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) 2006-2007 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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#ifndef B2_FRICTION_JOINT_H
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#define B2_FRICTION_JOINT_H
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#include <Box2D/Dynamics/Joints/b2Joint.h>
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/// Friction joint definition.
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struct b2FrictionJointDef : public b2JointDef
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{
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b2FrictionJointDef()
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{
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localAnchorA.SetZero();
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localAnchorB.SetZero();
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maxForce = 0.0f;
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maxTorque = 0.0f;
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}
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/// Initialize the bodies, anchors, axis, and reference angle using the world
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void Initialize(b2Body* bodyA, b2Body* bodyB, const b2Vec2& anchor);
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/// The local anchor point relative to bodyA's origin.
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b2Vec2 localAnchorA;
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/// The local anchor point relative to bodyB's origin.
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b2Vec2 localAnchorB;
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/// The maximum friction force in N.
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float32 maxForce;
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/// The maximum friction torque in N-m.
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float32 maxTorque;
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};
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/// Friction joint. This is used for top-down friction.
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/// It provides 2D translational friction and angular friction.
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class b2FrictionJoint : public b2Joint
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{
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public:
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b2Vec2 GetAnchorA() const;
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b2Vec2 GetAnchorB() const;
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b2Vec2 GetReactionForce(float32 inv_dt) const;
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float32 GetReactionTorque(float32 inv_dt) const;
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/// The local anchor point relative to bodyA's origin.
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const b2Vec2& GetLocalAnchorA() const { return m_localAnchorA; }
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/// The local anchor point relative to bodyB's origin.
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const b2Vec2& GetLocalAnchorB() const { return m_localAnchorB; }
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/// Set the maximum friction force in N.
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void SetMaxForce(float32 force);
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/// Get the maximum friction force in N.
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float32 GetMaxForce() const;
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/// Set the maximum friction torque in N*m.
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void SetMaxTorque(float32 torque);
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/// Get the maximum friction torque in N*m.
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float32 GetMaxTorque() const;
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/// Dump joint to dmLog
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void Dump();
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protected:
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friend class b2Joint;
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b2FrictionJoint(const b2FrictionJointDef* def);
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void InitVelocityConstraints(const b2SolverData& data);
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void SolveVelocityConstraints(const b2SolverData& data);
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bool SolvePositionConstraints(const b2SolverData& data);
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b2Vec2 m_localAnchorA;
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b2Vec2 m_localAnchorB;
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// Solver shared
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b2Vec2 m_linearImpulse;
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float32 m_angularImpulse;
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float32 m_maxForce;
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float32 m_maxTorque;
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// Solver temp
|
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int32 m_indexA;
|
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int32 m_indexB;
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b2Vec2 m_rA;
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b2Vec2 m_rB;
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b2Vec2 m_localCenterA;
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b2Vec2 m_localCenterB;
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float32 m_invMassA;
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float32 m_invMassB;
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float32 m_invIA;
|
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float32 m_invIB;
|
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b2Mat22 m_linearMass;
|
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float32 m_angularMass;
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};
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#endif
|
@@ -1,419 +0,0 @@
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/*
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* Copyright (c) 2007-2011 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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|
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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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|
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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/b2GearJoint.h>
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#include <Box2D/Dynamics/Joints/b2RevoluteJoint.h>
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#include <Box2D/Dynamics/Joints/b2PrismaticJoint.h>
|
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#include <Box2D/Dynamics/b2Body.h>
|
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#include <Box2D/Dynamics/b2TimeStep.h>
|
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-
|
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// Gear Joint:
|
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// C0 = (coordinate1 + ratio * coordinate2)_initial
|
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// C = (coordinate1 + ratio * coordinate2) - C0 = 0
|
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// J = [J1 ratio * J2]
|
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// K = J * invM * JT
|
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|
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// = J1 * invM1 * J1T + ratio * ratio * J2 * invM2 * J2T
|
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|
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//
|
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// Revolute:
|
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|
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// coordinate = rotation
|
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|
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// Cdot = angularVelocity
|
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|
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// J = [0 0 1]
|
36
|
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// K = J * invM * JT = invI
|
37
|
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//
|
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|
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// Prismatic:
|
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|
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// coordinate = dot(p - pg, ug)
|
40
|
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// Cdot = dot(v + cross(w, r), ug)
|
41
|
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// J = [ug cross(r, ug)]
|
42
|
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// K = J * invM * JT = invMass + invI * cross(r, ug)^2
|
43
|
-
|
44
|
-
b2GearJoint::b2GearJoint(const b2GearJointDef* def)
|
45
|
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: b2Joint(def)
|
46
|
-
{
|
47
|
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m_joint1 = def->joint1;
|
48
|
-
m_joint2 = def->joint2;
|
49
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-
|
50
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m_typeA = m_joint1->GetType();
|
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-
m_typeB = m_joint2->GetType();
|
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|
-
|
53
|
-
b2Assert(m_typeA == e_revoluteJoint || m_typeA == e_prismaticJoint);
|
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|
-
b2Assert(m_typeB == e_revoluteJoint || m_typeB == e_prismaticJoint);
|
55
|
-
|
56
|
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float32 coordinateA, coordinateB;
|
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|
-
|
58
|
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// TODO_ERIN there might be some problem with the joint edges in b2Joint.
