reflexion 0.1.11 → 0.1.16
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- checksums.yaml +5 -5
- data/.doc/ext/reflex/application.cpp +9 -5
- data/.doc/ext/reflex/capture_event.cpp +4 -9
- data/.doc/ext/reflex/contact_event.cpp +17 -13
- data/.doc/ext/reflex/draw_event.cpp +3 -8
- data/.doc/ext/reflex/ellipse_shape.cpp +51 -24
- data/.doc/ext/reflex/event.cpp +0 -4
- data/.doc/ext/reflex/filter.cpp +81 -0
- data/.doc/ext/reflex/focus_event.cpp +9 -13
- data/.doc/ext/reflex/frame_event.cpp +47 -14
- data/.doc/ext/reflex/image_view.cpp +1 -10
- data/.doc/ext/reflex/key_event.cpp +9 -14
- data/.doc/ext/reflex/line_shape.cpp +99 -0
- data/.doc/ext/reflex/motion_event.cpp +73 -0
- data/.doc/ext/reflex/native.cpp +18 -18
- data/.doc/ext/reflex/pointer_event.cpp +27 -25
- data/.doc/ext/reflex/polygon_shape.cpp +65 -0
- data/.doc/ext/reflex/rect_shape.cpp +102 -23
- data/.doc/ext/reflex/reflex.cpp +24 -3
- data/.doc/ext/reflex/scroll_event.cpp +8 -15
- data/.doc/ext/reflex/selector.cpp +43 -15
- data/.doc/ext/reflex/shape.cpp +211 -0
- data/.doc/ext/reflex/style.cpp +359 -185
- data/.doc/ext/reflex/style_length.cpp +163 -35
- data/.doc/ext/reflex/timer.cpp +101 -0
- data/.doc/ext/reflex/timer_event.cpp +123 -0
- data/.doc/ext/reflex/update_event.cpp +12 -8
- data/.doc/ext/reflex/view.cpp +548 -144
- data/.doc/ext/reflex/wheel_event.cpp +5 -28
- data/.doc/ext/reflex/window.cpp +7 -15
- data/LICENSE +21 -0
- data/README.md +1 -1
- data/Rakefile +14 -12
- data/VERSION +1 -1
- data/ext/reflex/application.cpp +10 -5
- data/ext/reflex/capture_event.cpp +4 -9
- data/ext/reflex/contact_event.cpp +18 -13
- data/ext/reflex/defs.h +5 -2
- data/ext/reflex/draw_event.cpp +3 -8
- data/ext/reflex/ellipse_shape.cpp +56 -25
- data/ext/reflex/event.cpp +0 -4
- data/ext/reflex/extconf.rb +1 -2
- data/ext/reflex/filter.cpp +86 -0
- data/ext/reflex/focus_event.cpp +11 -15
- data/ext/reflex/frame_event.cpp +52 -14
- data/ext/reflex/image_view.cpp +1 -10
- data/ext/reflex/key_event.cpp +9 -14
- data/ext/reflex/line_shape.cpp +104 -0
- data/ext/reflex/motion_event.cpp +77 -0
- data/ext/reflex/native.cpp +18 -18
- data/ext/reflex/pointer_event.cpp +27 -25
- data/ext/reflex/polygon_shape.cpp +68 -0
- data/ext/reflex/rect_shape.cpp +113 -24
- data/ext/reflex/reflex.cpp +24 -3
- data/ext/reflex/scroll_event.cpp +8 -15
- data/ext/reflex/selector.cpp +46 -16
- data/ext/reflex/selector.h +130 -0
- data/ext/reflex/shape.cpp +231 -0
- data/ext/reflex/style.cpp +363 -192
- data/ext/reflex/style_length.cpp +164 -37
- data/ext/reflex/timer.cpp +108 -0
- data/ext/reflex/timer_event.cpp +133 -0
- data/ext/reflex/update_event.cpp +13 -8
- data/ext/reflex/view.cpp +594 -150
- data/ext/reflex/wheel_event.cpp +5 -30
- data/ext/reflex/window.cpp +7 -15
- data/include/reflex.h +5 -4
- data/include/reflex/application.h +2 -0
- data/include/reflex/debug.h +22 -0
- data/include/reflex/defs.h +45 -2
- data/include/reflex/event.h +55 -11
- data/include/reflex/exception.h +17 -2
- data/include/reflex/filter.h +56 -0
- data/include/reflex/image_view.h +1 -1
- data/include/reflex/ruby.h +6 -4
- data/include/reflex/ruby/application.h +17 -9
- data/include/reflex/ruby/event.h +22 -0
- data/include/reflex/ruby/filter.h +69 -0
- data/include/reflex/ruby/reflex.h +1 -0
- data/include/reflex/ruby/selector.h +1 -1
- data/include/reflex/ruby/shape.h +140 -0
- data/include/reflex/ruby/style.h +1 -1
- data/include/reflex/ruby/timer.h +69 -0
- data/include/reflex/ruby/view.h +43 -76
- data/include/reflex/ruby/window.h +17 -32
- data/include/reflex/selector.h +54 -2
- data/include/reflex/shape.h +211 -0
- data/include/reflex/style.h +136 -76
- data/include/reflex/timer.h +73 -0
- data/include/reflex/view.h +181 -59
- data/include/reflex/window.h +4 -3
- data/lib/reflex.rb +13 -6
- data/lib/reflex/application.rb +6 -3
- data/lib/reflex/button.rb +2 -2
- data/lib/reflex/{texture.rb → camera.rb} +2 -2
- data/lib/reflex/capture_event.rb +7 -6
- data/lib/reflex/contact_event.rb +10 -12
- data/lib/reflex/draw_event.rb +6 -1
- data/lib/reflex/ellipse_shape.rb +27 -0
- data/lib/reflex/filter.rb +18 -0
- data/lib/reflex/fixture.rb +4 -0
- data/lib/reflex/focus_event.rb +10 -12
- data/lib/reflex/frame_event.rb +1 -1
- data/lib/reflex/helper.rb +17 -29
- data/lib/reflex/key_event.rb +13 -11
- data/lib/reflex/line_shape.rb +18 -0
- data/lib/reflex/matrix.rb +13 -0
- data/lib/reflex/module.rb +4 -19
- data/lib/reflex/pointer_event.rb +28 -35
- data/lib/reflex/polygon.rb +14 -0
- data/lib/reflex/polygon_shape.rb +23 -0
- data/lib/reflex/polyline.rb +13 -0
- data/lib/reflex/rect_shape.rb +20 -0
- data/lib/reflex/reflex.rb +1 -3
- data/lib/reflex/scroll_event.rb +1 -1
- data/lib/reflex/selector.rb +2 -2
- data/lib/reflex/shape.rb +62 -0
- data/lib/reflex/style.rb +78 -11
- data/lib/reflex/style_length.rb +0 -11
- data/lib/reflex/text_view.rb +7 -24
- data/lib/reflex/timer.rb +30 -0
- data/lib/reflex/timer_event.rb +29 -0
- data/lib/reflex/update_event.rb +1 -1
- data/lib/reflex/view.rb +127 -32
- data/lib/reflex/wheel_event.rb +9 -1
- data/lib/reflex/window.rb +29 -9
- data/lib/reflexion.rb +23 -7
- data/reflex.gemspec +7 -8
- data/samples/bats.rb +4 -4
- data/samples/camera.rb +32 -0
- data/samples/fans.rb +1 -1
