE;
+    }
+
+    if (data.step.warmStarting) {
+      final Vec2 P = pool.popVec2();
+      // Scale impulses to support a variable time step.
+      m_impulse.x *= data.step.dtRatio;
+      m_impulse.y *= data.step.dtRatio;
+      m_motorImpulse *= data.step.dtRatio;
+
+      P.x = m_impulse.x;
+      P.y = m_impulse.y;
+
+      vA.x -= mA * P.x;
+      vA.y -= mA * P.y;
+      wA -= iA * (Vec2.cross(m_rA, P) + m_motorImpulse + m_impulse.z);
+
+      vB.x += mB * P.x;
+      vB.y += mB * P.y;
+      wB += iB * (Vec2.cross(m_rB, P) + m_motorImpulse + m_impulse.z);
+      pool.pushVec2(1);
+    } else {
+      m_impulse.setZero();
+      m_motorImpulse = 0.0f;
+    }
+    // data.velocities[m_indexA].v.set(vA);
+    data.velocities[m_indexA].w = wA;
+    // data.velocities[m_indexB].v.set(vB);
+    data.velocities[m_indexB].w = wB;
+
+    pool.pushVec2(1);
+    pool.pushRot(2);
+  }
+
+  @Override
+  public void solveVelocityConstraints(final SolverData data) {
+    Vec2 vA = data.velocities[m_indexA].v;
+    float wA = data.velocities[m_indexA].w;
+    Vec2 vB = data.velocities[m_indexB].v;
+    float wB = data.velocities[m_indexB].w;
+
+    float mA = m_invMassA, mB = m_invMassB;
+    float iA = m_invIA, iB = m_invIB;
+
+    boolean fixedRotation = (iA + iB == 0.0f);
+
+    // Solve motor constraint.
+    if (m_enableMotor && m_limitState != LimitState.EQUAL && fixedRotation == false) {
+      float Cdot = wB - wA - m_motorSpeed;
+      float impulse = -m_motorMass * Cdot;
+      float oldImpulse = m_motorImpulse;
+      float maxImpulse = data.step.dt * m_maxMotorTorque;
+      m_motorImpulse = MathUtils.clamp(m_motorImpulse + impulse, -maxImpulse, maxImpulse);
+      impulse = m_motorImpulse - oldImpulse;
+
+      wA -= iA * impulse;
+      wB += iB * impulse;
+    }
+    final Vec2 temp = pool.popVec2();
+
+    // Solve limit constraint.
+    if (m_enableLimit && m_limitState != LimitState.INACTIVE && fixedRotation == false) {
+
+      final Vec2 Cdot1 = pool.popVec2();
+      final Vec3 Cdot = pool.popVec3();
+
+      // Solve point-to-point constraint
+      Vec2.crossToOutUnsafe(wA, m_rA, temp);
+      Vec2.crossToOutUnsafe(wB, m_rB, Cdot1);
+      Cdot1.addLocal(vB).subLocal(vA).subLocal(temp);
+      float Cdot2 = wB - wA;
+      Cdot.set(Cdot1.x, Cdot1.y, Cdot2);
+
+      Vec3 impulse = pool.popVec3();
+      m_mass.solve33ToOut(Cdot, impulse);
+      impulse.negateLocal();
+
+      if (m_limitState == LimitState.EQUAL) {
+        m_impulse.addLocal(impulse);
+      } else if (m_limitState == LimitState.AT_LOWER) {
+        float newImpulse = m_impulse.z + impulse.z;
+        if (newImpulse < 0.0f) {
+          final Vec2 rhs = pool.popVec2();
+          rhs.set(m_mass.ez.x, m_mass.ez.y).mulLocal(m_impulse.z).subLocal(Cdot1);
+          m_mass.solve22ToOut(rhs, temp);
+          impulse.x = temp.x;
+          impulse.y = temp.y;
+          impulse.z = -m_impulse.z;
+          m_impulse.x += temp.x;
+          m_impulse.y += temp.y;
+          m_impulse.z = 0.0f;
+          pool.pushVec2(1);
+        } else {
+          m_impulse.addLocal(impulse);
+        }
+      } else if (m_limitState == LimitState.AT_UPPER) {
+        float newImpulse = m_impulse.z + impulse.z;
+        if (newImpulse > 0.0f) {
+          final Vec2 rhs = pool.popVec2();
+          rhs.set(m_mass.ez.x, m_mass.ez.y).mulLocal(m_impulse.z).subLocal(Cdot1);
