reflexion 0.1.11 → 0.1.16

data/src/physics/Box2D/Dynamics/Joints/b2RevoluteJoint.h

@@ -1,204 +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_REVOLUTE_JOINT_H
-#define B2_REVOLUTE_JOINT_H
-
-#include <Box2D/Dynamics/Joints/b2Joint.h>
-
-/// Revolute joint definition. This requires defining an
-/// anchor point where the bodies are joined. The definition
-/// uses local anchor points so that the initial configuration
-/// can violate the constraint slightly. You also need to
-/// specify the initial relative angle for joint limits. This
-/// helps when saving and loading a game.
-/// The local anchor points are measured from the body's origin
-/// rather than the center of mass because:
-/// 1. you might not know where the center of mass will be.
-/// 2. if you add/remove shapes from a body and recompute the mass,
-///    the joints will be broken.
-struct b2RevoluteJointDef : public b2JointDef
-{
-	b2RevoluteJointDef()
-	{
-		type = e_revoluteJoint;
-		localAnchorA.Set(0.0f, 0.0f);
-		localAnchorB.Set(0.0f, 0.0f);
-		referenceAngle = 0.0f;
-		lowerAngle = 0.0f;
-		upperAngle = 0.0f;
-		maxMotorTorque = 0.0f;
-		motorSpeed = 0.0f;
-		enableLimit = false;
-		enableMotor = false;
-	}
-
-	/// Initialize the bodies, anchors, and reference angle using a world
-	/// anchor point.
-	void Initialize(b2Body* bodyA, b2Body* bodyB, const b2Vec2& anchor);
-
-	/// The local anchor point relative to bodyA's origin.
-	b2Vec2 localAnchorA;
-
-	/// The local anchor point relative to bodyB's origin.
-	b2Vec2 localAnchorB;
-
-	/// The bodyB angle minus bodyA angle in the reference state (radians).
-	float32 referenceAngle;
-
-	/// A flag to enable joint limits.
-	bool enableLimit;
-
-	/// The lower angle for the joint limit (radians).
-	float32 lowerAngle;
-
-	/// The upper angle for the joint limit (radians).
-	float32 upperAngle;
-
-	/// A flag to enable the joint motor.
-	bool enableMotor;
-
-	/// The desired motor speed. Usually in radians per second.
-	float32 motorSpeed;
-
-	/// The maximum motor torque used to achieve the desired motor speed.
-	/// Usually in N-m.
-	float32 maxMotorTorque;
-};
-
-/// A revolute joint constrains two bodies to share a common point while they
-/// are free to rotate about the point. The relative rotation about the shared
-/// point is the joint angle. You can limit the relative rotation with
-/// a joint limit that specifies a lower and upper angle. You can use a motor
-/// to drive the relative rotation about the shared point. A maximum motor torque
-/// is provided so that infinite forces are not generated.
-class b2RevoluteJoint : public b2Joint
-{
-public:
-	b2Vec2 GetAnchorA() const;
-	b2Vec2 GetAnchorB() 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; }
-
-	/// Get the reference angle.
-	float32 GetReferenceAngle() const { return m_referenceAngle; }
-
-	/// Get the current joint angle in radians.
-	float32 GetJointAngle() const;
-
-	/// Get the current joint angle speed in radians 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 in radians.
-	float32 GetLowerLimit() const;
-
-	/// Get the upper joint limit in radians.
-	float32 GetUpperLimit() const;
-
-	/// Set the joint limits in radians.
-	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 in radians per second.
-	void SetMotorSpeed(float32 speed);
-
-	/// Get the motor speed in radians per second.
-	float32 GetMotorSpeed() const;
-
-	/// Set the maximum motor torque, usually in N-m.
-	void SetMaxMotorTorque(float32 torque);
-	float32 GetMaxMotorTorque() const { return m_maxMotorTorque; }
-
-	/// Get the reaction force given the inverse time step.
-	/// Unit is N.
-	b2Vec2 GetReactionForce(float32 inv_dt) const;
-
-	/// Get the reaction torque due to the joint limit given the inverse time step.
-	/// Unit is N*m.
-	float32 GetReactionTorque(float32 inv_dt) const;
-
-	/// Get the current motor torque given the inverse time step.
-	/// Unit is N*m.
-	float32 GetMotorTorque(float32 inv_dt) const;
-
-	/// Dump to b2Log.
-	void Dump();
-
-protected:
-	
-	friend class b2Joint;
-	friend class b2GearJoint;
-
-	b2RevoluteJoint(const b2RevoluteJointDef* def);
-
-	void InitVelocityConstraints(const b2SolverData& data);
-	void SolveVelocityConstraints(const b2SolverData& data);
-	bool SolvePositionConstraints(const b2SolverData& data);
-
-	// Solver shared
-	b2Vec2 m_localAnchorA;
-	b2Vec2 m_localAnchorB;
-	b2Vec3 m_impulse;
-	float32 m_motorImpulse;
-
-	bool m_enableMotor;
-	float32 m_maxMotorTorque;
-	float32 m_motorSpeed;
-
-	bool m_enableLimit;
-	float32 m_referenceAngle;
-	float32 m_lowerAngle;
-	float32 m_upperAngle;
-
-	// Solver temp
-	int32 m_indexA;
-	int32 m_indexB;
-	b2Vec2 m_rA;
-	b2Vec2 m_rB;
-	b2Vec2 m_localCenterA;
-	b2Vec2 m_localCenterB;
-	float32 m_invMassA;
-	float32 m_invMassB;
-	float32 m_invIA;
-	float32 m_invIB;
-	b2Mat33 m_mass;			// effective mass for point-to-point constraint.
-	float32 m_motorMass;	// effective mass for motor/limit angular constraint.
-	b2LimitState m_limitState;
-};
-
-inline float32 b2RevoluteJoint::GetMotorSpeed() const
-{
-	return m_motorSpeed;
-}
-
-#endif