- data/samples/fps.rb +5 -3
- data/samples/hello.rb +4 -6
- data/samples/image.rb +5 -4
- data/samples/ios/hello/hello.xcodeproj/project.pbxproj +0 -2
- data/samples/layout.rb +16 -7
- data/samples/model.rb +10 -7
- data/samples/physics.rb +22 -20
- data/samples/reflexion/breakout.rb +4 -5
- data/samples/reflexion/hello.rb +2 -2
- data/samples/reflexion/jump_action.rb +191 -0
- data/samples/reflexion/noise.rb +23 -0
- data/samples/reflexion/paint.rb +7 -6
- data/samples/reflexion/physics.rb +15 -8
- data/samples/reflexion/pulse.rb +24 -10
- data/samples/shader.rb +8 -6
- data/samples/shapes.rb +79 -14
- data/samples/tree.rb +9 -10
- data/samples/views.rb +3 -3
- data/samples/visuals.rb +2 -5
- data/src/body.cpp +146 -345
- data/src/body.h +91 -0
- data/src/event.cpp +65 -15
- data/src/exception.cpp +13 -3
- data/src/filter.cpp +76 -0
- data/src/fixture.cpp +164 -39
- data/src/fixture.h +85 -0
- data/src/image_view.cpp +4 -4
- data/src/ios/app_delegate.h +5 -10
- data/src/ios/app_delegate.mm +79 -41
- data/src/ios/application.h +32 -0
- data/src/ios/application.mm +35 -25
- data/src/ios/event.mm +8 -4
- data/src/ios/reflex.mm +0 -7
- data/src/ios/view_controller.h +37 -0
- data/src/ios/view_controller.mm +424 -0
- data/src/ios/window.h +40 -0
- data/src/ios/window.mm +59 -250
- data/src/osx/app_delegate.h +5 -10
- data/src/osx/app_delegate.mm +52 -55
- data/src/osx/application.h +32 -0
- data/src/osx/application.mm +44 -39
- data/src/osx/native_window.h +0 -15
- data/src/osx/native_window.mm +127 -127
- data/src/osx/opengl_view.h +0 -2
- data/src/osx/opengl_view.mm +12 -3
- data/src/osx/reflex.mm +0 -9
- data/src/osx/window.h +42 -0
- data/src/osx/window.mm +45 -252
- data/src/selector.cpp +232 -7
- data/src/selector.h +52 -0
- data/src/shape.cpp +1191 -0
- data/src/shape.h +61 -0
- data/src/style.cpp +573 -376
- data/src/style.h +39 -0
- data/src/timer.cpp +288 -0
- data/src/timer.h +55 -0
- data/src/view.cpp +1624 -984
- data/src/view.h +56 -0
- data/src/win32/window.cpp +3 -4
- data/src/window.cpp +302 -20
- data/src/window.h +94 -0
- data/src/world.cpp +112 -111
- data/src/world.h +34 -53
- data/task/box2d.rake +31 -10
- data/test/test_capture_event.rb +8 -6
- data/test/test_pointer_event.rb +130 -0
- data/test/test_selector.rb +1 -1
- data/test/test_shape.rb +71 -0
- data/test/test_style.rb +77 -11
- data/test/test_style_length.rb +42 -13
- data/test/test_view.rb +138 -14
- metadata +118 -202
- data/.doc/ext/reflex/arc_shape.cpp +0 -89
- data/.doc/ext/reflex/body.cpp +0 -299
- data/.doc/ext/reflex/fixture.cpp +0 -101
- data/.doc/ext/reflex/shape_view.cpp +0 -153
- data/ext/reflex/arc_shape.cpp +0 -94
- data/ext/reflex/body.cpp +0 -328
- data/ext/reflex/fixture.cpp +0 -108
- data/ext/reflex/shape_view.cpp +0 -161
- data/include/reflex/bitmap.h +0 -20
- data/include/reflex/body.h +0 -128
- data/include/reflex/bounds.h +0 -20
- data/include/reflex/color.h +0 -20
- data/include/reflex/color_space.h +0 -20
- data/include/reflex/fixture.h +0 -117
- data/include/reflex/font.h +0 -20
- data/include/reflex/image.h +0 -20
- data/include/reflex/matrix.h +0 -20
- data/include/reflex/painter.h +0 -20
- data/include/reflex/point.h +0 -24
- data/include/reflex/ruby/body.h +0 -41
- data/include/reflex/ruby/fixture.h +0 -41
- data/include/reflex/ruby/shape_view.h +0 -96
- data/include/reflex/shader.h +0 -20
- data/include/reflex/shape_view.h +0 -146
- data/include/reflex/texture.h +0 -20
- data/lib/reflex/body.rb +0 -22
- data/lib/reflex/flags.rb +0 -18
- data/lib/reflex/shape_view.rb +0 -25
- data/src/ios/application_data.h +0 -45
- data/src/ios/native_window.h +0 -39
- data/src/ios/native_window.mm +0 -224
- data/src/ios/opengl_view.h +0 -13
- data/src/ios/opengl_view.mm +0 -139
- data/src/ios/window_data.h +0 -75
- data/src/osx/application_data.h +0 -45
- data/src/osx/window_data.h +0 -75
- data/src/physics/Box2D/Box2D.h +0 -68
- data/src/physics/Box2D/Collision/Shapes/b2ChainShape.cpp +0 -193
- data/src/physics/Box2D/Collision/Shapes/b2ChainShape.h +0 -105
- data/src/physics/Box2D/Collision/Shapes/b2CircleShape.cpp +0 -99
- data/src/physics/Box2D/Collision/Shapes/b2CircleShape.h +0 -91
- data/src/physics/Box2D/Collision/Shapes/b2EdgeShape.cpp +0 -138
- data/src/physics/Box2D/Collision/Shapes/b2EdgeShape.h +0 -74
- data/src/physics/Box2D/Collision/Shapes/b2PolygonShape.cpp +0 -467
- data/src/physics/Box2D/Collision/Shapes/b2PolygonShape.h +0 -101
- data/src/physics/Box2D/Collision/Shapes/b2Shape.h +0 -101
- data/src/physics/Box2D/Collision/b2BroadPhase.cpp +0 -119
- data/src/physics/Box2D/Collision/b2BroadPhase.h +0 -257
- data/src/physics/Box2D/Collision/b2CollideCircle.cpp +0 -154
- data/src/physics/Box2D/Collision/b2CollideEdge.cpp +0 -698
- data/src/physics/Box2D/Collision/b2CollidePolygon.cpp +0 -239
- data/src/physics/Box2D/Collision/b2Collision.cpp +0 -252
- data/src/physics/Box2D/Collision/b2Collision.h +0 -277
- data/src/physics/Box2D/Collision/b2Distance.cpp +0 -603
- data/src/physics/Box2D/Collision/b2Distance.h +0 -141
- data/src/physics/Box2D/Collision/b2DynamicTree.cpp +0 -778
- data/src/physics/Box2D/Collision/b2DynamicTree.h +0 -289
- data/src/physics/Box2D/Collision/b2TimeOfImpact.cpp +0 -486
- data/src/physics/Box2D/Collision/b2TimeOfImpact.h +0 -58