+          m_mass.solve22ToOut(rhs, temp);
+          impulse.x = temp.x;
+          impulse.y = temp.y;
+          impulse.z = -m_impulse.z;
+          m_impulse.x += temp.x;
+          m_impulse.y += temp.y;
+          m_impulse.z = 0.0f;
+          pool.pushVec2(1);
+        } else {
+          m_impulse.addLocal(impulse);
+        }
+      }
+      final Vec2 P = pool.popVec2();
+
+      P.set(impulse.x, impulse.y);
+
+      vA.x -= mA * P.x;
+      vA.y -= mA * P.y;
+      wA -= iA * (Vec2.cross(m_rA, P) + impulse.z);
+
+      vB.x += mB * P.x;
+      vB.y += mB * P.y;
+      wB += iB * (Vec2.cross(m_rB, P) + impulse.z);
+
+      pool.pushVec2(2);
+      pool.pushVec3(2);
+    } else {
+
+      // Solve point-to-point constraint
+      Vec2 Cdot = pool.popVec2();
+      Vec2 impulse = pool.popVec2();
+
+      Vec2.crossToOutUnsafe(wA, m_rA, temp);
+      Vec2.crossToOutUnsafe(wB, m_rB, Cdot);
+      Cdot.addLocal(vB).subLocal(vA).subLocal(temp);
+      m_mass.solve22ToOut(Cdot.negateLocal(), impulse); // just leave negated
+
+      m_impulse.x += impulse.x;
+      m_impulse.y += impulse.y;
+
+      vA.x -= mA * impulse.x;
+      vA.y -= mA * impulse.y;
+      wA -= iA * Vec2.cross(m_rA, impulse);
+
+      vB.x += mB * impulse.x;
+      vB.y += mB * impulse.y;
+      wB += iB * Vec2.cross(m_rB, impulse);
+
+      pool.pushVec2(2);
+    }
+
+    // data.velocities[m_indexA].v.set(vA);
+    data.velocities[m_indexA].w = wA;
+    // data.velocities[m_indexB].v.set(vB);
+    data.velocities[m_indexB].w = wB;
+
+    pool.pushVec2(1);
+  }
+
+  @Override
+  public boolean solvePositionConstraints(final SolverData data) {
+    final Rot qA = pool.popRot();
+    final Rot qB = pool.popRot();
+    Vec2 cA = data.positions[m_indexA].c;
+    float aA = data.positions[m_indexA].a;
+    Vec2 cB = data.positions[m_indexB].c;
+    float aB = data.positions[m_indexB].a;
+
+    qA.set(aA);
+    qB.set(aB);
+
+    float angularError = 0.0f;
+    float positionError = 0.0f;
+
+    boolean fixedRotation = (m_invIA + m_invIB == 0.0f);
+
+    // Solve angular limit constraint.
+    if (m_enableLimit && m_limitState != LimitState.INACTIVE && fixedRotation == false) {
+      float angle = aB - aA - m_referenceAngle;
+      float limitImpulse = 0.0f;
+
+      if (m_limitState == LimitState.EQUAL) {
+        // Prevent large angular corrections
+        float C =
+            MathUtils.clamp(angle - m_lowerAngle, -Settings.maxAngularCorrection,
+                Settings.maxAngularCorrection);
+        limitImpulse = -m_motorMass * C;
+        angularError = MathUtils.abs(C);
+      } else if (m_limitState == LimitState.AT_LOWER) {
+        float C = angle - m_lowerAngle;
+        angularError = -C;
+
+        // Prevent large angular corrections and allow some slop.
+        C = MathUtils.clamp(C + Settings.angularSlop, -Settings.maxAngularCorrection, 0.0f);
+        limitImpulse = -m_motorMass * C;
+      } else if (m_limitState == LimitState.AT_UPPER) {
+        float C = angle - m_upperAngle;
+        angularError = C;
+
+        // Prevent large angular corrections and allow some slop.
+        C = MathUtils.clamp(C - Settings.angularSlop, 0.0f, Settings.maxAngularCorrection);
+        limitImpulse = -m_motorMass * C;
+      }
+
+      aA -= m_invIA * limitImpulse;
+      aB += m_invIB * limitImpulse;
+    }
+    // Solve point-to-point constraint.
