reflexion 0.1.12 → 0.1.17

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

@@ -1,129 +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.
-*/
-
-#ifndef B2_MOUSE_JOINT_H
-#define B2_MOUSE_JOINT_H
-
-#include <Box2D/Dynamics/Joints/b2Joint.h>
-
-/// Mouse joint definition. This requires a world target point,
-/// tuning parameters, and the time step.
-struct b2MouseJointDef : public b2JointDef
-{
-	b2MouseJointDef()
-	{
-		type = e_mouseJoint;
-		target.Set(0.0f, 0.0f);
-		maxForce = 0.0f;
-		frequencyHz = 5.0f;
-		dampingRatio = 0.7f;
-	}
-
-	/// The initial world target point. This is assumed
-	/// to coincide with the body anchor initially.
-	b2Vec2 target;
-
-	/// The maximum constraint force that can be exerted
-	/// to move the candidate body. Usually you will express
-	/// as some multiple of the weight (multiplier * mass * gravity).
-	float32 maxForce;
-
-	/// The response speed.
-	float32 frequencyHz;
-
-	/// The damping ratio. 0 = no damping, 1 = critical damping.
-	float32 dampingRatio;
-};
-
-/// A mouse joint is used to make a point on a body track a
-/// specified world point. This a soft constraint with a maximum
-/// force. This allows the constraint to stretch and without
-/// applying huge forces.
-/// NOTE: this joint is not documented in the manual because it was
-/// developed to be used in the testbed. If you want to learn how to
-/// use the mouse joint, look at the testbed.
-class b2MouseJoint : public b2Joint
-{
-public:
-
-	/// Implements b2Joint.
-	b2Vec2 GetAnchorA() const;
-
-	/// Implements b2Joint.
-	b2Vec2 GetAnchorB() const;
-
-	/// Implements b2Joint.
-	b2Vec2 GetReactionForce(float32 inv_dt) const;
-
-	/// Implements b2Joint.
-	float32 GetReactionTorque(float32 inv_dt) const;
-
-	/// Use this to update the target point.
-	void SetTarget(const b2Vec2& target);
-	const b2Vec2& GetTarget() const;
-
-	/// Set/get the maximum force in Newtons.
-	void SetMaxForce(float32 force);
-	float32 GetMaxForce() const;
-
-	/// Set/get the frequency in Hertz.
-	void SetFrequency(float32 hz);
-	float32 GetFrequency() const;
-
-	/// Set/get the damping ratio (dimensionless).
-	void SetDampingRatio(float32 ratio);
-	float32 GetDampingRatio() const;
-
-	/// The mouse joint does not support dumping.
-	void Dump() { b2Log("Mouse joint dumping is not supported.\n"); }
-
-	/// Implement b2Joint::ShiftOrigin
-	void ShiftOrigin(const b2Vec2& newOrigin);
-
-protected:
-	friend class b2Joint;
-
-	b2MouseJoint(const b2MouseJointDef* def);
-
-	void InitVelocityConstraints(const b2SolverData& data);
-	void SolveVelocityConstraints(const b2SolverData& data);
-	bool SolvePositionConstraints(const b2SolverData& data);
-
-	b2Vec2 m_localAnchorB;
-	b2Vec2 m_targetA;
-	float32 m_frequencyHz;
-	float32 m_dampingRatio;
-	float32 m_beta;
-	
-	// Solver shared
-	b2Vec2 m_impulse;
-	float32 m_maxForce;
-	float32 m_gamma;
-
-	// Solver temp
-	int32 m_indexA;
-	int32 m_indexB;
-	b2Vec2 m_rB;
-	b2Vec2 m_localCenterB;
-	float32 m_invMassB;
-	float32 m_invIB;
-	b2Mat22 m_mass;
-	b2Vec2 m_C;
-};
-
-#endif

