reflexion 0.1.11 → 0.1.16

data/src/physics/Box2D/Dynamics/Joints/b2PrismaticJoint.h

@@ -1,196 +0,0 @@
-/*
-* Copyright (c) 2006-2011 Erin Catto 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.
-*/
-
-#ifndef B2_PRISMATIC_JOINT_H
-#define B2_PRISMATIC_JOINT_H
-
-#include <Box2D/Dynamics/Joints/b2Joint.h>
-
-/// Prismatic joint definition. This requires defining a line of
-/// motion using an axis and an anchor point. The definition uses local
-/// anchor points and a local axis so that the initial configuration
-/// can violate the constraint slightly. The joint translation is zero
-/// when the local anchor points coincide in world space. Using local
-/// anchors and a local axis helps when saving and loading a game.
-struct b2PrismaticJointDef : public b2JointDef
-{
-	b2PrismaticJointDef()
-	{
-		type = e_prismaticJoint;
-		localAnchorA.SetZero();
-		localAnchorB.SetZero();
-		localAxisA.Set(1.0f, 0.0f);
-		referenceAngle = 0.0f;
-		enableLimit = false;
-		lowerTranslation = 0.0f;
-		upperTranslation = 0.0f;
-		enableMotor = false;
-		maxMotorForce = 0.0f;
-		motorSpeed = 0.0f;
-	}
-
-	/// Initialize the bodies, anchors, axis, and reference angle using the world
-	/// anchor and unit world axis.
-	void Initialize(b2Body* bodyA, b2Body* bodyB, const b2Vec2& anchor, const b2Vec2& axis);
-
-	/// The local anchor point relative to bodyA's origin.
-	b2Vec2 localAnchorA;
-
-	/// The local anchor point relative to bodyB's origin.
-	b2Vec2 localAnchorB;
-
-	/// The local translation unit axis in bodyA.
-	b2Vec2 localAxisA;
-
-	/// The constrained angle between the bodies: bodyB_angle - bodyA_angle.
-	float32 referenceAngle;
-
-	/// Enable/disable the joint limit.
-	bool enableLimit;
-
-	/// The lower translation limit, usually in meters.
-	float32 lowerTranslation;
-
-	/// The upper translation limit, usually in meters.
-	float32 upperTranslation;
-
-	/// Enable/disable the joint motor.
-	bool enableMotor;
-
-	/// The maximum motor torque, usually in N-m.
-	float32 maxMotorForce;
-
-	/// The desired motor speed in radians per second.
-	float32 motorSpeed;
-};
-
-/// A prismatic joint. This joint provides one degree of freedom: translation
-/// along an axis fixed in bodyA. Relative rotation is prevented. You can
-/// use a joint limit to restrict the range of motion and a joint motor to
-/// drive the motion or to model joint friction.
-class b2PrismaticJoint : public b2Joint
-{
-public:
-	b2Vec2 GetAnchorA() const;
-	b2Vec2 GetAnchorB() const;
-
-	b2Vec2 GetReactionForce(float32 inv_dt) const;
-	float32 GetReactionTorque(float32 inv_dt) const;
-
-	/// The local anchor point relative to bodyA's origin.
-	const b2Vec2& GetLocalAnchorA() const { return m_localAnchorA; }
-
-	/// The local anchor point relative to bodyB's origin.
-	const b2Vec2& GetLocalAnchorB() const  { return m_localAnchorB; }
-
-	/// The local joint axis relative to bodyA.
-	const b2Vec2& GetLocalAxisA() const { return m_localXAxisA; }
-
-	/// Get the reference angle.
-	float32 GetReferenceAngle() const { return m_referenceAngle; }
-
-	/// Get the current joint translation, usually in meters.
-	float32 GetJointTranslation() const;
-
-	/// Get the current joint translation speed, usually in meters per second.
-	float32 GetJointSpeed() const;
-
-	/// Is the joint limit enabled?
-	bool IsLimitEnabled() const;
-
-	/// Enable/disable the joint limit.