+    {
+      qA.set(aA);
+      qB.set(aB);
+
+      final Vec2 rA = pool.popVec2();
+      final Vec2 rB = pool.popVec2();
+      final Vec2 C = pool.popVec2();
+      final Vec2 impulse = pool.popVec2();
+
+      Rot.mulToOutUnsafe(qA, C.set(m_localAnchorA).subLocal(m_localCenterA), rA);
+      Rot.mulToOutUnsafe(qB, C.set(m_localAnchorB).subLocal(m_localCenterB), rB);
+      C.set(cB).addLocal(rB).subLocal(cA).subLocal(rA);
+      positionError = C.length();
+
+      float mA = m_invMassA, mB = m_invMassB;
+      float iA = m_invIA, iB = m_invIB;
+
+      final Mat22 K = pool.popMat22();
+      K.ex.x = mA + mB + iA * rA.y * rA.y + iB * rB.y * rB.y;
+      K.ex.y = -iA * rA.x * rA.y - iB * rB.x * rB.y;
+      K.ey.x = K.ex.y;
+      K.ey.y = mA + mB + iA * rA.x * rA.x + iB * rB.x * rB.x;
+      K.solveToOut(C, impulse);
+      impulse.negateLocal();
+
+      cA.x -= mA * impulse.x;
+      cA.y -= mA * impulse.y;
+      aA -= iA * Vec2.cross(rA, impulse);
+
+      cB.x += mB * impulse.x;
+      cB.y += mB * impulse.y;
+      aB += iB * Vec2.cross(rB, impulse);
+
+      pool.pushVec2(4);
+      pool.pushMat22(1);
+    }
+    // data.positions[m_indexA].c.set(cA);
+    data.positions[m_indexA].a = aA;
+    // data.positions[m_indexB].c.set(cB);
+    data.positions[m_indexB].a = aB;
+
+    pool.pushRot(2);
+
+    return positionError <= Settings.linearSlop && angularError <= Settings.angularSlop;
+  }
+  
+  public Vec2 getLocalAnchorA() {
+    return m_localAnchorA;
+  }
+  
+  public Vec2 getLocalAnchorB() {
+    return m_localAnchorB;
+  }
+  
+  public float getReferenceAngle() {
+    return m_referenceAngle;
+  }
+
+  @Override
+  public void getAnchorA(Vec2 argOut) {
+    m_bodyA.getWorldPointToOut(m_localAnchorA, argOut);
+  }
+
+  @Override
+  public void getAnchorB(Vec2 argOut) {
+    m_bodyB.getWorldPointToOut(m_localAnchorB, argOut);
+  }
+
+  @Override
+  public void getReactionForce(float inv_dt, Vec2 argOut) {
+    argOut.set(m_impulse.x, m_impulse.y).mulLocal(inv_dt);
+  }
+
+  @Override
+  public float getReactionTorque(float inv_dt) {
+    return inv_dt * m_impulse.z;
+  }
+
+  public float getJointAngle() {
+    final Body b1 = m_bodyA;
+    final Body b2 = m_bodyB;
+    return b2.m_sweep.a - b1.m_sweep.a - m_referenceAngle;
+  }
+
+  public float getJointSpeed() {
+    final Body b1 = m_bodyA;
+    final Body b2 = m_bodyB;
+    return b2.m_angularVelocity - b1.m_angularVelocity;
+  }
+
+  public boolean isMotorEnabled() {
+    return m_enableMotor;
+  }
+
+  public void enableMotor(boolean flag) {
+    m_bodyA.setAwake(true);
+    m_bodyB.setAwake(true);
+    m_enableMotor = flag;
+  }
+
+  public float getMotorTorque(float inv_dt) {
+    return m_motorImpulse * inv_dt;
+  }
+
+  public void setMotorSpeed(final float speed) {
+    m_bodyA.setAwake(true);
+    m_bodyB.setAwake(true);
+    m_motorSpeed = speed;
+  }
+
+  public void setMaxMotorTorque(final float torque) {
+    m_bodyA.setAwake(true);
+    m_bodyB.setAwake(true);
+    m_maxMotorTorque = torque;
+  }
+
+  public float getMotorSpeed() {
+    return m_motorSpeed;
+  }
+
+  public float getMaxMotorTorque() {
+    return m_maxMotorTorque;
+  }
+
+  public boolean isLimitEnabled() {
+    return m_enableLimit;
+  }
+
+  public void enableLimit(final boolean flag) {
+    if (flag != m_enableLimit) {
+      m_bodyA.setAwake(true);
+      m_bodyB.setAwake(true);
+      m_enableLimit = flag;
+      m_impulse.z = 0.0f;
+    }
+  }
+
+  public float getLowerLimit() {
+    return m_lowerAngle;
+  }
+
+  public float getUpperLimit() {
+    return m_upperAngle;
+  }
+
+  public void setLimits(final float lower, final float upper) {
+    assert (lower <= upper);
+    if (lower != m_lowerAngle || upper != m_upperAngle) {
+      m_bodyA.setAwake(true);
+      m_bodyB.setAwake(true);
+      m_impulse.z = 0.0f;
+      m_lowerAngle = lower;
+      m_upperAngle = upper;
+    }
+  }
+}

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

@@ -0,0 +1,137 @@
+/*******************************************************************************
+ * 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.
