reflexion 0.1.12 → 0.1.13

data/src/physics/Box2D/Dynamics/Joints/b2MotorJoint.cpp

@@ -1,304 +0,0 @@
-/*
-* Copyright (c) 2006-2012 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/b2MotorJoint.h>
-#include <Box2D/Dynamics/b2Body.h>
-#include <Box2D/Dynamics/b2TimeStep.h>
-
-// Point-to-point constraint
-// 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
-// Cdot = w2 - w1
-// J = [0 0 -1 0 0 1]
-// K = invI1 + invI2
-
-void b2MotorJointDef::Initialize(b2Body* bA, b2Body* bB)
-{
-	bodyA = bA;
-	bodyB = bB;
-	b2Vec2 xB = bodyB->GetPosition();
-	linearOffset = bodyA->GetLocalPoint(xB);
-
-	float32 angleA = bodyA->GetAngle();
-	float32 angleB = bodyB->GetAngle();
-	angularOffset = angleB - angleA;
-}
-
-b2MotorJoint::b2MotorJoint(const b2MotorJointDef* def)
-: b2Joint(def)
-{
-	m_linearOffset = def->linearOffset;
-	m_angularOffset = def->angularOffset;
-
-	m_linearImpulse.SetZero();
-	m_angularImpulse = 0.0f;
-
-	m_maxForce = def->maxForce;
-	m_maxTorque = def->maxTorque;
-	m_correctionFactor = def->correctionFactor;
-}
-
-void b2MotorJoint::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);
-
-	// Compute the effective mass matrix.
-	m_rA = b2Mul(qA, -m_localCenterA);
-	m_rB = b2Mul(qB, -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;
-
-	b2Mat22 K;
-	K.ex.x = mA + mB + iA * m_rA.y * m_rA.y + iB * m_rB.y * m_rB.y;
-	K.ex.y = -iA * m_rA.x * m_rA.y - iB * m_rB.x * m_rB.y;
-	K.ey.x = K.ex.y;
-	K.ey.y = mA + mB + iA * m_rA.x * m_rA.x + iB * m_rB.x * m_rB.x;
-
-	m_linearMass = K.GetInverse();
-
-	m_angularMass = iA + iB;
-	if (m_angularMass > 0.0f)
-	{
-		m_angularMass = 1.0f / m_angularMass;
-	}
-
-	m_linearError = cB + m_rB - cA - m_rA - b2Mul(qA, m_linearOffset);
-	m_angularError = aB - aA - m_angularOffset;
-
-	if (data.step.warmStarting)
-	{
-		// Scale impulses to support a variable time step.
-		m_linearImpulse *= data.step.dtRatio;
-		m_angularImpulse *= data.step.dtRatio;
-
-		b2Vec2 P(m_linearImpulse.x, m_linearImpulse.y);
-		vA -= mA * P;
-		wA -= iA * (b2Cross(m_rA, P) + m_angularImpulse);
-		vB += mB * P;
-		wB += iB * (b2Cross(m_rB, P) + m_angularImpulse);
-	}
-	else
-	{
-		m_linearImpulse.SetZero();
-		m_angularImpulse = 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 b2MotorJoint::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;
-
-	float32 h = data.step.dt;
-	float32 inv_h = data.step.inv_dt;
-
-	// Solve angular friction
-	{
-		float32 Cdot = wB - wA + inv_h * m_correctionFactor * m_angularError;
-		float32 impulse = -m_angularMass * Cdot;
-
-		float32 oldImpulse = m_angularImpulse;
-		float32 maxImpulse = h * m_maxTorque;
-		m_angularImpulse = b2Clamp(m_angularImpulse + impulse, -maxImpulse, maxImpulse);
-		impulse = m_angularImpulse - oldImpulse;
-
-		wA -= iA * impulse;
-		wB += iB * impulse;
-	}
-
-	// Solve linear friction
-	{
-		b2Vec2 Cdot = vB + b2Cross(wB, m_rB) - vA - b2Cross(wA, m_rA) + inv_h * m_correctionFactor * m_linearError;
-
-		b2Vec2 impulse = -b2Mul(m_linearMass, Cdot);
-		b2Vec2 oldImpulse = m_linearImpulse;
-		m_linearImpulse += impulse;
-
-		float32 maxImpulse = h * m_maxForce;
-
-		if (m_linearImpulse.LengthSquared() > maxImpulse * maxImpulse)
-		{
-			m_linearImpulse.Normalize();
-			m_linearImpulse *= maxImpulse;
-		}
-
-		impulse = m_linearImpulse - oldImpulse;
-
-		vA -= mA * impulse;
-		wA -= iA * b2Cross(m_rA, impulse);
-
-		vB += mB * impulse;
-		wB += iB * b2Cross(m_rB, impulse);
-	}
-
-	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 b2MotorJoint::SolvePositionConstraints(const b2SolverData& data)