- data/src/physics/Box2D/Common/b2BlockAllocator.cpp +0 -215
- data/src/physics/Box2D/Common/b2BlockAllocator.h +0 -62
- data/src/physics/Box2D/Common/b2Draw.cpp +0 -44
- data/src/physics/Box2D/Common/b2Draw.h +0 -86
- data/src/physics/Box2D/Common/b2GrowableStack.h +0 -85
- data/src/physics/Box2D/Common/b2Math.cpp +0 -94
- data/src/physics/Box2D/Common/b2Math.h +0 -720
- data/src/physics/Box2D/Common/b2Settings.cpp +0 -44
- data/src/physics/Box2D/Common/b2Settings.h +0 -151
- data/src/physics/Box2D/Common/b2StackAllocator.cpp +0 -83
- data/src/physics/Box2D/Common/b2StackAllocator.h +0 -60
- data/src/physics/Box2D/Common/b2Timer.cpp +0 -101
- data/src/physics/Box2D/Common/b2Timer.h +0 -50
- data/src/physics/Box2D/Dynamics/Contacts/b2ChainAndCircleContact.cpp +0 -53
- data/src/physics/Box2D/Dynamics/Contacts/b2ChainAndCircleContact.h +0 -39
- data/src/physics/Box2D/Dynamics/Contacts/b2ChainAndPolygonContact.cpp +0 -53
- data/src/physics/Box2D/Dynamics/Contacts/b2ChainAndPolygonContact.h +0 -39
- data/src/physics/Box2D/Dynamics/Contacts/b2CircleContact.cpp +0 -52
- data/src/physics/Box2D/Dynamics/Contacts/b2CircleContact.h +0 -39
- data/src/physics/Box2D/Dynamics/Contacts/b2Contact.cpp +0 -247
- data/src/physics/Box2D/Dynamics/Contacts/b2Contact.h +0 -349
- data/src/physics/Box2D/Dynamics/Contacts/b2ContactSolver.cpp +0 -838
- data/src/physics/Box2D/Dynamics/Contacts/b2ContactSolver.h +0 -95
- data/src/physics/Box2D/Dynamics/Contacts/b2EdgeAndCircleContact.cpp +0 -49
- data/src/physics/Box2D/Dynamics/Contacts/b2EdgeAndCircleContact.h +0 -39
- data/src/physics/Box2D/Dynamics/Contacts/b2EdgeAndPolygonContact.cpp +0 -49
- data/src/physics/Box2D/Dynamics/Contacts/b2EdgeAndPolygonContact.h +0 -39
- data/src/physics/Box2D/Dynamics/Contacts/b2PolygonAndCircleContact.cpp +0 -49
- data/src/physics/Box2D/Dynamics/Contacts/b2PolygonAndCircleContact.h +0 -38
- data/src/physics/Box2D/Dynamics/Contacts/b2PolygonContact.cpp +0 -52
- data/src/physics/Box2D/Dynamics/Contacts/b2PolygonContact.h +0 -39
- data/src/physics/Box2D/Dynamics/Joints/b2DistanceJoint.cpp +0 -260
- data/src/physics/Box2D/Dynamics/Joints/b2DistanceJoint.h +0 -169
- data/src/physics/Box2D/Dynamics/Joints/b2FrictionJoint.cpp +0 -251
- data/src/physics/Box2D/Dynamics/Joints/b2FrictionJoint.h +0 -119
- data/src/physics/Box2D/Dynamics/Joints/b2GearJoint.cpp +0 -419
- data/src/physics/Box2D/Dynamics/Joints/b2GearJoint.h +0 -125
- data/src/physics/Box2D/Dynamics/Joints/b2Joint.cpp +0 -211
- data/src/physics/Box2D/Dynamics/Joints/b2Joint.h +0 -226
- data/src/physics/Box2D/Dynamics/Joints/b2MotorJoint.cpp +0 -304
- data/src/physics/Box2D/Dynamics/Joints/b2MotorJoint.h +0 -133
- data/src/physics/Box2D/Dynamics/Joints/b2MouseJoint.cpp +0 -222
- data/src/physics/Box2D/Dynamics/Joints/b2MouseJoint.h +0 -129
- data/src/physics/Box2D/Dynamics/Joints/b2PrismaticJoint.cpp +0 -629
- data/src/physics/Box2D/Dynamics/Joints/b2PrismaticJoint.h +0 -196
- data/src/physics/Box2D/Dynamics/Joints/b2PulleyJoint.cpp +0 -348
- data/src/physics/Box2D/Dynamics/Joints/b2PulleyJoint.h +0 -152
- data/src/physics/Box2D/Dynamics/Joints/b2RevoluteJoint.cpp +0 -502
- data/src/physics/Box2D/Dynamics/Joints/b2RevoluteJoint.h +0 -204
- data/src/physics/Box2D/Dynamics/Joints/b2RopeJoint.cpp +0 -241
- data/src/physics/Box2D/Dynamics/Joints/b2RopeJoint.h +0 -114
- data/src/physics/Box2D/Dynamics/Joints/b2WeldJoint.cpp +0 -344
- data/src/physics/Box2D/Dynamics/Joints/b2WeldJoint.h +0 -126
- data/src/physics/Box2D/Dynamics/Joints/b2WheelJoint.cpp +0 -419
- data/src/physics/Box2D/Dynamics/Joints/b2WheelJoint.h +0 -210
- data/src/physics/Box2D/Dynamics/b2Body.cpp +0 -549
- data/src/physics/Box2D/Dynamics/b2Body.h +0 -860
- data/src/physics/Box2D/Dynamics/b2ContactManager.cpp +0 -296
- data/src/physics/Box2D/Dynamics/b2ContactManager.h +0 -52
- data/src/physics/Box2D/Dynamics/b2Fixture.cpp +0 -303
- data/src/physics/Box2D/Dynamics/b2Fixture.h +0 -345
- data/src/physics/Box2D/Dynamics/b2Island.cpp +0 -539
- data/src/physics/Box2D/Dynamics/b2Island.h +0 -93
- data/src/physics/Box2D/Dynamics/b2TimeStep.h +0 -70
- data/src/physics/Box2D/Dynamics/b2World.cpp +0 -1339
- data/src/physics/Box2D/Dynamics/b2World.h +0 -354
- data/src/physics/Box2D/Dynamics/b2WorldCallbacks.cpp +0 -36
- data/src/physics/Box2D/Dynamics/b2WorldCallbacks.h +0 -155
- data/src/physics/Box2D/Rope/b2Rope.cpp +0 -259
- data/src/physics/Box2D/Rope/b2Rope.h +0 -115
- data/src/shape_view.cpp +0 -306
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/*
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* Copyright (c) 2006-2011 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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#include <Box2D/Dynamics/Joints/b2DistanceJoint.h>
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#include <Box2D/Dynamics/b2Body.h>
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#include <Box2D/Dynamics/b2TimeStep.h>
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// 1-D constrained system
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// m (v2 - v1) = lambda
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// v2 + (beta/h) * x1 + gamma * lambda = 0, gamma has units of inverse mass.
