reflexion 0.1.11 → 0.1.16

data/src/physics/Box2D/Dynamics/Joints/b2WheelJoint.cpp

@@ -1,419 +0,0 @@
-/*
-* Copyright (c) 2006-2007 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/b2WheelJoint.h>
-#include <Box2D/Dynamics/b2Body.h>
-#include <Box2D/Dynamics/b2TimeStep.h>
-
-// Linear constraint (point-to-line)
-// d = pB - pA = xB + rB - xA - rA
-// C = dot(ay, d)
-// Cdot = dot(d, cross(wA, ay)) + dot(ay, vB + cross(wB, rB) - vA - cross(wA, rA))
-//      = -dot(ay, vA) - dot(cross(d + rA, ay), wA) + dot(ay, vB) + dot(cross(rB, ay), vB)
-// J = [-ay, -cross(d + rA, ay), ay, cross(rB, ay)]
-
-// Spring linear constraint
-// C = dot(ax, d)
-// Cdot = = -dot(ax, vA) - dot(cross(d + rA, ax), wA) + dot(ax, vB) + dot(cross(rB, ax), vB)
-// J = [-ax -cross(d+rA, ax) ax cross(rB, ax)]
-
-// Motor rotational constraint
-// Cdot = wB - wA
-// J = [0 0 -1 0 0 1]
-
-void b2WheelJointDef::Initialize(b2Body* bA, b2Body* bB, const b2Vec2& anchor, const b2Vec2& axis)
-{
-	bodyA = bA;
-	bodyB = bB;
-	localAnchorA = bodyA->GetLocalPoint(anchor);
-	localAnchorB = bodyB->GetLocalPoint(anchor);
-	localAxisA = bodyA->GetLocalVector(axis);
-}
-
-b2WheelJoint::b2WheelJoint(const b2WheelJointDef* def)
-: b2Joint(def)
-{
-	m_localAnchorA = def->localAnchorA;
-	m_localAnchorB = def->localAnchorB;
-	m_localXAxisA = def->localAxisA;
-	m_localYAxisA = b2Cross(1.0f, m_localXAxisA);
-
-	m_mass = 0.0f;
-	m_impulse = 0.0f;
-	m_motorMass = 0.0f;
-	m_motorImpulse = 0.0f;
-	m_springMass = 0.0f;
-	m_springImpulse = 0.0f;
-
-	m_maxMotorTorque = def->maxMotorTorque;
-	m_motorSpeed = def->motorSpeed;
-	m_enableMotor = def->enableMotor;
-
-	m_frequencyHz = def->frequencyHz;
-	m_dampingRatio = def->dampingRatio;
-
-	m_bias = 0.0f;
-	m_gamma = 0.0f;
-
-	m_ax.SetZero();
-	m_ay.SetZero();
-}
-
-void b2WheelJoint::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 mA = m_invMassA, mB = m_invMassB;
-	float32 iA = m_invIA, iB = m_invIB;
-
-	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);
-
-	// Compute the effective masses.
-	b2Vec2 rA = b2Mul(qA, m_localAnchorA - m_localCenterA);
-	b2Vec2 rB = b2Mul(qB, m_localAnchorB - m_localCenterB);
-	b2Vec2 d = cB + rB - cA - rA;
-
-	// Point to line constraint
-	{
-		m_ay = b2Mul(qA, m_localYAxisA);
-		m_sAy = b2Cross(d + rA, m_ay);
-		m_sBy = b2Cross(rB, m_ay);
-
-		m_mass = mA + mB + iA * m_sAy * m_sAy + iB * m_sBy * m_sBy;
-
-		if (m_mass > 0.0f)
-		{
-			m_mass = 1.0f / m_mass;
-		}
-	}
-
-	// Spring constraint
-	m_springMass = 0.0f;
-	m_bias = 0.0f;
-	m_gamma = 0.0f;
-	if (m_frequencyHz > 0.0f)
-	{
-		m_ax = b2Mul(qA, m_localXAxisA);
-		m_sAx = b2Cross(d + rA, m_ax);
-		m_sBx = b2Cross(rB, m_ax);
-
-		float32 invMass = mA + mB + iA * m_sAx * m_sAx + iB * m_sBx * m_sBx;
-
-		if (invMass > 0.0f)
-		{
-			m_springMass = 1.0f / invMass;
-
-			float32 C = b2Dot(d, m_ax);
-
-			// Frequency
-			float32 omega = 2.0f * b2_pi * m_frequencyHz;
-
-			// Damping coefficient
-			float32 d = 2.0f * m_springMass * m_dampingRatio * omega;
-
-			// Spring stiffness