-	void EnableLimit(bool flag);
-
-	/// Get the lower joint limit, usually in meters.
-	float32 GetLowerLimit() const;
-
-	/// Get the upper joint limit, usually in meters.
-	float32 GetUpperLimit() const;
-
-	/// Set the joint limits, usually in meters.
-	void SetLimits(float32 lower, float32 upper);
-
-	/// Is the joint motor enabled?
-	bool IsMotorEnabled() const;
-
-	/// Enable/disable the joint motor.
-	void EnableMotor(bool flag);
-
-	/// Set the motor speed, usually in meters per second.
-	void SetMotorSpeed(float32 speed);
-
-	/// Get the motor speed, usually in meters per second.
-	float32 GetMotorSpeed() const;
-
-	/// Set the maximum motor force, usually in N.
-	void SetMaxMotorForce(float32 force);
-	float32 GetMaxMotorForce() const { return m_maxMotorForce; }
-
-	/// Get the current motor force given the inverse time step, usually in N.
-	float32 GetMotorForce(float32 inv_dt) const;
-
-	/// Dump to b2Log
-	void Dump();
-
-protected:
-	friend class b2Joint;
-	friend class b2GearJoint;
-	b2PrismaticJoint(const b2PrismaticJointDef* def);
-
-	void InitVelocityConstraints(const b2SolverData& data);
-	void SolveVelocityConstraints(const b2SolverData& data);
-	bool SolvePositionConstraints(const b2SolverData& data);
-
-	// Solver shared
-	b2Vec2 m_localAnchorA;
-	b2Vec2 m_localAnchorB;
-	b2Vec2 m_localXAxisA;
-	b2Vec2 m_localYAxisA;
-	float32 m_referenceAngle;
-	b2Vec3 m_impulse;
-	float32 m_motorImpulse;
-	float32 m_lowerTranslation;
-	float32 m_upperTranslation;
-	float32 m_maxMotorForce;
-	float32 m_motorSpeed;
-	bool m_enableLimit;
-	bool m_enableMotor;
-	b2LimitState m_limitState;
-
-	// Solver temp
-	int32 m_indexA;
-	int32 m_indexB;
-	b2Vec2 m_localCenterA;
-	b2Vec2 m_localCenterB;
-	float32 m_invMassA;
-	float32 m_invMassB;
-	float32 m_invIA;
-	float32 m_invIB;
-	b2Vec2 m_axis, m_perp;
-	float32 m_s1, m_s2;
-	float32 m_a1, m_a2;
-	b2Mat33 m_K;
-	float32 m_motorMass;
-};
-
-inline float32 b2PrismaticJoint::GetMotorSpeed() const
-{
-	return m_motorSpeed;
-}
-
-#endif

data/src/physics/Box2D/Dynamics/Joints/b2PulleyJoint.cpp

@@ -1,348 +0,0 @@
-/*
-* Copyright (c) 2007 Erin Catto 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.