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// x2 = x1 + h * v2
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// 1-D mass-damper-spring system
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// m (v2 - v1) + h * d * v2 + h * k *
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// C = norm(p2 - p1) - L
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// u = (p2 - p1) / norm(p2 - p1)
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// Cdot = dot(u, v2 + cross(w2, r2) - v1 - cross(w1, r1))
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// J = [-u -cross(r1, u) u cross(r2, u)]
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// K = J * invM * JT
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// = invMass1 + invI1 * cross(r1, u)^2 + invMass2 + invI2 * cross(r2, u)^2
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void b2DistanceJointDef::Initialize(b2Body* b1, b2Body* b2,
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const b2Vec2& anchor1, const b2Vec2& anchor2)
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{
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bodyA = b1;
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bodyB = b2;
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localAnchorA = bodyA->GetLocalPoint(anchor1);
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localAnchorB = bodyB->GetLocalPoint(anchor2);
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b2Vec2 d = anchor2 - anchor1;
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length = d.Length();
|
47
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}
|
48
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49
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b2DistanceJoint::b2DistanceJoint(const b2DistanceJointDef* def)
|
50
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: b2Joint(def)
|
51
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{
|
52
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m_localAnchorA = def->localAnchorA;
|
53
|
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m_localAnchorB = def->localAnchorB;
|
54
|
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m_length = def->length;
|
55
|
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m_frequencyHz = def->frequencyHz;
|
56
|
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m_dampingRatio = def->dampingRatio;
|
57
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m_impulse = 0.0f;
|
58
|
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m_gamma = 0.0f;
|
59
|
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m_bias = 0.0f;
|
60
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}
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61
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-
|
62
|
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void b2DistanceJoint::InitVelocityConstraints(const b2SolverData& data)
|
63
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{
|
64
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m_indexA = m_bodyA->m_islandIndex;
|
65
|
-
m_indexB = m_bodyB->m_islandIndex;
|
66
|
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m_localCenterA = m_bodyA->m_sweep.localCenter;
|
67
|
-
m_localCenterB = m_bodyB->m_sweep.localCenter;
|
68
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m_invMassA = m_bodyA->m_invMass;
|
69
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m_invMassB = m_bodyB->m_invMass;
|
70
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m_invIA = m_bodyA->m_invI;
|
71
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m_invIB = m_bodyB->m_invI;
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72
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|
73
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b2Vec2 cA = data.positions[m_indexA].c;
|
74
|
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float32 aA = data.positions[m_indexA].a;
|
75
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b2Vec2 vA = data.velocities[m_indexA].v;
|
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float32 wA = data.velocities[m_indexA].w;
|
77
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|
78
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b2Vec2 cB = data.positions[m_indexB].c;
|
79
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float32 aB = data.positions[m_indexB].a;
|
80
|
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b2Vec2 vB = data.velocities[m_indexB].v;
|
81
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float32 wB = data.velocities[m_indexB].w;
|
82
|
-
|
83
|
-
b2Rot qA(aA), qB(aB);
|
84
|
-
|
85
|
-
m_rA = b2Mul(qA, m_localAnchorA - m_localCenterA);
|
86
|
-
m_rB = b2Mul(qB, m_localAnchorB - m_localCenterB);
|
87
|
-
m_u = cB + m_rB - cA - m_rA;
|
88
|
-
|
89
|
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// Handle singularity.
|
90
|
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float32 length = m_u.Length();
|
91
|
-
if (length > b2_linearSlop)
|
92
|
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{
|
93
|
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m_u *= 1.0f / length;
|
94
|
-
}
|
95
|
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else
|
96
|
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{
|
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|
-
m_u.Set(0.0f, 0.0f);
|
98
|
-
}
|
99
|
-
|
100
|
-
float32 crAu = b2Cross(m_rA, m_u);
|
101
|
-
float32 crBu = b2Cross(m_rB, m_u);
|
102
|
-
float32 invMass = m_invMassA + m_invIA * crAu * crAu + m_invMassB + m_invIB * crBu * crBu;
|
103
|
-
|
104
|
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// Compute the effective mass matrix.