|
59
|
-
|
60
|
-
m_bodyC = m_joint1->GetBodyA();
|
61
|
-
m_bodyA = m_joint1->GetBodyB();
|
62
|
-
|
63
|
-
// Get geometry of joint1
|
64
|
-
b2Transform xfA = m_bodyA->m_xf;
|
65
|
-
float32 aA = m_bodyA->m_sweep.a;
|
66
|
-
b2Transform xfC = m_bodyC->m_xf;
|
67
|
-
float32 aC = m_bodyC->m_sweep.a;
|
68
|
-
|
69
|
-
if (m_typeA == e_revoluteJoint)
|
70
|
-
{
|
71
|
-
b2RevoluteJoint* revolute = (b2RevoluteJoint*)def->joint1;
|
72
|
-
m_localAnchorC = revolute->m_localAnchorA;
|
73
|
-
m_localAnchorA = revolute->m_localAnchorB;
|
74
|
-
m_referenceAngleA = revolute->m_referenceAngle;
|
75
|
-
m_localAxisC.SetZero();
|
76
|
-
|
77
|
-
coordinateA = aA - aC - m_referenceAngleA;
|
78
|
-
}
|
79
|
-
else
|
80
|
-
{
|
81
|
-
b2PrismaticJoint* prismatic = (b2PrismaticJoint*)def->joint1;
|
82
|
-
m_localAnchorC = prismatic->m_localAnchorA;
|
83
|
-
m_localAnchorA = prismatic->m_localAnchorB;
|
84
|
-
m_referenceAngleA = prismatic->m_referenceAngle;
|
85
|
-
m_localAxisC = prismatic->m_localXAxisA;
|
86
|
-
|
87
|
-
b2Vec2 pC = m_localAnchorC;
|
88
|
-
b2Vec2 pA = b2MulT(xfC.q, b2Mul(xfA.q, m_localAnchorA) + (xfA.p - xfC.p));
|
89
|
-
coordinateA = b2Dot(pA - pC, m_localAxisC);
|
90
|
-
}
|
91
|
-
|
92
|
-
m_bodyD = m_joint2->GetBodyA();
|
93
|
-
m_bodyB = m_joint2->GetBodyB();
|
94
|
-
|
95
|
-
// Get geometry of joint2
|
96
|
-
b2Transform xfB = m_bodyB->m_xf;
|
97
|
-
float32 aB = m_bodyB->m_sweep.a;
|
98
|
-
b2Transform xfD = m_bodyD->m_xf;
|
99
|
-
float32 aD = m_bodyD->m_sweep.a;
|
100
|
-
|
101
|
-
if (m_typeB == e_revoluteJoint)
|
102
|
-
{
|
103
|
-
b2RevoluteJoint* revolute = (b2RevoluteJoint*)def->joint2;
|
104
|
-
m_localAnchorD = revolute->m_localAnchorA;
|
105
|
-
m_localAnchorB = revolute->m_localAnchorB;
|
106
|
-
m_referenceAngleB = revolute->m_referenceAngle;
|
107
|
-
m_localAxisD.SetZero();
|
108
|
-
|
109
|
-
coordinateB = aB - aD - m_referenceAngleB;
|
110
|
-
}
|
111
|
-
else
|
112
|
-
{
|
113
|
-
b2PrismaticJoint* prismatic = (b2PrismaticJoint*)def->joint2;
|
114
|
-
m_localAnchorD = prismatic->m_localAnchorA;
|
115
|
-
m_localAnchorB = prismatic->m_localAnchorB;
|
116
|
-
m_referenceAngleB = prismatic->m_referenceAngle;
|
117
|
-
m_localAxisD = prismatic->m_localXAxisA;
|
118
|
-
|
119
|
-
b2Vec2 pD = m_localAnchorD;
|
120
|
-
b2Vec2 pB = b2MulT(xfD.q, b2Mul(xfB.q, m_localAnchorB) + (xfB.p - xfD.p));
|
121
|
-
coordinateB = b2Dot(pB - pD, m_localAxisD);
|
122
|
-
}
|
123
|
-
|
124
|
-
m_ratio = def->ratio;
|
125
|
-
|
126
|
-
m_constant = coordinateA + m_ratio * coordinateB;
|
127
|
-
|
128
|
-
m_impulse = 0.0f;
|
129
|
-
}
|
130
|
-
|
131
|
-
void b2GearJoint::InitVelocityConstraints(const b2SolverData& data)