data/src/physics/Box2D/Dynamics/Joints/b2RopeJoint.cpp

@@ -1,241 +0,0 @@
-/*
-* Copyright (c) 2007-2011 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.
-*/
-
-#include <Box2D/Dynamics/Joints/b2RopeJoint.h>
-#include <Box2D/Dynamics/b2Body.h>
-#include <Box2D/Dynamics/b2TimeStep.h>
-
-
-// Limit:
-// C = norm(pB - pA) - L
-// u = (pB - pA) / norm(pB - pA)
-// Cdot = dot(u, vB + cross(wB, rB) - vA - cross(wA, rA))
-// J = [-u -cross(rA, u) u cross(rB, u)]
-// K = J * invM * JT
-//   = invMassA + invIA * cross(rA, u)^2 + invMassB + invIB * cross(rB, u)^2
-
-b2RopeJoint::b2RopeJoint(const b2RopeJointDef* def)
-: b2Joint(def)
-{
-	m_localAnchorA = def->localAnchorA;
-	m_localAnchorB = def->localAnchorB;
-
-	m_maxLength = def->maxLength;
-
-	m_mass = 0.0f;
-	m_impulse = 0.0f;
-	m_state = e_inactiveLimit;
-	m_length = 0.0f;
-}
-
-void b2RopeJoint::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);
-	m_u = cB + m_rB - cA - m_rA;
-
-	m_length = m_u.Length();
-
-	float32 C = m_length - m_maxLength;
-	if (C > 0.0f)
-	{
-		m_state = e_atUpperLimit;
-	}
-	else
-	{
-		m_state = e_inactiveLimit;
-	}
-
-	if (m_length > b2_linearSlop)
-	{
-		m_u *= 1.0f / m_length;
-	}
-	else
-	{
-		m_u.SetZero();
-		m_mass = 0.0f;
-		m_impulse = 0.0f;
-		return;
-	}
-
-	// Compute effective mass.
-	float32 crA = b2Cross(m_rA, m_u);
-	float32 crB = b2Cross(m_rB, m_u);
-	float32 invMass = m_invMassA + m_invIA * crA * crA + m_invMassB + m_invIB * crB * crB;
-
-	m_mass = invMass != 0.0f ? 1.0f / invMass : 0.0f;
-
-	if (data.step.warmStarting)
-	{
-		// Scale the impulse to support a variable time step.
-		m_impulse *= data.step.dtRatio;
-
-		b2Vec2 P = m_impulse * m_u;
-		vA -= m_invMassA * P;
-		wA -= m_invIA * b2Cross(m_rA, P);
-		vB += m_invMassB * P;
-		wB += m_invIB * b2Cross(m_rB, P);
-	}
-	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 b2RopeJoint::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;
-
-	// Cdot = dot(u, v + cross(w, r))
-	b2Vec2 vpA = vA + b2Cross(wA, m_rA);
-	b2Vec2 vpB = vB + b2Cross(wB, m_rB);
-	float32 C = m_length - m_maxLength;
-	float32 Cdot = b2Dot(m_u, vpB - vpA);
-
-	// Predictive constraint.
-	if (C < 0.0f)
-	{
-		Cdot += data.step.inv_dt * C;
-	}
-
-	float32 impulse = -m_mass * Cdot;
-	float32 oldImpulse = m_impulse;
-	m_impulse = b2Min(0.0f, m_impulse + impulse);
-	impulse = m_impulse - oldImpulse;
-
-	b2Vec2 P = impulse * m_u;
-	vA -= m_invMassA * P;
-	wA -= m_invIA * b2Cross(m_rA, P);
-	vB += m_invMassB * P;
-	wB += m_invIB * b2Cross(m_rB, P);
-
-	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 b2RopeJoint::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);
-	b2Vec2 u = cB + rB - cA - rA;
-
-	float32 length = u.Normalize();
-	float32 C = length - m_maxLength;
-
-	C = b2Clamp(C, 0.0f, b2_maxLinearCorrection);
-
-	float32 impulse = -m_mass * C;
-	b2Vec2 P = impulse * u;
-
-	cA -= m_invMassA * P;
-	aA -= m_invIA * b2Cross(rA, P);
-	cB += m_invMassB * P;
-	aB += m_invIB * b2Cross(rB, P);
-
-	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 length - m_maxLength < b2_linearSlop;
-}
-
-b2Vec2 b2RopeJoint::GetAnchorA() const
-{
-	return m_bodyA->GetWorldPoint(m_localAnchorA);
-}
-
-b2Vec2 b2RopeJoint::GetAnchorB() const
-{
-	return m_bodyB->GetWorldPoint(m_localAnchorB);
-}
-
-b2Vec2 b2RopeJoint::GetReactionForce(float32 inv_dt) const
-{
-	b2Vec2 F = (inv_dt * m_impulse) * m_u;
-	return F;
-}
-
-float32 b2RopeJoint::GetReactionTorque(float32 inv_dt) const
-{
-	B2_NOT_USED(inv_dt);
-	return 0.0f;
-}
-
-float32 b2RopeJoint::GetMaxLength() const
-{
-	return m_maxLength;
-}
-
-b2LimitState b2RopeJoint::GetLimitState() const
-{
-	return m_state;
-}
-
-void b2RopeJoint::Dump()
-{
-	int32 indexA = m_bodyA->m_islandIndex;
-	int32 indexB = m_bodyB->m_islandIndex;
-
-	b2Log("  b2RopeJointDef 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.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.maxLength = %.15lef;\n", m_maxLength);
-	b2Log("  joints[%d] = m_world->CreateJoint(&jd);\n", m_index);
-}