|
105
|
-
m_mass = invMass != 0.0f ? 1.0f / invMass : 0.0f;
|
106
|
-
|
107
|
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if (m_frequencyHz > 0.0f)
|
108
|
-
{
|
109
|
-
float32 C = length - m_length;
|
110
|
-
|
111
|
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// Frequency
|
112
|
-
float32 omega = 2.0f * b2_pi * m_frequencyHz;
|
113
|
-
|
114
|
-
// Damping coefficient
|
115
|
-
float32 d = 2.0f * m_mass * m_dampingRatio * omega;
|
116
|
-
|
117
|
-
// Spring stiffness
|
118
|
-
float32 k = m_mass * omega * omega;
|
119
|
-
|
120
|
-
// magic formulas
|
121
|
-
float32 h = data.step.dt;
|
122
|
-
m_gamma = h * (d + h * k);
|
123
|
-
m_gamma = m_gamma != 0.0f ? 1.0f / m_gamma : 0.0f;
|
124
|
-
m_bias = C * h * k * m_gamma;
|
125
|
-
|
126
|
-
invMass += m_gamma;
|
127
|
-
m_mass = invMass != 0.0f ? 1.0f / invMass : 0.0f;
|
128
|
-
}
|
129
|
-
else
|
130
|
-
{
|
131
|
-
m_gamma = 0.0f;
|
132
|
-
m_bias = 0.0f;
|
133
|
-
}
|
134
|
-
|
135
|
-
if (data.step.warmStarting)
|
136
|
-
{
|
137
|
-
// Scale the impulse to support a variable time step.
|
138
|
-
m_impulse *= data.step.dtRatio;
|
139
|
-
|
140
|
-
b2Vec2 P = m_impulse * m_u;
|
141
|
-
vA -= m_invMassA * P;
|
142
|
-
wA -= m_invIA * b2Cross(m_rA, P);
|
143
|
-
vB += m_invMassB * P;
|
144
|
-
wB += m_invIB * b2Cross(m_rB, P);
|
145
|
-
}
|
146
|
-
else
|
147
|
-
{
|
148
|
-
m_impulse = 0.0f;
|
149
|
-
}
|
150
|
-
|
151
|
-
data.velocities[m_indexA].v = vA;
|
152
|
-
data.velocities[m_indexA].w = wA;
|
153
|
-
data.velocities[m_indexB].v = vB;
|
154
|
-
data.velocities[m_indexB].w = wB;
|
155
|
-
}
|
156
|
-
|
157
|
-
void b2DistanceJoint::SolveVelocityConstraints(const b2SolverData& data)
|
158
|
-
{
|
159
|
-
b2Vec2 vA = data.velocities[m_indexA].v;
|
160
|
-
float32 wA = data.velocities[m_indexA].w;
|
161
|
-
b2Vec2 vB = data.velocities[m_indexB].v;
|
162
|
-
float32 wB = data.velocities[m_indexB].w;
|
163
|
-
|
164
|
-
// Cdot = dot(u, v + cross(w, r))
|
165
|
-
b2Vec2 vpA = vA + b2Cross(wA, m_rA);
|
166
|
-
b2Vec2 vpB = vB + b2Cross(wB, m_rB);
|
167
|
-
float32 Cdot = b2Dot(m_u, vpB - vpA);
|
168
|
-
|
169
|
-
float32 impulse = -m_mass * (Cdot + m_bias + m_gamma * m_impulse);
|
170
|
-
m_impulse += impulse;
|
171
|
-
|
172
|
-
b2Vec2 P = impulse * m_u;
|
173
|
-
vA -= m_invMassA * P;
|
174
|
-
wA -= m_invIA * b2Cross(m_rA, P);
|
175
|
-
vB += m_invMassB * P;
|
176
|
-
wB += m_invIB * b2Cross(m_rB, P);
|
177
|
-
|
178
|
-
data.velocities[m_indexA].v = vA;
|
179
|
-
data.velocities[m_indexA].w = wA;
|
180
|
-
data.velocities[m_indexB].v = vB;
|
181
|
-
data.velocities[m_indexB].w = wB;
|
182
|
-
}
|
183
|
-
|
184
|
-
bool b2DistanceJoint::SolvePositionConstraints(const b2SolverData& data)
|
185
|
-
{
|
186
|
-
if (m_frequencyHz > 0.0f)
|
187
|
-
{
|
188
|
-
// There is no position correction for soft distance constraints.
|
189
|
-
return true;
|
190
|
-
}
|
191
|
-
|
192
|
-
b2Vec2 cA = data.positions[m_indexA].c;
|
193
|
-
float32 aA = data.positions[m_indexA].a;
|
194
|
-
b2Vec2 cB = data.positions[m_indexB].c;
|
195
|
-
float32 aB = data.positions[m_indexB].a;
|
196
|
-
|
197
|
-
b2Rot qA(aA), qB(aB);
|
198
|
-
|
199
|
-
b2Vec2 rA = b2Mul(qA, m_localAnchorA - m_localCenterA);
|
200
|
-
b2Vec2 rB = b2Mul(qB, m_localAnchorB - m_localCenterB);
|
201
|
-
b2Vec2 u = cB + rB - cA - rA;
|
202
|
-
|
203
|
-
float32 length = u.Normalize();
|
204
|
-
float32 C = length - m_length;
|
205
|
-
C = b2Clamp(C, -b2_maxLinearCorrection, b2_maxLinearCorrection);
|
206
|
-
|
207
|
-
float32 impulse = -m_mass * C;
|
208
|
-
b2Vec2 P = impulse * u;
|
209
|
-
|
210
|
-
cA -= m_invMassA * P;
|
211
|
-
aA -= m_invIA * b2Cross(rA, P);
|
212
|
-
cB += m_invMassB * P;
|
213
|
-
aB += m_invIB * b2Cross(rB, P);
|
214
|
-
|
215
|
-
data.positions[m_indexA].c = cA;
|
216
|
-
data.positions[m_indexA].a = aA;
|
217
|
-
data.positions[m_indexB].c = cB;
|
218
|
-
data.positions[m_indexB].a = aB;
|
219
|
-
|
220
|
-
return b2Abs(C) < b2_linearSlop;
|
221
|
-
}
|
222
|
-
|
223
|
-
b2Vec2 b2DistanceJoint::GetAnchorA() const
|
224
|
-
{
|
225
|
-
return m_bodyA->GetWorldPoint(m_localAnchorA);
|
226
|
-
}
|
227
|
-
|
228
|
-
b2Vec2 b2DistanceJoint::GetAnchorB() const
|
229
|
-
{
|
230
|
-
return m_bodyB->GetWorldPoint(m_localAnchorB);
|
231
|
-
}
|
232
|
-
|
233
|
-
b2Vec2 b2DistanceJoint::GetReactionForce(float32 inv_dt) const
|
234
|
-
{
|
235
|
-
b2Vec2 F = (inv_dt * m_impulse) * m_u;
|
236
|
-
return F;
|
237
|
-
}
|
238
|
-
|
239
|
-
float32 b2DistanceJoint::GetReactionTorque(float32 inv_dt) const
|
240
|
-
{
|
241
|
-
B2_NOT_USED(inv_dt);
|
242
|
-
return 0.0f;
|
243
|
-
}
|
244
|
-
|
245
|
-
void b2DistanceJoint::Dump()
|
246
|
-
{
|
247
|
-
int32 indexA = m_bodyA->m_islandIndex;
|
248
|
-
int32 indexB = m_bodyB->m_islandIndex;
|
249
|
-
|
250
|
-
b2Log(" b2DistanceJointDef jd;\n");
|
251
|
-
b2Log(" jd.bodyA = bodies[%d];\n", indexA);
|
252
|
-
b2Log(" jd.bodyB = bodies[%d];\n", indexB);
|
253
|
-
b2Log(" jd.collideConnected = bool(%d);\n", m_collideConnected);
|
254
|
-
b2Log(" jd.localAnchorA.Set(%.15lef, %.15lef);\n", m_localAnchorA.x, m_localAnchorA.y);
|
255
|
-
b2Log(" jd.localAnchorB.Set(%.15lef, %.15lef);\n", m_localAnchorB.x, m_localAnchorB.y);
|
256
|
-
b2Log(" jd.length = %.15lef;\n", m_length);
|
257
|
-
b2Log(" jd.frequencyHz = %.15lef;\n", m_frequencyHz);
|
258
|
-
b2Log(" jd.dampingRatio = %.15lef;\n", m_dampingRatio);
|
259
|
-
b2Log(" joints[%d] = m_world->CreateJoint(&jd);\n", m_index);
|
260
|
-
}
|
@@ -1,169 +0,0 @@
|
|
1
|
-
/*
|
2
|
-
* Copyright (c) 2006-2007 Erin Catto http://www.box2d.org
|
3
|
-
*
|
4
|
-
* This software is provided 'as-is', without any express or implied
|
5
|
-
* warranty. In no event will the authors be held liable for any damages
|
6
|
-
* arising from the use of this software.