+ ******************************************************************************/
+/*
+ * JBox2D - A Java Port of Erin Catto's Box2D
+ * 
+ * JBox2D homepage: http://jbox2d.sourceforge.net/
+ * Box2D homepage: http://www.box2d.org
+ * 
+ * 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 as such, and must not be
+ * misrepresented as being the original software.
+ * 3. This notice may not be removed or altered from any source distribution.
+ */
+
+package org.jbox2d.dynamics.joints;
+
+import org.jbox2d.common.Vec2;
+import org.jbox2d.dynamics.Body;
+
+/**
+ * Revolute joint definition. This requires defining an anchor point where the bodies are joined.
+ * The definition uses local anchor points so that the initial configuration can violate the
+ * constraint slightly. You also need to specify the initial relative angle for joint limits. This
+ * helps when saving and loading a game. The local anchor points are measured from the body's origin
+ * rather than the center of mass because:<br/>
+ * <ul>
+ * <li>you might not know where the center of mass will be.</li>
+ * <li>if you add/remove shapes from a body and recompute the mass, the joints will be broken.</li>
+ * </ul>
+ */
+public class RevoluteJointDef extends JointDef {
+
+  /**
+   * The local anchor point relative to body1's origin.
+   */
+  public Vec2 localAnchorA;
+
+  /**
+   * The local anchor point relative to body2's origin.
+   */
+  public Vec2 localAnchorB;
+
+  /**
+   * The body2 angle minus body1 angle in the reference state (radians).
+   */
+  public float referenceAngle;
+
+  /**
+   * A flag to enable joint limits.
+   */
+  public boolean enableLimit;
+
+  /**
+   * The lower angle for the joint limit (radians).
+   */
+  public float lowerAngle;
+
+  /**
+   * The upper angle for the joint limit (radians).
+   */
+  public float upperAngle;
+
+  /**
+   * A flag to enable the joint motor.
+   */
+  public boolean enableMotor;
+
+  /**
+   * The desired motor speed. Usually in radians per second.
+   */
+  public float motorSpeed;
+
+  /**
+   * The maximum motor torque used to achieve the desired motor speed. Usually in N-m.
+   */
+  public float maxMotorTorque;
+
+  public RevoluteJointDef() {
+    super(JointType.REVOLUTE);
+    localAnchorA = new Vec2(0.0f, 0.0f);
+    localAnchorB = new Vec2(0.0f, 0.0f);
+    referenceAngle = 0.0f;
+    lowerAngle = 0.0f;
+    upperAngle = 0.0f;
+    maxMotorTorque = 0.0f;
+    motorSpeed = 0.0f;
+    enableLimit = false;
+    enableMotor = false;
+  }
+
+  /**
+   * Initialize the bodies, anchors, and reference angle using the world anchor.
+   * 
+   * @param b1
+   * @param b2
+   * @param anchor
+   */
+  public void initialize(final Body b1, final Body b2, final Vec2 anchor) {
+    bodyA = b1;
+    bodyB = b2;
+    bodyA.getLocalPointToOut(anchor, localAnchorA);
+    bodyB.getLocalPointToOut(anchor, localAnchorB);
+    referenceAngle = bodyB.getAngle() - bodyA.getAngle();
+  }
+}