data/src/physics/Box2D/Dynamics/Joints/b2RopeJoint.h

@@ -1,114 +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_ROPE_JOINT_H
-#define B2_ROPE_JOINT_H
-
-#include <Box2D/Dynamics/Joints/b2Joint.h>
-
-/// Rope joint definition. This requires two body anchor points and
-/// a maximum lengths.
-/// Note: by default the connected objects will not collide.
-/// see collideConnected in b2JointDef.
-struct b2RopeJointDef : public b2JointDef
-{
-	b2RopeJointDef()
-	{
-		type = e_ropeJoint;
-		localAnchorA.Set(-1.0f, 0.0f);
-		localAnchorB.Set(1.0f, 0.0f);
-		maxLength = 0.0f;
-	}
-
-	/// The local anchor point relative to bodyA's origin.
-	b2Vec2 localAnchorA;
-
-	/// The local anchor point relative to bodyB's origin.
-	b2Vec2 localAnchorB;
-
-	/// The maximum length of the rope.
-	/// Warning: this must be larger than b2_linearSlop or
-	/// the joint will have no effect.
-	float32 maxLength;
-};
-
-/// A rope joint enforces a maximum distance between two points
-/// on two bodies. It has no other effect.
-/// Warning: if you attempt to change the maximum length during
-/// the simulation you will get some non-physical behavior.
-/// A model that would allow you to dynamically modify the length
-/// would have some sponginess, so I chose not to implement it
-/// that way. See b2DistanceJoint if you want to dynamically
-/// control length.
-class b2RopeJoint : 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; }
-
-	/// Set/Get the maximum length of the rope.
-	void SetMaxLength(float32 length) { m_maxLength = length; }
-	float32 GetMaxLength() const;
-
-	b2LimitState GetLimitState() const;
-
-	/// Dump joint to dmLog
-	void Dump();
-
-protected:
-
-	friend class b2Joint;
-	b2RopeJoint(const b2RopeJointDef* data);
-
-	void InitVelocityConstraints(const b2SolverData& data);
-	void SolveVelocityConstraints(const b2SolverData& data);
-	bool SolvePositionConstraints(const b2SolverData& data);
-
-	// Solver shared
-	b2Vec2 m_localAnchorA;
-	b2Vec2 m_localAnchorB;
-	float32 m_maxLength;
-	float32 m_length;
-	float32 m_impulse;
-
-	// Solver temp
-	int32 m_indexA;
-	int32 m_indexB;
-	b2Vec2 m_u;
-	b2Vec2 m_rA;
-	b2Vec2 m_rB;
-	b2Vec2 m_localCenterA;
-	b2Vec2 m_localCenterB;
-	float32 m_invMassA;
-	float32 m_invMassB;
-	float32 m_invIA;
-	float32 m_invIB;
-	float32 m_mass;
-	b2LimitState m_state;
-};
-
-#endif