|
132
|
-
{
|
133
|
-
m_indexA = m_bodyA->m_islandIndex;
|
134
|
-
m_indexB = m_bodyB->m_islandIndex;
|
135
|
-
m_indexC = m_bodyC->m_islandIndex;
|
136
|
-
m_indexD = m_bodyD->m_islandIndex;
|
137
|
-
m_lcA = m_bodyA->m_sweep.localCenter;
|
138
|
-
m_lcB = m_bodyB->m_sweep.localCenter;
|
139
|
-
m_lcC = m_bodyC->m_sweep.localCenter;
|
140
|
-
m_lcD = m_bodyD->m_sweep.localCenter;
|
141
|
-
m_mA = m_bodyA->m_invMass;
|
142
|
-
m_mB = m_bodyB->m_invMass;
|
143
|
-
m_mC = m_bodyC->m_invMass;
|
144
|
-
m_mD = m_bodyD->m_invMass;
|
145
|
-
m_iA = m_bodyA->m_invI;
|
146
|
-
m_iB = m_bodyB->m_invI;
|
147
|
-
m_iC = m_bodyC->m_invI;
|
148
|
-
m_iD = m_bodyD->m_invI;
|
149
|
-
|
150
|
-
float32 aA = data.positions[m_indexA].a;
|
151
|
-
b2Vec2 vA = data.velocities[m_indexA].v;
|
152
|
-
float32 wA = data.velocities[m_indexA].w;
|
153
|
-
|
154
|
-
float32 aB = data.positions[m_indexB].a;
|
155
|
-
b2Vec2 vB = data.velocities[m_indexB].v;
|
156
|
-
float32 wB = data.velocities[m_indexB].w;
|
157
|
-
|
158
|
-
float32 aC = data.positions[m_indexC].a;
|
159
|
-
b2Vec2 vC = data.velocities[m_indexC].v;
|
160
|
-
float32 wC = data.velocities[m_indexC].w;
|
161
|
-
|
162
|
-
float32 aD = data.positions[m_indexD].a;
|
163
|
-
b2Vec2 vD = data.velocities[m_indexD].v;
|
164
|
-
float32 wD = data.velocities[m_indexD].w;
|
165
|
-
|
166
|
-
b2Rot qA(aA), qB(aB), qC(aC), qD(aD);
|
167
|
-
|
168
|
-
m_mass = 0.0f;
|
169
|
-
|
170
|
-
if (m_typeA == e_revoluteJoint)
|
171
|
-
{
|
172
|
-
m_JvAC.SetZero();
|
173
|
-
m_JwA = 1.0f;
|
174
|
-
m_JwC = 1.0f;
|
175
|
-
m_mass += m_iA + m_iC;
|
176
|
-
}
|
177
|
-
else
|
178
|
-
{
|
179
|
-
b2Vec2 u = b2Mul(qC, m_localAxisC);
|
180
|
-
b2Vec2 rC = b2Mul(qC, m_localAnchorC - m_lcC);
|
181
|
-
b2Vec2 rA = b2Mul(qA, m_localAnchorA - m_lcA);
|
182
|
-
m_JvAC = u;
|
183
|
-
m_JwC = b2Cross(rC, u);
|
184
|
-
m_JwA = b2Cross(rA, u);
|
185
|
-
m_mass += m_mC + m_mA + m_iC * m_JwC * m_JwC + m_iA * m_JwA * m_JwA;
|
186
|
-
}
|
187
|
-
|
188
|
-
if (m_typeB == e_revoluteJoint)
|
189
|
-
{
|
190
|
-
m_JvBD.SetZero();
|
191
|
-
m_JwB = m_ratio;
|
192
|
-
m_JwD = m_ratio;
|
193
|
-
m_mass += m_ratio * m_ratio * (m_iB + m_iD);
|
194
|
-
}
|
195
|
-
else
|
196
|
-
{
|
197
|
-
b2Vec2 u = b2Mul(qD, m_localAxisD);
|
198
|
-
b2Vec2 rD = b2Mul(qD, m_localAnchorD - m_lcD);
|
199
|
-
b2Vec2 rB = b2Mul(qB, m_localAnchorB - m_lcB);
|
200
|
-
m_JvBD = m_ratio * u;
|
201
|
-
m_JwD = m_ratio * b2Cross(rD, u);
|
202
|
-
m_JwB = m_ratio * b2Cross(rB, u);
|
203
|
-
m_mass += m_ratio * m_ratio * (m_mD + m_mB) + m_iD * m_JwD * m_JwD + m_iB * m_JwB * m_JwB;
|
204
|
-
}
|
205
|
-
|
206
|
-
// Compute effective mass.