|
7
|
-
* Permission is granted to anyone to use this software for any purpose,
|
8
|
-
* including commercial applications, and to alter it and redistribute it
|
9
|
-
* freely, subject to the following restrictions:
|
10
|
-
* 1. The origin of this software must not be misrepresented; you must not
|
11
|
-
* claim that you wrote the original software. If you use this software
|
12
|
-
* in a product, an acknowledgment in the product documentation would be
|
13
|
-
* appreciated but is not required.
|
14
|
-
* 2. Altered source versions must be plainly marked as such, and must not be
|
15
|
-
* misrepresented as being the original software.
|
16
|
-
* 3. This notice may not be removed or altered from any source distribution.
|
17
|
-
*/
|
18
|
-
|
19
|
-
#ifndef B2_DISTANCE_JOINT_H
|
20
|
-
#define B2_DISTANCE_JOINT_H
|
21
|
-
|
22
|
-
#include <Box2D/Dynamics/Joints/b2Joint.h>
|
23
|
-
|
24
|
-
/// Distance joint definition. This requires defining an
|
25
|
-
/// anchor point on both bodies and the non-zero length of the
|
26
|
-
/// distance joint. The definition uses local anchor points
|
27
|
-
/// so that the initial configuration can violate the constraint
|
28
|
-
/// slightly. This helps when saving and loading a game.
|
29
|
-
/// @warning Do not use a zero or short length.
|
30
|
-
struct b2DistanceJointDef : public b2JointDef
|
31
|
-
{
|
32
|
-
b2DistanceJointDef()
|
33
|
-
{
|
34
|
-
type = e_distanceJoint;
|
35
|
-
localAnchorA.Set(0.0f, 0.0f);
|
36
|
-
localAnchorB.Set(0.0f, 0.0f);
|
37
|
-
length = 1.0f;
|
38
|
-
frequencyHz = 0.0f;
|
39
|
-
dampingRatio = 0.0f;
|
40
|
-
}
|
41
|
-
|
42
|
-
/// Initialize the bodies, anchors, and length using the world
|
43
|
-
/// anchors.
|
44
|
-
void Initialize(b2Body* bodyA, b2Body* bodyB,
|
45
|
-
const b2Vec2& anchorA, const b2Vec2& anchorB);
|
46
|
-
|
47
|
-
/// The local anchor point relative to bodyA's origin.
|
48
|
-
b2Vec2 localAnchorA;
|
49
|
-
|
50
|
-
/// The local anchor point relative to bodyB's origin.
|
51
|
-
b2Vec2 localAnchorB;
|
52
|
-
|
53
|
-
/// The natural length between the anchor points.
|
54
|
-
float32 length;
|
55
|
-
|
56
|
-
/// The mass-spring-damper frequency in Hertz. A value of 0
|
57
|
-
/// disables softness.
|
58
|
-
float32 frequencyHz;
|
59
|
-
|
60
|
-
/// The damping ratio. 0 = no damping, 1 = critical damping.
|
61
|
-
float32 dampingRatio;
|
62
|
-
};
|
63
|
-
|
64
|
-
/// A distance joint constrains two points on two bodies
|
65
|
-
/// to remain at a fixed distance from each other. You can view
|
66
|
-
/// this as a massless, rigid rod.
|
67
|
-
class b2DistanceJoint : public b2Joint
|
68
|
-
{
|
69
|
-
public:
|
70
|
-
|
71
|
-
b2Vec2 GetAnchorA() const;
|
72
|
-
b2Vec2 GetAnchorB() const;
|
73
|
-
|
74
|
-
/// Get the reaction force given the inverse time step.
|
75
|
-
/// Unit is N.
|
76
|
-
b2Vec2 GetReactionForce(float32 inv_dt) const;
|
77
|
-
|
78
|
-
/// Get the reaction torque given the inverse time step.
|
79
|
-
/// Unit is N*m. This is always zero for a distance joint.
|
80
|
-
float32 GetReactionTorque(float32 inv_dt) const;
|
81
|
-
|
82
|
-
/// The local anchor point relative to bodyA's origin.
|
83
|
-
const b2Vec2& GetLocalAnchorA() const { return m_localAnchorA; }
|
84
|
-
|
85
|
-
/// The local anchor point relative to bodyB's origin.
|
86
|
-
const b2Vec2& GetLocalAnchorB() const { return m_localAnchorB; }
|
87
|
-
|
88
|
-
/// Set/get the natural length.
|
89
|
-
/// Manipulating the length can lead to non-physical behavior when the frequency is zero.
|
90
|
-
void SetLength(float32 length);
|
91
|
-
float32 GetLength() const;
|
92
|
-
|
93
|
-
/// Set/get frequency in Hz.
|
94
|
-
void SetFrequency(float32 hz);
|
95
|
-
float32 GetFrequency() const;
|
96
|
-
|
97
|
-
/// Set/get damping ratio.