-{
-	B2_NOT_USED(data);
-
-	return true;
-}
-
-b2Vec2 b2MotorJoint::GetAnchorA() const
-{
-	return m_bodyA->GetPosition();
-}
-
-b2Vec2 b2MotorJoint::GetAnchorB() const
-{
-	return m_bodyB->GetPosition();
-}
-
-b2Vec2 b2MotorJoint::GetReactionForce(float32 inv_dt) const
-{
-	return inv_dt * m_linearImpulse;
-}
-
-float32 b2MotorJoint::GetReactionTorque(float32 inv_dt) const
-{
-	return inv_dt * m_angularImpulse;
-}
-
-void b2MotorJoint::SetMaxForce(float32 force)
-{
-	b2Assert(b2IsValid(force) && force >= 0.0f);
-	m_maxForce = force;
-}
-
-float32 b2MotorJoint::GetMaxForce() const
-{
-	return m_maxForce;
-}
-
-void b2MotorJoint::SetMaxTorque(float32 torque)
-{
-	b2Assert(b2IsValid(torque) && torque >= 0.0f);
-	m_maxTorque = torque;
-}
-
-float32 b2MotorJoint::GetMaxTorque() const
-{
-	return m_maxTorque;
-}
-
-void b2MotorJoint::SetCorrectionFactor(float32 factor)
-{
-	b2Assert(b2IsValid(factor) && 0.0f <= factor && factor <= 1.0f);
-	m_correctionFactor = factor;
-}
-
-float32 b2MotorJoint::GetCorrectionFactor() const
-{
-	return m_correctionFactor;
-}
-
-void b2MotorJoint::SetLinearOffset(const b2Vec2& linearOffset)
-{
-	if (linearOffset.x != m_linearOffset.x || linearOffset.y != m_linearOffset.y)
-	{
-		m_bodyA->SetAwake(true);
-		m_bodyB->SetAwake(true);
-		m_linearOffset = linearOffset;
-	}
-}
-
-const b2Vec2& b2MotorJoint::GetLinearOffset() const
-{
-	return m_linearOffset;
-}
-
-void b2MotorJoint::SetAngularOffset(float32 angularOffset)
-{
-	if (angularOffset != m_angularOffset)
-	{
-		m_bodyA->SetAwake(true);
-		m_bodyB->SetAwake(true);
-		m_angularOffset = angularOffset;
-	}
-}
-
-float32 b2MotorJoint::GetAngularOffset() const
-{
-	return m_angularOffset;
-}
-
-void b2MotorJoint::Dump()
-{
-	int32 indexA = m_bodyA->m_islandIndex;
-	int32 indexB = m_bodyB->m_islandIndex;
-
-	b2Log("  b2MotorJointDef 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.linearOffset.Set(%.15lef, %.15lef);\n", m_linearOffset.x, m_linearOffset.y);
-	b2Log("  jd.angularOffset = %.15lef;\n", m_angularOffset);
-	b2Log("  jd.maxForce = %.15lef;\n", m_maxForce);
-	b2Log("  jd.maxTorque = %.15lef;\n", m_maxTorque);
-	b2Log("  jd.correctionFactor = %.15lef;\n", m_correctionFactor);
-	b2Log("  joints[%d] = m_world->CreateJoint(&jd);\n", m_index);
-}

data/src/physics/Box2D/Dynamics/Joints/b2MotorJoint.h

@@ -1,133 +0,0 @@
-/*
-* Copyright (c) 2006-2012 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_MOTOR_JOINT_H
-#define B2_MOTOR_JOINT_H
-
-#include <Box2D/Dynamics/Joints/b2Joint.h>
-
-/// Motor joint definition.
-struct b2MotorJointDef : public b2JointDef
-{
-	b2MotorJointDef()
-	{
-		type = e_motorJoint;
-		linearOffset.SetZero();
-		angularOffset = 0.0f;
-		maxForce = 1.0f;
-		maxTorque = 1.0f;
-		correctionFactor = 0.3f;
-	}
-
-	/// Initialize the bodies and offsets using the current transforms.
-	void Initialize(b2Body* bodyA, b2Body* bodyB);
-
-	/// Position of bodyB minus the position of bodyA, in bodyA's frame, in meters.
-	b2Vec2 linearOffset;
-
-	/// The bodyB angle minus bodyA angle in radians.
-	float32 angularOffset;
-	
-	/// The maximum motor force in N.
-	float32 maxForce;
-
-	/// The maximum motor torque in N-m.
-	float32 maxTorque;
-
-	/// Position correction factor in the range [0,1].
-	float32 correctionFactor;
-};
-
-/// A motor joint is used to control the relative motion
-/// between two bodies. A typical usage is to control the movement
-/// of a dynamic body with respect to the ground.