-*/
-
-#include <Box2D/Dynamics/Joints/b2PulleyJoint.h>
-#include <Box2D/Dynamics/b2Body.h>
-#include <Box2D/Dynamics/b2TimeStep.h>
-
-// Pulley:
-// length1 = norm(p1 - s1)
-// length2 = norm(p2 - s2)
-// C0 = (length1 + ratio * length2)_initial
-// C = C0 - (length1 + ratio * length2)
-// u1 = (p1 - s1) / norm(p1 - s1)
-// u2 = (p2 - s2) / norm(p2 - s2)
-// Cdot = -dot(u1, v1 + cross(w1, r1)) - ratio * dot(u2, v2 + cross(w2, r2))
-// J = -[u1 cross(r1, u1) ratio * u2  ratio * cross(r2, u2)]
-// K = J * invM * JT
-//   = invMass1 + invI1 * cross(r1, u1)^2 + ratio^2 * (invMass2 + invI2 * cross(r2, u2)^2)
-
-void b2PulleyJointDef::Initialize(b2Body* bA, b2Body* bB,
-				const b2Vec2& groundA, const b2Vec2& groundB,
-				const b2Vec2& anchorA, const b2Vec2& anchorB,
-				float32 r)
-{
-	bodyA = bA;
-	bodyB = bB;
-	groundAnchorA = groundA;
-	groundAnchorB = groundB;
-	localAnchorA = bodyA->GetLocalPoint(anchorA);
-	localAnchorB = bodyB->GetLocalPoint(anchorB);
-	b2Vec2 dA = anchorA - groundA;
-	lengthA = dA.Length();
-	b2Vec2 dB = anchorB - groundB;
-	lengthB = dB.Length();
-	ratio = r;
-	b2Assert(ratio > b2_epsilon);
-}
-
-b2PulleyJoint::b2PulleyJoint(const b2PulleyJointDef* def)
-: b2Joint(def)
-{
-	m_groundAnchorA = def->groundAnchorA;
-	m_groundAnchorB = def->groundAnchorB;
-	m_localAnchorA = def->localAnchorA;
-	m_localAnchorB = def->localAnchorB;
-
-	m_lengthA = def->lengthA;
-	m_lengthB = def->lengthB;
-
-	b2Assert(def->ratio != 0.0f);
-	m_ratio = def->ratio;
-
-	m_constant = def->lengthA + m_ratio * def->lengthB;
-
-	m_impulse = 0.0f;
-}
-
-void b2PulleyJoint::InitVelocityConstraints(const b2SolverData& data)
-{
-	m_indexA = m_bodyA->m_islandIndex;
-	m_indexB = m_bodyB->m_islandIndex;
-	m_localCenterA = m_bodyA->m_sweep.localCenter;
-	m_localCenterB = 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;
-
-	b2Vec2 cA = data.positions[m_indexA].c;
-	float32 aA = data.positions[m_indexA].a;
-	b2Vec2 vA = data.velocities[m_indexA].v;
-	float32 wA = data.velocities[m_indexA].w;
-
-	b2Vec2 cB = data.positions[m_indexB].c;
-	float32 aB = data.positions[m_indexB].a;
-	b2Vec2 vB = data.velocities[m_indexB].v;
-	float32 wB = data.velocities[m_indexB].w;
-
-	b2Rot qA(aA), qB(aB);
-
-	m_rA = b2Mul(qA, m_localAnchorA - m_localCenterA);
-	m_rB = b2Mul(qB, m_localAnchorB - m_localCenterB);
-
-	// Get the pulley axes.
-	m_uA = cA + m_rA - m_groundAnchorA;
-	m_uB = cB + m_rB - m_groundAnchorB;
-
-	float32 lengthA = m_uA.Length();
-	float32 lengthB = m_uB.Length();
-
-	if (lengthA > 10.0f * b2_linearSlop)
-	{
-		m_uA *= 1.0f / lengthA;
-	}
-	else
-	{
-		m_uA.SetZero();
-	}
-
-	if (lengthB > 10.0f * b2_linearSlop)
-	{
-		m_uB *= 1.0f / lengthB;
-	}
-	else
-	{
-		m_uB.SetZero();
-	}
-
-	// Compute effective mass.
-	float32 ruA = b2Cross(m_rA, m_uA);
-	float32 ruB = b2Cross(m_rB, m_uB);
-
-	float32 mA = m_invMassA + m_invIA * ruA * ruA;
-	float32 mB = m_invMassB + m_invIB * ruB * ruB;
-
-	m_mass = mA + m_ratio * m_ratio * mB;
-
-	if (m_mass > 0.0f)
-	{
-		m_mass = 1.0f / m_mass;
-	}
-
-	if (data.step.warmStarting)
-	{
-		// Scale impulses to support variable time steps.
-		m_impulse *= data.step.dtRatio;
-
-		// Warm starting.