|
98
|
-
void SetDampingRatio(float32 ratio);
|
99
|
-
float32 GetDampingRatio() const;
|
100
|
-
|
101
|
-
/// Dump joint to dmLog
|
102
|
-
void Dump();
|
103
|
-
|
104
|
-
protected:
|
105
|
-
|
106
|
-
friend class b2Joint;
|
107
|
-
b2DistanceJoint(const b2DistanceJointDef* data);
|
108
|
-
|
109
|
-
void InitVelocityConstraints(const b2SolverData& data);
|
110
|
-
void SolveVelocityConstraints(const b2SolverData& data);
|
111
|
-
bool SolvePositionConstraints(const b2SolverData& data);
|
112
|
-
|
113
|
-
float32 m_frequencyHz;
|
114
|
-
float32 m_dampingRatio;
|
115
|
-
float32 m_bias;
|
116
|
-
|
117
|
-
// Solver shared
|
118
|
-
b2Vec2 m_localAnchorA;
|
119
|
-
b2Vec2 m_localAnchorB;
|
120
|
-
float32 m_gamma;
|
121
|
-
float32 m_impulse;
|
122
|
-
float32 m_length;
|
123
|
-
|
124
|
-
// Solver temp
|
125
|
-
int32 m_indexA;
|
126
|
-
int32 m_indexB;
|
127
|
-
b2Vec2 m_u;
|
128
|
-
b2Vec2 m_rA;
|
129
|
-
b2Vec2 m_rB;
|
130
|
-
b2Vec2 m_localCenterA;
|
131
|
-
b2Vec2 m_localCenterB;
|
132
|
-
float32 m_invMassA;
|
133
|
-
float32 m_invMassB;
|
134
|
-
float32 m_invIA;
|
135
|
-
float32 m_invIB;
|
136
|
-
float32 m_mass;
|
137
|
-
};
|
138
|
-
|
139
|
-
inline void b2DistanceJoint::SetLength(float32 length)
|
140
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{
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m_length = length;
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}
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inline float32 b2DistanceJoint::GetLength() const
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{
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return m_length;
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}
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inline void b2DistanceJoint::SetFrequency(float32 hz)
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{
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m_frequencyHz = hz;
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}
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inline float32 b2DistanceJoint::GetFrequency() const
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{
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return m_frequencyHz;
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}
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inline void b2DistanceJoint::SetDampingRatio(float32 ratio)
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{
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m_dampingRatio = ratio;
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}
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inline float32 b2DistanceJoint::GetDampingRatio() const
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{
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}
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#endif
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@@ -1,251 +0,0 @@
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/*
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* Copyright (c) 2006-2011 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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#include <Box2D/Dynamics/Joints/b2FrictionJoint.h>
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#include <Box2D/Dynamics/b2Body.h>
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#include <Box2D/Dynamics/b2TimeStep.h>
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// Point-to-point constraint
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// Cdot = v2 - v1
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// = v2 + cross(w2, r2) - v1 - cross(w1, r1)
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// J = [-I -r1_skew I r2_skew ]
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// Identity used:
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// w k % (rx i + ry j) = w * (-ry i + rx j)
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// Angle constraint
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// Cdot = w2 - w1
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// J = [0 0 -1 0 0 1]
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// K = invI1 + invI2
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void b2FrictionJointDef::Initialize(b2Body* bA, b2Body* bB, const b2Vec2& anchor)
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{
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bodyA = bA;
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bodyB = bB;
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localAnchorA = bodyA->GetLocalPoint(anchor);
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localAnchorB = bodyB->GetLocalPoint(anchor);
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}
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b2FrictionJoint::b2FrictionJoint(const b2FrictionJointDef* def)
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: b2Joint(def)
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{
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m_localAnchorA = def->localAnchorA;
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m_localAnchorB = def->localAnchorB;
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m_linearImpulse.SetZero();
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m_angularImpulse = 0.0f;
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m_maxForce = def->maxForce;
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m_maxTorque = def->maxTorque;
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}
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void b2FrictionJoint::InitVelocityConstraints(const b2SolverData& data)
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{
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m_indexA = m_bodyA->m_islandIndex;
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m_indexB = m_bodyB->m_islandIndex;
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m_localCenterA = m_bodyA->m_sweep.localCenter;
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m_localCenterB = m_bodyB->m_sweep.localCenter;
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m_invMassA = m_bodyA->m_invMass;
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m_invMassB = m_bodyB->m_invMass;
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m_invIA = m_bodyA->m_invI;
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m_invIB = m_bodyB->m_invI;
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float32 aA = data.positions[m_indexA].a;
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b2Vec2 vA = data.velocities[m_indexA].v;
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float32 wA = data.velocities[m_indexA].w;
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float32 aB = data.positions[m_indexB].a;
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b2Vec2 vB = data.velocities[m_indexB].v;
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float32 wB = data.velocities[m_indexB].w;
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b2Rot qA(aA), qB(aB);
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// Compute the effective mass matrix.
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m_rA = b2Mul(qA, m_localAnchorA - m_localCenterA);
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m_rB = b2Mul(qB, m_localAnchorB - m_localCenterB);
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// J = [-I -r1_skew I r2_skew]
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// [ 0 -1 0 1]
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// r_skew = [-ry; rx]
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// Matlab
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// K = [ mA+r1y^2*iA+mB+r2y^2*iB, -r1y*iA*r1x-r2y*iB*r2x, -r1y*iA-r2y*iB]
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// [ -r1y*iA*r1x-r2y*iB*r2x, mA+r1x^2*iA+mB+r2x^2*iB, r1x*iA+r2x*iB]
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// [ -r1y*iA-r2y*iB, r1x*iA+r2x*iB, iA+iB]
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float32 mA = m_invMassA, mB = m_invMassB;
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float32 iA = m_invIA, iB = m_invIB;
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b2Mat22 K;
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K.ex.x = mA + mB + iA * m_rA.y * m_rA.y + iB * m_rB.y * m_rB.y;
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K.ex.y = -iA * m_rA.x * m_rA.y - iB * m_rB.x * m_rB.y;
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K.ey.x = K.ex.y;
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K.ey.y = mA + mB + iA * m_rA.x * m_rA.x + iB * m_rB.x * m_rB.x;
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m_linearMass = K.GetInverse();
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m_angularMass = iA + iB;
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if (m_angularMass > 0.0f)
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{
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m_angularMass = 1.0f / m_angularMass;
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}
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if (data.step.warmStarting)
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{
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// Scale impulses to support a variable time step.