-			float32 k = m_springMass * omega * omega;
-
-			// magic formulas
-			float32 h = data.step.dt;
-			m_gamma = h * (d + h * k);
-			if (m_gamma > 0.0f)
-			{
-				m_gamma = 1.0f / m_gamma;
-			}
-
-			m_bias = C * h * k * m_gamma;
-
-			m_springMass = invMass + m_gamma;
-			if (m_springMass > 0.0f)
-			{
-				m_springMass = 1.0f / m_springMass;
-			}
-		}
-	}
-	else
-	{
-		m_springImpulse = 0.0f;
-	}
-
-	// Rotational motor
-	if (m_enableMotor)
-	{
-		m_motorMass = iA + iB;
-		if (m_motorMass > 0.0f)
-		{
-			m_motorMass = 1.0f / m_motorMass;
-		}
-	}
-	else
-	{
-		m_motorMass = 0.0f;
-		m_motorImpulse = 0.0f;
-	}
-
-	if (data.step.warmStarting)
-	{
-		// Account for variable time step.
-		m_impulse *= data.step.dtRatio;
-		m_springImpulse *= data.step.dtRatio;
-		m_motorImpulse *= data.step.dtRatio;
-
-		b2Vec2 P = m_impulse * m_ay + m_springImpulse * m_ax;
-		float32 LA = m_impulse * m_sAy + m_springImpulse * m_sAx + m_motorImpulse;
-		float32 LB = m_impulse * m_sBy + m_springImpulse * m_sBx + m_motorImpulse;
-
-		vA -= m_invMassA * P;
-		wA -= m_invIA * LA;
-
-		vB += m_invMassB * P;
-		wB += m_invIB * LB;
-	}
-	else
-	{
-		m_impulse = 0.0f;
-		m_springImpulse = 0.0f;
-		m_motorImpulse = 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 b2WheelJoint::SolveVelocityConstraints(const b2SolverData& data)
-{
-	float32 mA = m_invMassA, mB = m_invMassB;
-	float32 iA = m_invIA, iB = m_invIB;
-
-	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;
-
-	// Solve spring constraint
-	{
-		float32 Cdot = b2Dot(m_ax, vB - vA) + m_sBx * wB - m_sAx * wA;
-		float32 impulse = -m_springMass * (Cdot + m_bias + m_gamma * m_springImpulse);
-		m_springImpulse += impulse;
-
-		b2Vec2 P = impulse * m_ax;
-		float32 LA = impulse * m_sAx;
-		float32 LB = impulse * m_sBx;
-
-		vA -= mA * P;
-		wA -= iA * LA;
-
-		vB += mB * P;
-		wB += iB * LB;
-	}
-
-	// Solve rotational motor constraint
-	{
-		float32 Cdot = wB - wA - m_motorSpeed;
-		float32 impulse = -m_motorMass * Cdot;
-
-		float32 oldImpulse = m_motorImpulse;
-		float32 maxImpulse = data.step.dt * m_maxMotorTorque;
-		m_motorImpulse = b2Clamp(m_motorImpulse + impulse, -maxImpulse, maxImpulse);
-		impulse = m_motorImpulse - oldImpulse;
-
-		wA -= iA * impulse;
-		wB += iB * impulse;
-	}
-
-	// Solve point to line constraint
-	{
-		float32 Cdot = b2Dot(m_ay, vB - vA) + m_sBy * wB - m_sAy * wA;
-		float32 impulse = -m_mass * Cdot;
-		m_impulse += impulse;
-
-		b2Vec2 P = impulse * m_ay;
-		float32 LA = impulse * m_sAy;
-		float32 LB = impulse * m_sBy;
-
-		vA -= mA * P;
-		wA -= iA * LA;
-
-		vB += mB * P;
-		wB += iB * LB;
-	}
-
-	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 b2WheelJoint::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 d = (cB - cA) + rB - rA;
-
-	b2Vec2 ay = b2Mul(qA, m_localYAxisA);
-
-	float32 sAy = b2Cross(d + rA, ay);
-	float32 sBy = b2Cross(rB, ay);
-
-	float32 C = b2Dot(d, ay);
-
-	float32 k = m_invMassA + m_invMassB + m_invIA * m_sAy * m_sAy + m_invIB * m_sBy * m_sBy;
-
-	float32 impulse;
-	if (k != 0.0f)
-	{
-		impulse = - C / k;
