reflexion 0.1.11 → 0.1.16

data/src/physics/Box2D/Dynamics/Joints/b2WeldJoint.cpp

@@ -1,344 +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.
-*/
-
-#include <Box2D/Dynamics/Joints/b2WeldJoint.h>
-#include <Box2D/Dynamics/b2Body.h>
-#include <Box2D/Dynamics/b2TimeStep.h>
-
-// Point-to-point constraint
-// C = p2 - p1
-// Cdot = v2 - v1
-//      = v2 + cross(w2, r2) - v1 - cross(w1, r1)
-// J = [-I -r1_skew I r2_skew ]
-// Identity used:
-// w k % (rx i + ry j) = w * (-ry i + rx j)
-
-// Angle constraint
-// C = angle2 - angle1 - referenceAngle
-// Cdot = w2 - w1
-// J = [0 0 -1 0 0 1]
-// K = invI1 + invI2
-
-void b2WeldJointDef::Initialize(b2Body* bA, b2Body* bB, const b2Vec2& anchor)
-{
-	bodyA = bA;
-	bodyB = bB;
-	localAnchorA = bodyA->GetLocalPoint(anchor);
-	localAnchorB = bodyB->GetLocalPoint(anchor);
-	referenceAngle = bodyB->GetAngle() - bodyA->GetAngle();
-}
-
-b2WeldJoint::b2WeldJoint(const b2WeldJointDef* def)
-: b2Joint(def)
-{
-	m_localAnchorA = def->localAnchorA;
-	m_localAnchorB = def->localAnchorB;
-	m_referenceAngle = def->referenceAngle;
-	m_frequencyHz = def->frequencyHz;
-	m_dampingRatio = def->dampingRatio;
-
-	m_impulse.SetZero();
-}
-
-void b2WeldJoint::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;
-
-	float32 aA = data.positions[m_indexA].a;
-	b2Vec2 vA = data.velocities[m_indexA].v;
-	float32 wA = data.velocities[m_indexA].w;
-
-	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);
-
-	// J = [-I -r1_skew I r2_skew]
-	//     [ 0       -1 0       1]
-	// r_skew = [-ry; rx]
-
-	// Matlab
-	// K = [ mA+r1y^2*iA+mB+r2y^2*iB,  -r1y*iA*r1x-r2y*iB*r2x,          -r1y*iA-r2y*iB]
-	//     [  -r1y*iA*r1x-r2y*iB*r2x, mA+r1x^2*iA+mB+r2x^2*iB,           r1x*iA+r2x*iB]
-	//     [          -r1y*iA-r2y*iB,           r1x*iA+r2x*iB,                   iA+iB]
-
-	float32 mA = m_invMassA, mB = m_invMassB;
-	float32 iA = m_invIA, iB = m_invIB;
-
-	b2Mat33 K;
-	K.ex.x = mA + mB + m_rA.y * m_rA.y * iA + m_rB.y * m_rB.y * iB;
-	K.ey.x = -m_rA.y * m_rA.x * iA - m_rB.y * m_rB.x * iB;
-	K.ez.x = -m_rA.y * iA - m_rB.y * iB;
-	K.ex.y = K.ey.x;
-	K.ey.y = mA + mB + m_rA.x * m_rA.x * iA + m_rB.x * m_rB.x * iB;
-	K.ez.y = m_rA.x * iA + m_rB.x * iB;
-	K.ex.z = K.ez.x;
-	K.ey.z = K.ez.y;
-	K.ez.z = iA + iB;
-
-	if (m_frequencyHz > 0.0f)
-	{
-		K.GetInverse22(&m_mass);
-
-		float32 invM = iA + iB;
-		float32 m = invM > 0.0f ? 1.0f / invM : 0.0f;
-
-		float32 C = aB - aA - m_referenceAngle;
-
-		// Frequency
-		float32 omega = 2.0f * b2_pi * m_frequencyHz;
-
-		// Damping coefficient
-		float32 d = 2.0f * m * m_dampingRatio * omega;
-
-		// Spring stiffness
-		float32 k = m * omega * omega;
-
-		// magic formulas
-		float32 h = data.step.dt;
-		m_gamma = h * (d + h * k);
-		m_gamma = m_gamma != 0.0f ? 1.0f / m_gamma : 0.0f;
-		m_bias = C * h * k * m_gamma;
-
-		invM += m_gamma;
-		m_mass.ez.z = invM != 0.0f ? 1.0f / invM : 0.0f;
-	}
-	else if (K.ez.z == 0.0f)
-	{
-		K.GetInverse22(&m_mass);
-		m_gamma = 0.0f;
-		m_bias = 0.0f;
-	}
-	else
-	{
-		K.GetSymInverse33(&m_mass);
-		m_gamma = 0.0f;
-		m_bias = 0.0f;
-	}
-
-	if (data.step.warmStarting)
-	{
-		// Scale impulses to support a variable time step.