-class b2MotorJoint : public b2Joint
-{
-public:
-	b2Vec2 GetAnchorA() const;
-	b2Vec2 GetAnchorB() const;
-
-	b2Vec2 GetReactionForce(float32 inv_dt) const;
-	float32 GetReactionTorque(float32 inv_dt) const;
-
-	/// Set/get the target linear offset, in frame A, in meters.
-	void SetLinearOffset(const b2Vec2& linearOffset);
-	const b2Vec2& GetLinearOffset() const;
-
-	/// Set/get the target angular offset, in radians.
-	void SetAngularOffset(float32 angularOffset);
-	float32 GetAngularOffset() const;
-
-	/// Set the maximum friction force in N.
-	void SetMaxForce(float32 force);
-
-	/// Get the maximum friction force in N.
-	float32 GetMaxForce() const;
-
-	/// Set the maximum friction torque in N*m.
-	void SetMaxTorque(float32 torque);
-
-	/// Get the maximum friction torque in N*m.
-	float32 GetMaxTorque() const;
-
-	/// Set the position correction factor in the range [0,1].
-	void SetCorrectionFactor(float32 factor);
-
-	/// Get the position correction factor in the range [0,1].
-	float32 GetCorrectionFactor() const;
-
-	/// Dump to b2Log
-	void Dump();
-
-protected:
-
-	friend class b2Joint;
-
-	b2MotorJoint(const b2MotorJointDef* def);
-
-	void InitVelocityConstraints(const b2SolverData& data);
-	void SolveVelocityConstraints(const b2SolverData& data);
-	bool SolvePositionConstraints(const b2SolverData& data);
-
-	// Solver shared
-	b2Vec2 m_linearOffset;
-	float32 m_angularOffset;
-	b2Vec2 m_linearImpulse;
-	float32 m_angularImpulse;
-	float32 m_maxForce;
-	float32 m_maxTorque;
-	float32 m_correctionFactor;
-
-	// Solver temp
-	int32 m_indexA;
-	int32 m_indexB;
-	b2Vec2 m_rA;
-	b2Vec2 m_rB;
-	b2Vec2 m_localCenterA;
-	b2Vec2 m_localCenterB;
-	b2Vec2 m_linearError;
-	float32 m_angularError;
-	float32 m_invMassA;
-	float32 m_invMassB;
-	float32 m_invIA;
-	float32 m_invIB;
-	b2Mat22 m_linearMass;
-	float32 m_angularMass;
-};
-
-#endif

data/src/physics/Box2D/Dynamics/Joints/b2MouseJoint.cpp

@@ -1,222 +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/b2MouseJoint.h>
-#include <Box2D/Dynamics/b2Body.h>
-#include <Box2D/Dynamics/b2TimeStep.h>
-
-// p = attached point, m = mouse point
-// C = p - m
-// Cdot = v
-//      = v + cross(w, r)
-// J = [I r_skew]
-// Identity used:
-// w k % (rx i + ry j) = w * (-ry i + rx j)
-
-b2MouseJoint::b2MouseJoint(const b2MouseJointDef* def)
-: b2Joint(def)
-{
-	b2Assert(def->target.IsValid());
-	b2Assert(b2IsValid(def->maxForce) && def->maxForce >= 0.0f);
-	b2Assert(b2IsValid(def->frequencyHz) && def->frequencyHz >= 0.0f);
-	b2Assert(b2IsValid(def->dampingRatio) && def->dampingRatio >= 0.0f);
-
-	m_targetA = def->target;
-	m_localAnchorB = b2MulT(m_bodyB->GetTransform(), m_targetA);
-
-	m_maxForce = def->maxForce;
-	m_impulse.SetZero();
-
-	m_frequencyHz = def->frequencyHz;
-	m_dampingRatio = def->dampingRatio;
-
-	m_beta = 0.0f;
-	m_gamma = 0.0f;
-}
-
-void b2MouseJoint::SetTarget(const b2Vec2& target)
-{
-	if (m_bodyB->IsAwake() == false)
-	{
-		m_bodyB->SetAwake(true);
-	}
-	m_targetA = target;
-}
-
-const b2Vec2& b2MouseJoint::GetTarget() const
-{
-	return m_targetA;
-}
-
-void b2MouseJoint::SetMaxForce(float32 force)
-{
-	m_maxForce = force;
-}
-
-float32 b2MouseJoint::GetMaxForce() const
-{
-	return m_maxForce;
-}
-
-void b2MouseJoint::SetFrequency(float32 hz)
-{
-	m_frequencyHz = hz;
-}
-
-float32 b2MouseJoint::GetFrequency() const
-{
-	return m_frequencyHz;
-}
-
-void b2MouseJoint::SetDampingRatio(float32 ratio)
-{
-	m_dampingRatio = ratio;
-}
-
-float32 b2MouseJoint::GetDampingRatio() const
-{
-	return m_dampingRatio;
-}
-
-void b2MouseJoint::InitVelocityConstraints(const b2SolverData& data)
-{
-	m_indexB = m_bodyB->m_islandIndex;
-	m_localCenterB = m_bodyB->m_sweep.localCenter;
-	m_invMassB = m_bodyB->m_invMass;
-	m_invIB = m_bodyB->m_invI;
-
-	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 qB(aB);
-
-	float32 mass = m_bodyB->GetMass();
-
-	// Frequency
-	float32 omega = 2.0f * b2_pi * m_frequencyHz;
-
-	// Damping coefficient
-	float32 d = 2.0f * mass * m_dampingRatio * omega;
-
-	// Spring stiffness
-	float32 k = mass * (omega * omega);
-
-	// magic formulas
-	// gamma has units of inverse mass.