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m_linearImpulse *= data.step.dtRatio;
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m_angularImpulse *= data.step.dtRatio;
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b2Vec2 P(m_linearImpulse.x, m_linearImpulse.y);
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vA -= mA * P;
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wA -= iA * (b2Cross(m_rA, P) + m_angularImpulse);
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vB += mB * P;
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wB += iB * (b2Cross(m_rB, P) + m_angularImpulse);
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}
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else
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{
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m_linearImpulse.SetZero();
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m_angularImpulse = 0.0f;
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}
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data.velocities[m_indexA].v = vA;
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data.velocities[m_indexA].w = wA;
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data.velocities[m_indexB].v = vB;
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data.velocities[m_indexB].w = wB;
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}
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void b2FrictionJoint::SolveVelocityConstraints(const b2SolverData& data)
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{
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b2Vec2 vA = data.velocities[m_indexA].v;
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float32 wA = data.velocities[m_indexA].w;
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b2Vec2 vB = data.velocities[m_indexB].v;
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float32 wB = data.velocities[m_indexB].w;
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float32 mA = m_invMassA, mB = m_invMassB;
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float32 iA = m_invIA, iB = m_invIB;
|
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|
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float32 h = data.step.dt;
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// Solve angular friction
|
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{
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float32 Cdot = wB - wA;
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float32 impulse = -m_angularMass * Cdot;
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float32 oldImpulse = m_angularImpulse;
|
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float32 maxImpulse = h * m_maxTorque;
|
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m_angularImpulse = b2Clamp(m_angularImpulse + impulse, -maxImpulse, maxImpulse);
|
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impulse = m_angularImpulse - oldImpulse;
|
152
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|
153
|
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wA -= iA * impulse;
|
154
|
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wB += iB * impulse;
|
155
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-
}
|
156
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-
|
157
|
-
// Solve linear friction
|
158
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{
|
159
|
-
b2Vec2 Cdot = vB + b2Cross(wB, m_rB) - vA - b2Cross(wA, m_rA);
|
160
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|
161
|
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b2Vec2 impulse = -b2Mul(m_linearMass, Cdot);
|
162
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b2Vec2 oldImpulse = m_linearImpulse;
|
163
|
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m_linearImpulse += impulse;
|
164
|
-
|
165
|
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float32 maxImpulse = h * m_maxForce;
|
166
|
-
|
167
|
-
if (m_linearImpulse.LengthSquared() > maxImpulse * maxImpulse)
|
168
|
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{
|
169
|
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m_linearImpulse.Normalize();
|
170
|
-
m_linearImpulse *= maxImpulse;
|
171
|
-
}
|
172
|
-
|
173
|
-
impulse = m_linearImpulse - oldImpulse;
|
174
|
-
|
175
|
-
vA -= mA * impulse;
|
176
|
-
wA -= iA * b2Cross(m_rA, impulse);
|
177
|
-
|
178
|
-
vB += mB * impulse;
|
179
|
-
wB += iB * b2Cross(m_rB, impulse);
|
180
|
-
}
|
181
|
-
|
182
|
-
data.velocities[m_indexA].v = vA;
|
183
|
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data.velocities[m_indexA].w = wA;
|
184
|
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data.velocities[m_indexB].v = vB;
|
185
|
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data.velocities[m_indexB].w = wB;
|
186
|
-
}
|
187
|
-
|
188
|
-
bool b2FrictionJoint::SolvePositionConstraints(const b2SolverData& data)
|
189
|
-
{
|
190
|
-
B2_NOT_USED(data);
|
191
|
-
|
192
|
-
return true;
|
193
|
-
}
|
194
|
-
|
195
|
-
b2Vec2 b2FrictionJoint::GetAnchorA() const
|
196
|
-
{
|
197
|
-
return m_bodyA->GetWorldPoint(m_localAnchorA);
|
198
|
-
}
|
199
|
-
|
200
|
-
b2Vec2 b2FrictionJoint::GetAnchorB() const
|
201
|
-
{
|
202
|
-
return m_bodyB->GetWorldPoint(m_localAnchorB);
|
203
|
-
}
|
204
|
-
|
205
|
-
b2Vec2 b2FrictionJoint::GetReactionForce(float32 inv_dt) const
|
206
|
-
{
|
207
|
-
return inv_dt * m_linearImpulse;
|
208
|
-
}
|
209
|
-
|
210
|
-
float32 b2FrictionJoint::GetReactionTorque(float32 inv_dt) const
|
211
|
-
{
|
212
|
-
return inv_dt * m_angularImpulse;
|
213
|
-
}
|
214
|
-
|
215
|
-
void b2FrictionJoint::SetMaxForce(float32 force)
|
216
|
-
{
|
217
|
-
b2Assert(b2IsValid(force) && force >= 0.0f);
|
218
|
-
m_maxForce = force;
|
219
|
-
}
|
220
|
-
|
221
|
-
float32 b2FrictionJoint::GetMaxForce() const
|
222
|
-
{
|
223
|
-
return m_maxForce;
|
224
|
-
}
|
225
|
-
|
226
|
-
void b2FrictionJoint::SetMaxTorque(float32 torque)
|
227
|
-
{
|
228
|
-
b2Assert(b2IsValid(torque) && torque >= 0.0f);
|
229
|
-
m_maxTorque = torque;
|
230
|
-
}
|
231
|
-
|
232
|
-
float32 b2FrictionJoint::GetMaxTorque() const
|
233
|
-
{
|
234
|
-
return m_maxTorque;
|
235
|
-
}
|
236
|
-
|
237
|
-
void b2FrictionJoint::Dump()
|
238
|
-
{
|
239
|
-
int32 indexA = m_bodyA->m_islandIndex;
|
240
|
-
int32 indexB = m_bodyB->m_islandIndex;
|
241
|
-
|
242
|
-
b2Log(" b2FrictionJointDef jd;\n");
|
243
|
-
b2Log(" jd.bodyA = bodies[%d];\n", indexA);
|
244
|
-
b2Log(" jd.bodyB = bodies[%d];\n", indexB);
|
245
|
-
b2Log(" jd.collideConnected = bool(%d);\n", m_collideConnected);
|
246
|
-
b2Log(" jd.localAnchorA.Set(%.15lef, %.15lef);\n", m_localAnchorA.x, m_localAnchorA.y);
|
247
|
-
b2Log(" jd.localAnchorB.Set(%.15lef, %.15lef);\n", m_localAnchorB.x, m_localAnchorB.y);
|
248
|
-
b2Log(" jd.maxForce = %.15lef;\n", m_maxForce);
|
249
|
-
b2Log(" jd.maxTorque = %.15lef;\n", m_maxTorque);
|
250
|
-
b2Log(" joints[%d] = m_world->CreateJoint(&jd);\n", m_index);
|
251
|
-
}
|