-		m_impulse *= data.step.dtRatio;
-
-		b2Vec2 P(m_impulse.x, m_impulse.y);
-
-		vA -= mA * P;
-		wA -= iA * (b2Cross(m_rA, P) + m_impulse.z);
-
-		vB += mB * P;
-		wB += iB * (b2Cross(m_rB, P) + m_impulse.z);
-	}
-	else
-	{
-		m_impulse.SetZero();
-	}
-
-	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 b2WeldJoint::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;
-
-	float32 mA = m_invMassA, mB = m_invMassB;
-	float32 iA = m_invIA, iB = m_invIB;
-
-	if (m_frequencyHz > 0.0f)
-	{
-		float32 Cdot2 = wB - wA;
-
-		float32 impulse2 = -m_mass.ez.z * (Cdot2 + m_bias + m_gamma * m_impulse.z);
-		m_impulse.z += impulse2;
-
-		wA -= iA * impulse2;
-		wB += iB * impulse2;
-
-		b2Vec2 Cdot1 = vB + b2Cross(wB, m_rB) - vA - b2Cross(wA, m_rA);
-
-		b2Vec2 impulse1 = -b2Mul22(m_mass, Cdot1);
-		m_impulse.x += impulse1.x;
-		m_impulse.y += impulse1.y;
-
-		b2Vec2 P = impulse1;
-
-		vA -= mA * P;
-		wA -= iA * b2Cross(m_rA, P);
-
-		vB += mB * P;
-		wB += iB * b2Cross(m_rB, P);
-	}
-	else
-	{
-		b2Vec2 Cdot1 = vB + b2Cross(wB, m_rB) - vA - b2Cross(wA, m_rA);
-		float32 Cdot2 = wB - wA;
-		b2Vec3 Cdot(Cdot1.x, Cdot1.y, Cdot2);
-
-		b2Vec3 impulse = -b2Mul(m_mass, Cdot);
-		m_impulse += impulse;
-
-		b2Vec2 P(impulse.x, impulse.y);
-
-		vA -= mA * P;
-		wA -= iA * (b2Cross(m_rA, P) + impulse.z);
-
-		vB += mB * P;
-		wB += iB * (b2Cross(m_rB, P) + impulse.z);
-	}
-
-	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 b2WeldJoint::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);
-
-	float32 mA = m_invMassA, mB = m_invMassB;
-	float32 iA = m_invIA, iB = m_invIB;
-
-	b2Vec2 rA = b2Mul(qA, m_localAnchorA - m_localCenterA);
-	b2Vec2 rB = b2Mul(qB, m_localAnchorB - m_localCenterB);
-
-	float32 positionError, angularError;
-
-	b2Mat33 K;
-	K.ex.x = mA + mB + rA.y * rA.y * iA + rB.y * rB.y * iB;
-	K.ey.x = -rA.y * rA.x * iA - rB.y * rB.x * iB;
-	K.ez.x = -rA.y * iA - rB.y * iB;
-	K.ex.y = K.ey.x;
-	K.ey.y = mA + mB + rA.x * rA.x * iA + rB.x * rB.x * iB;
-	K.ez.y = rA.x * iA + rB.x * iB;
-	K.ex.z = K.ez.x;
-	K.ey.z = K.ez.y;
-	K.ez.z = iA + iB;
-
-	if (m_frequencyHz > 0.0f)
-	{
-		b2Vec2 C1 =  cB + rB - cA - rA;
-
-		positionError = C1.Length();
-		angularError = 0.0f;
-
-		b2Vec2 P = -K.Solve22(C1);
-
-		cA -= mA * P;
-		aA -= iA * b2Cross(rA, P);
-
-		cB += mB * P;
-		aB += iB * b2Cross(rB, P);
-	}
-	else
-	{
-		b2Vec2 C1 =  cB + rB - cA - rA;
-		float32 C2 = aB - aA - m_referenceAngle;
-
-		positionError = C1.Length();
-		angularError = b2Abs(C2);
-
-		b2Vec3 C(C1.x, C1.y, C2);
-	
-		b2Vec3 impulse;
-		if (K.ez.z > 0.0f)
-		{
-			impulse = -K.Solve33(C);
-		}
-		else
-		{
-			b2Vec2 impulse2 = -K.Solve22(C1);
-			impulse.Set(impulse2.x, impulse2.y, 0.0f);
-		}
-
-		b2Vec2 P(impulse.x, impulse.y);
-
-		cA -= mA * P;
-		aA -= iA * (b2Cross(rA, P) + impulse.z);
-
-		cB += mB * P;
-		aB += iB * (b2Cross(rB, P) + impulse.z);
-	}
-
-	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 positionError <= b2_linearSlop && angularError <= b2_angularSlop;
-}
-