-		b2Vec2 PA = -(m_impulse) * m_uA;
-		b2Vec2 PB = (-m_ratio * m_impulse) * m_uB;
-
-		vA += m_invMassA * PA;
-		wA += m_invIA * b2Cross(m_rA, PA);
-		vB += m_invMassB * PB;
-		wB += m_invIB * b2Cross(m_rB, PB);
-	}
-	else
-	{
-		m_impulse = 0.0f;
-	}
-
-	data.velocities[m_indexA].v = vA;
-	data.velocities[m_indexA].w = wA;
-	data.velocities[m_indexB].v = vB;
-	data.velocities[m_indexB].w = wB;
-}
-
-void b2PulleyJoint::SolveVelocityConstraints(const b2SolverData& data)
-{
-	b2Vec2 vA = data.velocities[m_indexA].v;
-	float32 wA = data.velocities[m_indexA].w;
-	b2Vec2 vB = data.velocities[m_indexB].v;
-	float32 wB = data.velocities[m_indexB].w;
-
-	b2Vec2 vpA = vA + b2Cross(wA, m_rA);
-	b2Vec2 vpB = vB + b2Cross(wB, m_rB);
-
-	float32 Cdot = -b2Dot(m_uA, vpA) - m_ratio * b2Dot(m_uB, vpB);
-	float32 impulse = -m_mass * Cdot;
-	m_impulse += impulse;
-
-	b2Vec2 PA = -impulse * m_uA;
-	b2Vec2 PB = -m_ratio * impulse * m_uB;
-	vA += m_invMassA * PA;
-	wA += m_invIA * b2Cross(m_rA, PA);
-	vB += m_invMassB * PB;
-	wB += m_invIB * b2Cross(m_rB, PB);
-
-	data.velocities[m_indexA].v = vA;
-	data.velocities[m_indexA].w = wA;
-	data.velocities[m_indexB].v = vB;
-	data.velocities[m_indexB].w = wB;
-}
-
-bool b2PulleyJoint::SolvePositionConstraints(const b2SolverData& data)
-{
-	b2Vec2 cA = data.positions[m_indexA].c;
-	float32 aA = data.positions[m_indexA].a;
-	b2Vec2 cB = data.positions[m_indexB].c;
-	float32 aB = data.positions[m_indexB].a;
-
-	b2Rot qA(aA), qB(aB);
-
-	b2Vec2 rA = b2Mul(qA, m_localAnchorA - m_localCenterA);
-	b2Vec2 rB = b2Mul(qB, m_localAnchorB - m_localCenterB);
-
-	// Get the pulley axes.
-	b2Vec2 uA = cA + rA - m_groundAnchorA;
-	b2Vec2 uB = cB + rB - m_groundAnchorB;
-
-	float32 lengthA = uA.Length();
-	float32 lengthB = uB.Length();
-
-	if (lengthA > 10.0f * b2_linearSlop)
-	{
-		uA *= 1.0f / lengthA;
-	}
-	else
-	{
-		uA.SetZero();
-	}
-
-	if (lengthB > 10.0f * b2_linearSlop)
-	{
-		uB *= 1.0f / lengthB;
-	}
-	else
-	{
-		uB.SetZero();
-	}
-
-	// Compute effective mass.