-	}
-	else
-	{
-		impulse = 0.0f;
-	}
-
-	b2Vec2 P = impulse * ay;
-	float32 LA = impulse * sAy;
-	float32 LB = impulse * sBy;
-
-	cA -= m_invMassA * P;
-	aA -= m_invIA * LA;
-	cB += m_invMassB * P;
-	aB += m_invIB * LB;
-
-	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 b2Abs(C) <= b2_linearSlop;
-}
-
-b2Vec2 b2WheelJoint::GetAnchorA() const
-{
-	return m_bodyA->GetWorldPoint(m_localAnchorA);
-}
-
-b2Vec2 b2WheelJoint::GetAnchorB() const
-{
-	return m_bodyB->GetWorldPoint(m_localAnchorB);
-}
-
-b2Vec2 b2WheelJoint::GetReactionForce(float32 inv_dt) const
-{
-	return inv_dt * (m_impulse * m_ay + m_springImpulse * m_ax);
-}
-
-float32 b2WheelJoint::GetReactionTorque(float32 inv_dt) const
-{
-	return inv_dt * m_motorImpulse;
-}
-
-float32 b2WheelJoint::GetJointTranslation() const
-{
-	b2Body* bA = m_bodyA;
-	b2Body* bB = m_bodyB;
-
-	b2Vec2 pA = bA->GetWorldPoint(m_localAnchorA);
-	b2Vec2 pB = bB->GetWorldPoint(m_localAnchorB);
-	b2Vec2 d = pB - pA;
-	b2Vec2 axis = bA->GetWorldVector(m_localXAxisA);
-
-	float32 translation = b2Dot(d, axis);
-	return translation;
-}
-
-float32 b2WheelJoint::GetJointSpeed() const
-{
-	float32 wA = m_bodyA->m_angularVelocity;
-	float32 wB = m_bodyB->m_angularVelocity;
-	return wB - wA;
-}
-
-bool b2WheelJoint::IsMotorEnabled() const
-{
-	return m_enableMotor;
-}
-
-void b2WheelJoint::EnableMotor(bool flag)
-{
-	m_bodyA->SetAwake(true);
-	m_bodyB->SetAwake(true);
-	m_enableMotor = flag;
-}
-
-void b2WheelJoint::SetMotorSpeed(float32 speed)
-{
-	m_bodyA->SetAwake(true);
-	m_bodyB->SetAwake(true);
-	m_motorSpeed = speed;
-}
-
-void b2WheelJoint::SetMaxMotorTorque(float32 torque)
-{
-	m_bodyA->SetAwake(true);
-	m_bodyB->SetAwake(true);
-	m_maxMotorTorque = torque;
-}
-
-float32 b2WheelJoint::GetMotorTorque(float32 inv_dt) const
-{
-	return inv_dt * m_motorImpulse;
-}
-
-void b2WheelJoint::Dump()
-{
-	int32 indexA = m_bodyA->m_islandIndex;
-	int32 indexB = m_bodyB->m_islandIndex;
-
-	b2Log("  b2WheelJointDef 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.localAxisA.Set(%.15lef, %.15lef);\n", m_localXAxisA.x, m_localXAxisA.y);
-	b2Log("  jd.enableMotor = bool(%d);\n", m_enableMotor);
-	b2Log("  jd.motorSpeed = %.15lef;\n", m_motorSpeed);
-	b2Log("  jd.maxMotorTorque = %.15lef;\n", m_maxMotorTorque);
-	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/b2WheelJoint.h

@@ -1,210 +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_WHEEL_JOINT_H
-#define B2_WHEEL_JOINT_H
-
-#include <Box2D/Dynamics/Joints/b2Joint.h>
-
-/// Wheel 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 b2WheelJointDef : public b2JointDef
-{
-	b2WheelJointDef()
-	{
-		type = e_wheelJoint;
-		localAnchorA.SetZero();
-		localAnchorB.SetZero();
-		localAxisA.Set(1.0f, 0.0f);
-		enableMotor = false;
-		maxMotorTorque = 0.0f;
-		motorSpeed = 0.0f;
-		frequencyHz = 2.0f;
-		dampingRatio = 0.7f;
-	}
-
-	/// Initialize the bodies, anchors, axis, and reference angle using the world
-	/// anchor and 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 axis in bodyA.