|
207
|
-
m_mass = m_mass > 0.0f ? 1.0f / m_mass : 0.0f;
|
208
|
-
|
209
|
-
if (data.step.warmStarting)
|
210
|
-
{
|
211
|
-
vA += (m_mA * m_impulse) * m_JvAC;
|
212
|
-
wA += m_iA * m_impulse * m_JwA;
|
213
|
-
vB += (m_mB * m_impulse) * m_JvBD;
|
214
|
-
wB += m_iB * m_impulse * m_JwB;
|
215
|
-
vC -= (m_mC * m_impulse) * m_JvAC;
|
216
|
-
wC -= m_iC * m_impulse * m_JwC;
|
217
|
-
vD -= (m_mD * m_impulse) * m_JvBD;
|
218
|
-
wD -= m_iD * m_impulse * m_JwD;
|
219
|
-
}
|
220
|
-
else
|
221
|
-
{
|
222
|
-
m_impulse = 0.0f;
|
223
|
-
}
|
224
|
-
|
225
|
-
data.velocities[m_indexA].v = vA;
|
226
|
-
data.velocities[m_indexA].w = wA;
|
227
|
-
data.velocities[m_indexB].v = vB;
|
228
|
-
data.velocities[m_indexB].w = wB;
|
229
|
-
data.velocities[m_indexC].v = vC;
|
230
|
-
data.velocities[m_indexC].w = wC;
|
231
|
-
data.velocities[m_indexD].v = vD;
|
232
|
-
data.velocities[m_indexD].w = wD;
|
233
|
-
}
|
234
|
-
|
235
|
-
void b2GearJoint::SolveVelocityConstraints(const b2SolverData& data)
|
236
|
-
{
|
237
|
-
b2Vec2 vA = data.velocities[m_indexA].v;
|
238
|
-
float32 wA = data.velocities[m_indexA].w;
|
239
|
-
b2Vec2 vB = data.velocities[m_indexB].v;
|
240
|
-
float32 wB = data.velocities[m_indexB].w;
|
241
|
-
b2Vec2 vC = data.velocities[m_indexC].v;
|
242
|
-
float32 wC = data.velocities[m_indexC].w;
|
243
|
-
b2Vec2 vD = data.velocities[m_indexD].v;
|
244
|
-
float32 wD = data.velocities[m_indexD].w;
|
245
|
-
|
246
|
-
float32 Cdot = b2Dot(m_JvAC, vA - vC) + b2Dot(m_JvBD, vB - vD);
|
247
|
-
Cdot += (m_JwA * wA - m_JwC * wC) + (m_JwB * wB - m_JwD * wD);
|
248
|
-
|
249
|
-
float32 impulse = -m_mass * Cdot;
|
250
|
-
m_impulse += impulse;
|
251
|
-
|
252
|
-
vA += (m_mA * impulse) * m_JvAC;
|
253
|
-
wA += m_iA * impulse * m_JwA;
|
254
|
-
vB += (m_mB * impulse) * m_JvBD;
|
255
|
-
wB += m_iB * impulse * m_JwB;
|
256
|
-
vC -= (m_mC * impulse) * m_JvAC;
|
257
|
-
wC -= m_iC * impulse * m_JwC;
|
258
|
-
vD -= (m_mD * impulse) * m_JvBD;
|
259
|
-
wD -= m_iD * impulse * m_JwD;
|
260
|
-
|
261
|
-
data.velocities[m_indexA].v = vA;
|
262
|
-
data.velocities[m_indexA].w = wA;
|
263
|
-
data.velocities[m_indexB].v = vB;
|
264
|
-
data.velocities[m_indexB].w = wB;
|
265
|
-
data.velocities[m_indexC].v = vC;
|
266
|
-
data.velocities[m_indexC].w = wC;
|
267
|
-
data.velocities[m_indexD].v = vD;
|
268
|
-
data.velocities[m_indexD].w = wD;
|
269
|
-
}
|
270
|
-
|
271
|
-
bool b2GearJoint::SolvePositionConstraints(const b2SolverData& data)