-b2Vec2 b2WeldJoint::GetAnchorA() const
-{
-	return m_bodyA->GetWorldPoint(m_localAnchorA);
-}
-
-b2Vec2 b2WeldJoint::GetAnchorB() const
-{
-	return m_bodyB->GetWorldPoint(m_localAnchorB);
-}
-
-b2Vec2 b2WeldJoint::GetReactionForce(float32 inv_dt) const
-{
-	b2Vec2 P(m_impulse.x, m_impulse.y);
-	return inv_dt * P;
-}
-
-float32 b2WeldJoint::GetReactionTorque(float32 inv_dt) const
-{
-	return inv_dt * m_impulse.z;
-}
-
-void b2WeldJoint::Dump()
-{
-	int32 indexA = m_bodyA->m_islandIndex;
-	int32 indexB = m_bodyB->m_islandIndex;
-
-	b2Log("  b2WeldJointDef 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.referenceAngle = %.15lef;\n", m_referenceAngle);
-	b2Log("  jd.frequencyHz = %.15lef;\n", m_frequencyHz);
-	b2Log("  jd.dampingRatio = %.15lef;\n", m_dampingRatio);
-	b2Log("  joints[%d] = m_world->CreateJoint(&jd);\n", m_index);
-}

data/src/physics/Box2D/Dynamics/Joints/b2WeldJoint.h

@@ -1,126 +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_WELD_JOINT_H
-#define B2_WELD_JOINT_H
-
-#include <Box2D/Dynamics/Joints/b2Joint.h>
-
-/// Weld joint definition. You need to specify local anchor points
-/// where they are attached and the relative body angle. The position
-/// of the anchor points is important for computing the reaction torque.
-struct b2WeldJointDef : public b2JointDef
-{
-	b2WeldJointDef()
-	{
-		type = e_weldJoint;
-		localAnchorA.Set(0.0f, 0.0f);
-		localAnchorB.Set(0.0f, 0.0f);
-		referenceAngle = 0.0f;
-		frequencyHz = 0.0f;
-		dampingRatio = 0.0f;
-	}
-
-	/// 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;
-	
-	/// The mass-spring-damper frequency in Hertz. Rotation only.
-	/// Disable softness with a value of 0.
-	float32 frequencyHz;
-
-	/// The damping ratio. 0 = no damping, 1 = critical damping.
-	float32 dampingRatio;
-};
-
-/// A weld joint essentially glues two bodies together. A weld joint may
-/// distort somewhat because the island constraint solver is approximate.
-class b2WeldJoint : 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; }
-
-	/// Get the reference angle.
-	float32 GetReferenceAngle() const { return m_referenceAngle; }
-
-	/// Set/get frequency in Hz.
-	void SetFrequency(float32 hz) { m_frequencyHz = hz; }
-	float32 GetFrequency() const { return m_frequencyHz; }
-
-	/// Set/get damping ratio.
-	void SetDampingRatio(float32 ratio) { m_dampingRatio = ratio; }
-	float32 GetDampingRatio() const { return m_dampingRatio; }
-
-	/// Dump to b2Log
-	void Dump();
-
-protected:
-
-	friend class b2Joint;
-
-	b2WeldJoint(const b2WeldJointDef* def);
-
-	void InitVelocityConstraints(const b2SolverData& data);
-	void SolveVelocityConstraints(const b2SolverData& data);
-	bool SolvePositionConstraints(const b2SolverData& data);
-
-	float32 m_frequencyHz;
-	float32 m_dampingRatio;
-	float32 m_bias;
-
-	// Solver shared
-	b2Vec2 m_localAnchorA;
-	b2Vec2 m_localAnchorB;
-	float32 m_referenceAngle;
-	float32 m_gamma;
-	b2Vec3 m_impulse;
-
-	// 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;
-};
-
-#endif