-	// beta has units of inverse time.
-	float32 h = data.step.dt;
-	b2Assert(d + h * k > b2_epsilon);
-	m_gamma = h * (d + h * k);
-	if (m_gamma != 0.0f)
-	{
-		m_gamma = 1.0f / m_gamma;
-	}
-	m_beta = h * k * m_gamma;
-
-	// Compute the effective mass matrix.
-	m_rB = b2Mul(qB, m_localAnchorB - m_localCenterB);
-
-	// K    = [(1/m1 + 1/m2) * eye(2) - skew(r1) * invI1 * skew(r1) - skew(r2) * invI2 * skew(r2)]
-	//      = [1/m1+1/m2     0    ] + invI1 * [r1.y*r1.y -r1.x*r1.y] + invI2 * [r1.y*r1.y -r1.x*r1.y]
-	//        [    0     1/m1+1/m2]           [-r1.x*r1.y r1.x*r1.x]           [-r1.x*r1.y r1.x*r1.x]
-	b2Mat22 K;
-	K.ex.x = m_invMassB + m_invIB * m_rB.y * m_rB.y + m_gamma;
-	K.ex.y = -m_invIB * m_rB.x * m_rB.y;
-	K.ey.x = K.ex.y;
-	K.ey.y = m_invMassB + m_invIB * m_rB.x * m_rB.x + m_gamma;
-
-	m_mass = K.GetInverse();
-
-	m_C = cB + m_rB - m_targetA;
-	m_C *= m_beta;
-
-	// Cheat with some damping
-	wB *= 0.98f;
-
-	if (data.step.warmStarting)
-	{
-		m_impulse *= data.step.dtRatio;
-		vB += m_invMassB * m_impulse;
-		wB += m_invIB * b2Cross(m_rB, m_impulse);
-	}
-	else
-	{
-		m_impulse.SetZero();
-	}
-
-	data.velocities[m_indexB].v = vB;
-	data.velocities[m_indexB].w = wB;
-}
-
-void b2MouseJoint::SolveVelocityConstraints(const b2SolverData& data)
-{
-	b2Vec2 vB = data.velocities[m_indexB].v;
-	float32 wB = data.velocities[m_indexB].w;
-
-	// Cdot = v + cross(w, r)
-	b2Vec2 Cdot = vB + b2Cross(wB, m_rB);
-	b2Vec2 impulse = b2Mul(m_mass, -(Cdot + m_C + m_gamma * m_impulse));
-
-	b2Vec2 oldImpulse = m_impulse;
-	m_impulse += impulse;
-	float32 maxImpulse = data.step.dt * m_maxForce;
-	if (m_impulse.LengthSquared() > maxImpulse * maxImpulse)
-	{
-		m_impulse *= maxImpulse / m_impulse.Length();
-	}
-	impulse = m_impulse - oldImpulse;
-
-	vB += m_invMassB * impulse;
-	wB += m_invIB * b2Cross(m_rB, impulse);
-
-	data.velocities[m_indexB].v = vB;
-	data.velocities[m_indexB].w = wB;
-}
-
-bool b2MouseJoint::SolvePositionConstraints(const b2SolverData& data)
-{
-	B2_NOT_USED(data);
-	return true;
-}
-
-b2Vec2 b2MouseJoint::GetAnchorA() const
-{
-	return m_targetA;
-}
-
-b2Vec2 b2MouseJoint::GetAnchorB() const
-{
-	return m_bodyB->GetWorldPoint(m_localAnchorB);
-}
-
-b2Vec2 b2MouseJoint::GetReactionForce(float32 inv_dt) const
-{
-	return inv_dt * m_impulse;
-}
-
-float32 b2MouseJoint::GetReactionTorque(float32 inv_dt) const
-{
-	return inv_dt * 0.0f;
-}
-
-void b2MouseJoint::ShiftOrigin(const b2Vec2& newOrigin)
-{
-	m_targetA -= newOrigin;
-}