-	b2Vec2 localAxisA;
-
-	/// Enable/disable the joint motor.
-	bool enableMotor;
-
-	/// The maximum motor torque, usually in N-m.
-	float32 maxMotorTorque;
-
-	/// The desired motor speed in radians per second.
-	float32 motorSpeed;
-
-	/// Suspension frequency, zero indicates no suspension
-	float32 frequencyHz;
-
-	/// Suspension damping ratio, one indicates critical damping
-	float32 dampingRatio;
-};
-
-/// A wheel joint. This joint provides two degrees of freedom: translation
-/// along an axis fixed in bodyA and rotation in the plane. In other words, it is a point to
-/// line constraint with a rotational motor and a linear spring/damper.
-/// This joint is designed for vehicle suspensions.
-class b2WheelJoint : 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 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 motor enabled?
-	bool IsMotorEnabled() const;
-
-	/// Enable/disable the joint motor.
-	void EnableMotor(bool flag);
-
-	/// Set the motor speed, usually in radians per second.
-	void SetMotorSpeed(float32 speed);
-
-	/// Get the motor speed, usually in radians per second.
-	float32 GetMotorSpeed() const;
-
-	/// Set/Get the maximum motor force, usually in N-m.
-	void SetMaxMotorTorque(float32 torque);
-	float32 GetMaxMotorTorque() const;
-
-	/// Get the current motor torque given the inverse time step, usually in N-m.
-	float32 GetMotorTorque(float32 inv_dt) const;
-
-	/// Set/Get the spring frequency in hertz. Setting the frequency to zero disables the spring.
-	void SetSpringFrequencyHz(float32 hz);
-	float32 GetSpringFrequencyHz() const;
-
-	/// Set/Get the spring damping ratio
-	void SetSpringDampingRatio(float32 ratio);
-	float32 GetSpringDampingRatio() const;
-
-	/// Dump to b2Log
-	void Dump();
-
-protected:
-
-	friend class b2Joint;
-	b2WheelJoint(const b2WheelJointDef* def);
-
-	void InitVelocityConstraints(const b2SolverData& data);
-	void SolveVelocityConstraints(const b2SolverData& data);
-	bool SolvePositionConstraints(const b2SolverData& data);
-
-	float32 m_frequencyHz;
-	float32 m_dampingRatio;
-
-	// Solver shared
-	b2Vec2 m_localAnchorA;
-	b2Vec2 m_localAnchorB;
-	b2Vec2 m_localXAxisA;
-	b2Vec2 m_localYAxisA;
-
-	float32 m_impulse;
-	float32 m_motorImpulse;
-	float32 m_springImpulse;
-
-	float32 m_maxMotorTorque;
-	float32 m_motorSpeed;
-	bool m_enableMotor;
-
-	// 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_ax, m_ay;
-	float32 m_sAx, m_sBx;
-	float32 m_sAy, m_sBy;
-
-	float32 m_mass;
-	float32 m_motorMass;
-	float32 m_springMass;
-
-	float32 m_bias;
-	float32 m_gamma;
-};
-
-inline float32 b2WheelJoint::GetMotorSpeed() const
-{
-	return m_motorSpeed;
-}
-
-inline float32 b2WheelJoint::GetMaxMotorTorque() const
-{
-	return m_maxMotorTorque;
-}
-
-inline void b2WheelJoint::SetSpringFrequencyHz(float32 hz)
-{
-	m_frequencyHz = hz;
-}
-
-inline float32 b2WheelJoint::GetSpringFrequencyHz() const
-{
-	return m_frequencyHz;
-}
-
-inline void b2WheelJoint::SetSpringDampingRatio(float32 ratio)
-{
-	m_dampingRatio = ratio;
-}
-
-inline float32 b2WheelJoint::GetSpringDampingRatio() const
-{
-	return m_dampingRatio;
-}
-
-#endif