|
272
|
-
{
|
273
|
-
b2Vec2 cA = data.positions[m_indexA].c;
|
274
|
-
float32 aA = data.positions[m_indexA].a;
|
275
|
-
b2Vec2 cB = data.positions[m_indexB].c;
|
276
|
-
float32 aB = data.positions[m_indexB].a;
|
277
|
-
b2Vec2 cC = data.positions[m_indexC].c;
|
278
|
-
float32 aC = data.positions[m_indexC].a;
|
279
|
-
b2Vec2 cD = data.positions[m_indexD].c;
|
280
|
-
float32 aD = data.positions[m_indexD].a;
|
281
|
-
|
282
|
-
b2Rot qA(aA), qB(aB), qC(aC), qD(aD);
|
283
|
-
|
284
|
-
float32 linearError = 0.0f;
|
285
|
-
|
286
|
-
float32 coordinateA, coordinateB;
|
287
|
-
|
288
|
-
b2Vec2 JvAC, JvBD;
|
289
|
-
float32 JwA, JwB, JwC, JwD;
|
290
|
-
float32 mass = 0.0f;
|
291
|
-
|
292
|
-
if (m_typeA == e_revoluteJoint)
|
293
|
-
{
|
294
|
-
JvAC.SetZero();
|
295
|
-
JwA = 1.0f;
|
296
|
-
JwC = 1.0f;
|
297
|
-
mass += m_iA + m_iC;
|
298
|
-
|
299
|
-
coordinateA = aA - aC - m_referenceAngleA;
|
300
|
-
}
|
301
|
-
else
|
302
|
-
{
|
303
|
-
b2Vec2 u = b2Mul(qC, m_localAxisC);
|
304
|
-
b2Vec2 rC = b2Mul(qC, m_localAnchorC - m_lcC);
|
305
|
-
b2Vec2 rA = b2Mul(qA, m_localAnchorA - m_lcA);
|
306
|
-
JvAC = u;
|
307
|
-
JwC = b2Cross(rC, u);
|
308
|
-
JwA = b2Cross(rA, u);
|
309
|
-
mass += m_mC + m_mA + m_iC * JwC * JwC + m_iA * JwA * JwA;
|
310
|
-
|
311
|
-
b2Vec2 pC = m_localAnchorC - m_lcC;
|
312
|
-
b2Vec2 pA = b2MulT(qC, rA + (cA - cC));
|
313
|
-
coordinateA = b2Dot(pA - pC, m_localAxisC);
|
314
|
-
}
|
315
|
-
|
316
|
-
if (m_typeB == e_revoluteJoint)
|
317
|
-
{
|
318
|
-
JvBD.SetZero();
|
319
|
-
JwB = m_ratio;
|
320
|
-
JwD = m_ratio;
|
321
|
-
mass += m_ratio * m_ratio * (m_iB + m_iD);
|
322
|
-
|
323
|
-
coordinateB = aB - aD - m_referenceAngleB;
|
324
|
-
}
|
325
|
-
else
|
326
|
-
{
|
327
|
-
b2Vec2 u = b2Mul(qD, m_localAxisD);
|
328
|
-
b2Vec2 rD = b2Mul(qD, m_localAnchorD - m_lcD);
|
329
|
-
b2Vec2 rB = b2Mul(qB, m_localAnchorB - m_lcB);
|
330
|
-
JvBD = m_ratio * u;
|
331
|
-
JwD = m_ratio * b2Cross(rD, u);
|
332
|
-
JwB = m_ratio * b2Cross(rB, u);
|
333
|
-
mass += m_ratio * m_ratio * (m_mD + m_mB) + m_iD * JwD * JwD + m_iB * JwB * JwB;
|
334
|
-
|
335
|
-
b2Vec2 pD = m_localAnchorD - m_lcD;
|
336
|
-
b2Vec2 pB = b2MulT(qD, rB + (cB - cD));
|
337
|
-
coordinateB = b2Dot(pB - pD, m_localAxisD);
|
338
|
-
}
|
339
|
-
|
340
|
-
float32 C = (coordinateA + m_ratio * coordinateB) - m_constant;
|
341
|
-
|
342
|
-
float32 impulse = 0.0f;
|
343
|
-
if (mass > 0.0f)
|