-	float32 ruA = b2Cross(rA, uA);
-	float32 ruB = b2Cross(rB, uB);
-
-	float32 mA = m_invMassA + m_invIA * ruA * ruA;
-	float32 mB = m_invMassB + m_invIB * ruB * ruB;
-
-	float32 mass = mA + m_ratio * m_ratio * mB;
-
-	if (mass > 0.0f)
-	{
-		mass = 1.0f / mass;
-	}
-
-	float32 C = m_constant - lengthA - m_ratio * lengthB;
-	float32 linearError = b2Abs(C);
-
-	float32 impulse = -mass * C;
-
-	b2Vec2 PA = -impulse * uA;
-	b2Vec2 PB = -m_ratio * impulse * uB;
-
-	cA += m_invMassA * PA;
-	aA += m_invIA * b2Cross(rA, PA);
-	cB += m_invMassB * PB;
-	aB += m_invIB * b2Cross(rB, PB);
-
-	data.positions[m_indexA].c = cA;
-	data.positions[m_indexA].a = aA;
-	data.positions[m_indexB].c = cB;
-	data.positions[m_indexB].a = aB;
-
-	return linearError < b2_linearSlop;
-}
-
-b2Vec2 b2PulleyJoint::GetAnchorA() const
-{
-	return m_bodyA->GetWorldPoint(m_localAnchorA);
-}
-
-b2Vec2 b2PulleyJoint::GetAnchorB() const
-{
-	return m_bodyB->GetWorldPoint(m_localAnchorB);
-}
-
-b2Vec2 b2PulleyJoint::GetReactionForce(float32 inv_dt) const
-{
-	b2Vec2 P = m_impulse * m_uB;
-	return inv_dt * P;
-}
-
-float32 b2PulleyJoint::GetReactionTorque(float32 inv_dt) const
-{
-	B2_NOT_USED(inv_dt);
-	return 0.0f;
-}
-
-b2Vec2 b2PulleyJoint::GetGroundAnchorA() const
-{
-	return m_groundAnchorA;
-}
-
-b2Vec2 b2PulleyJoint::GetGroundAnchorB() const
-{
-	return m_groundAnchorB;
-}
-
-float32 b2PulleyJoint::GetLengthA() const
-{
-	return m_lengthA;
-}
-
-float32 b2PulleyJoint::GetLengthB() const
-{
-	return m_lengthB;
-}
-
-float32 b2PulleyJoint::GetRatio() const
-{
-	return m_ratio;
-}
-
-float32 b2PulleyJoint::GetCurrentLengthA() const
-{
-	b2Vec2 p = m_bodyA->GetWorldPoint(m_localAnchorA);
-	b2Vec2 s = m_groundAnchorA;
-	b2Vec2 d = p - s;
-	return d.Length();
-}
-
-float32 b2PulleyJoint::GetCurrentLengthB() const
-{
-	b2Vec2 p = m_bodyB->GetWorldPoint(m_localAnchorB);
-	b2Vec2 s = m_groundAnchorB;
-	b2Vec2 d = p - s;
-	return d.Length();
-}
-
-void b2PulleyJoint::Dump()
-{
-	int32 indexA = m_bodyA->m_islandIndex;
-	int32 indexB = m_bodyB->m_islandIndex;
-
-	b2Log("  b2PulleyJointDef jd;\n");
-	b2Log("  jd.bodyA = bodies[%d];\n", indexA);
-	b2Log("  jd.bodyB = bodies[%d];\n", indexB);
-	b2Log("  jd.collideConnected = bool(%d);\n", m_collideConnected);
-	b2Log("  jd.groundAnchorA.Set(%.15lef, %.15lef);\n", m_groundAnchorA.x, m_groundAnchorA.y);
-	b2Log("  jd.groundAnchorB.Set(%.15lef, %.15lef);\n", m_groundAnchorB.x, m_groundAnchorB.y);
-	b2Log("  jd.localAnchorA.Set(%.15lef, %.15lef);\n", m_localAnchorA.x, m_localAnchorA.y);
-	b2Log("  jd.localAnchorB.Set(%.15lef, %.15lef);\n", m_localAnchorB.x, m_localAnchorB.y);
-	b2Log("  jd.lengthA = %.15lef;\n", m_lengthA);
-	b2Log("  jd.lengthB = %.15lef;\n", m_lengthB);
-	b2Log("  jd.ratio = %.15lef;\n", m_ratio);
-	b2Log("  joints[%d] = m_world->CreateJoint(&jd);\n", m_index);
-}
-
-void b2PulleyJoint::ShiftOrigin(const b2Vec2& newOrigin)
-{
-	m_groundAnchorA -= newOrigin;
-	m_groundAnchorB -= newOrigin;
-}