344
|
-
{
|
345
|
-
impulse = -C / mass;
|
346
|
-
}
|
347
|
-
|
348
|
-
cA += m_mA * impulse * JvAC;
|
349
|
-
aA += m_iA * impulse * JwA;
|
350
|
-
cB += m_mB * impulse * JvBD;
|
351
|
-
aB += m_iB * impulse * JwB;
|
352
|
-
cC -= m_mC * impulse * JvAC;
|
353
|
-
aC -= m_iC * impulse * JwC;
|
354
|
-
cD -= m_mD * impulse * JvBD;
|
355
|
-
aD -= m_iD * impulse * JwD;
|
356
|
-
|
357
|
-
data.positions[m_indexA].c = cA;
|
358
|
-
data.positions[m_indexA].a = aA;
|
359
|
-
data.positions[m_indexB].c = cB;
|
360
|
-
data.positions[m_indexB].a = aB;
|
361
|
-
data.positions[m_indexC].c = cC;
|
362
|
-
data.positions[m_indexC].a = aC;
|
363
|
-
data.positions[m_indexD].c = cD;
|
364
|
-
data.positions[m_indexD].a = aD;
|
365
|
-
|
366
|
-
// TODO_ERIN not implemented
|
367
|
-
return linearError < b2_linearSlop;
|
368
|
-
}
|
369
|
-
|
370
|
-
b2Vec2 b2GearJoint::GetAnchorA() const
|
371
|
-
{
|
372
|
-
return m_bodyA->GetWorldPoint(m_localAnchorA);
|
373
|
-
}
|
374
|
-
|
375
|
-
b2Vec2 b2GearJoint::GetAnchorB() const
|
376
|
-
{
|
377
|
-
return m_bodyB->GetWorldPoint(m_localAnchorB);
|
378
|
-
}
|
379
|
-
|
380
|
-
b2Vec2 b2GearJoint::GetReactionForce(float32 inv_dt) const
|
381
|
-
{
|
382
|
-
b2Vec2 P = m_impulse * m_JvAC;
|
383
|
-
return inv_dt * P;
|
384
|
-
}
|
385
|
-
|
386
|
-
float32 b2GearJoint::GetReactionTorque(float32 inv_dt) const
|
387
|
-
{
|
388
|
-
float32 L = m_impulse * m_JwA;
|
389
|
-
return inv_dt * L;
|
390
|
-
}
|
391
|
-
|
392
|
-
void b2GearJoint::SetRatio(float32 ratio)
|
393
|
-
{
|
394
|
-
b2Assert(b2IsValid(ratio));
|
395
|
-
m_ratio = ratio;
|
396
|
-
}
|
397
|
-
|
398
|
-
float32 b2GearJoint::GetRatio() const
|
399
|
-
{
|
400
|
-
return m_ratio;
|
401
|
-
}
|
402
|
-
|
403
|
-
void b2GearJoint::Dump()
|
404
|
-
{
|
405
|
-
int32 indexA = m_bodyA->m_islandIndex;
|
406
|
-
int32 indexB = m_bodyB->m_islandIndex;
|
407
|
-
|
408
|
-
int32 index1 = m_joint1->m_index;
|
409
|
-
int32 index2 = m_joint2->m_index;
|
410
|
-
|
411
|
-
b2Log(" b2GearJointDef jd;\n");
|
412
|
-
b2Log(" jd.bodyA = bodies[%d];\n", indexA);
|
413
|
-
b2Log(" jd.bodyB = bodies[%d];\n", indexB);
|
414
|
-
b2Log(" jd.collideConnected = bool(%d);\n", m_collideConnected);
|
415
|
-
b2Log(" jd.joint1 = joints[%d];\n", index1);
|
416
|
-
b2Log(" jd.joint2 = joints[%d];\n", index2);
|
417
|
-
b2Log(" jd.ratio = %.15lef;\n", m_ratio);
|
418
|
-
b2Log(" joints[%d] = m_world->CreateJoint(&jd);\n", m_index);
|
419
|
-
}
|