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

@@ -1,629 +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/b2PrismaticJoint.h>
-#include <Box2D/Dynamics/b2Body.h>
-#include <Box2D/Dynamics/b2TimeStep.h>
-
-// Linear constraint (point-to-line)
-// d = p2 - p1 = x2 + r2 - x1 - r1
-// C = dot(perp, d)
-// Cdot = dot(d, cross(w1, perp)) + dot(perp, v2 + cross(w2, r2) - v1 - cross(w1, r1))
-//      = -dot(perp, v1) - dot(cross(d + r1, perp), w1) + dot(perp, v2) + dot(cross(r2, perp), v2)
-// J = [-perp, -cross(d + r1, perp), perp, cross(r2,perp)]
-//
-// Angular constraint
-// C = a2 - a1 + a_initial
-// Cdot = w2 - w1
-// J = [0 0 -1 0 0 1]
-//
-// K = J * invM * JT
-//
-// J = [-a -s1 a s2]
-//     [0  -1  0  1]
-// a = perp
-// s1 = cross(d + r1, a) = cross(p2 - x1, a)
-// s2 = cross(r2, a) = cross(p2 - x2, a)
-
-
-// Motor/Limit linear constraint
-// C = dot(ax1, d)
-// Cdot = = -dot(ax1, v1) - dot(cross(d + r1, ax1), w1) + dot(ax1, v2) + dot(cross(r2, ax1), v2)
-// J = [-ax1 -cross(d+r1,ax1) ax1 cross(r2,ax1)]
-
-// Block Solver
-// We develop a block solver that includes the joint limit. This makes the limit stiff (inelastic) even
-// when the mass has poor distribution (leading to large torques about the joint anchor points).
-//
-// The Jacobian has 3 rows:
-// J = [-uT -s1 uT s2] // linear
-//     [0   -1   0  1] // angular
-//     [-vT -a1 vT a2] // limit
-//
-// u = perp
-// v = axis
-// s1 = cross(d + r1, u), s2 = cross(r2, u)
-// a1 = cross(d + r1, v), a2 = cross(r2, v)
-
-// M * (v2 - v1) = JT * df
-// J * v2 = bias
-//
-// v2 = v1 + invM * JT * df
-// J * (v1 + invM * JT * df) = bias
-// K * df = bias - J * v1 = -Cdot
-// K = J * invM * JT
-// Cdot = J * v1 - bias
-//
-// Now solve for f2.
-// df = f2 - f1
-// K * (f2 - f1) = -Cdot
-// f2 = invK * (-Cdot) + f1
-//
-// Clamp accumulated limit impulse.
-// lower: f2(3) = max(f2(3), 0)
-// upper: f2(3) = min(f2(3), 0)
-//
-// Solve for correct f2(1:2)
-// K(1:2, 1:2) * f2(1:2) = -Cdot(1:2) - K(1:2,3) * f2(3) + K(1:2,1:3) * f1
-//                       = -Cdot(1:2) - K(1:2,3) * f2(3) + K(1:2,1:2) * f1(1:2) + K(1:2,3) * f1(3)
-// K(1:2, 1:2) * f2(1:2) = -Cdot(1:2) - K(1:2,3) * (f2(3) - f1(3)) + K(1:2,1:2) * f1(1:2)
-// f2(1:2) = invK(1:2,1:2) * (-Cdot(1:2) - K(1:2,3) * (f2(3) - f1(3))) + f1(1:2)
-//
-// Now compute impulse to be applied:
-// df = f2 - f1
-
-void b2PrismaticJointDef::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);
-	referenceAngle = bodyB->GetAngle() - bodyA->GetAngle();
-}
-
-b2PrismaticJoint::b2PrismaticJoint(const b2PrismaticJointDef* def)
-: b2Joint(def)
-{
-	m_localAnchorA = def->localAnchorA;
-	m_localAnchorB = def->localAnchorB;
-	m_localXAxisA = def->localAxisA;
-	m_localXAxisA.Normalize();
-	m_localYAxisA = b2Cross(1.0f, m_localXAxisA);
-	m_referenceAngle = def->referenceAngle;
-
-	m_impulse.SetZero();
-	m_motorMass = 0.0f;
-	m_motorImpulse = 0.0f;
-
-	m_lowerTranslation = def->lowerTranslation;
-	m_upperTranslation = def->upperTranslation;
-	m_maxMotorForce = def->maxMotorForce;
-	m_motorSpeed = def->motorSpeed;
-	m_enableLimit = def->enableLimit;
-	m_enableMotor = def->enableMotor;
-	m_limitState = e_inactiveLimit;
-
-	m_axis.SetZero();
-	m_perp.SetZero();
-}
-
-void b2PrismaticJoint::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 masses.
-	b2Vec2 rA = b2Mul(qA, m_localAnchorA - m_localCenterA);
-	b2Vec2 rB = b2Mul(qB, m_localAnchorB - m_localCenterB);
-	b2Vec2 d = (cB - cA) + rB - rA;
-
-	float32 mA = m_invMassA, mB = m_invMassB;
-	float32 iA = m_invIA, iB = m_invIB;
-
-	// Compute motor Jacobian and effective mass.
-	{
-		m_axis = b2Mul(qA, m_localXAxisA);
-		m_a1 = b2Cross(d + rA, m_axis);
-		m_a2 = b2Cross(rB, m_axis);
-
-		m_motorMass = mA + mB + iA * m_a1 * m_a1 + iB * m_a2 * m_a2;
-		if (m_motorMass > 0.0f)
-		{
-			m_motorMass = 1.0f / m_motorMass;
-		}
-	}
-
-	// Prismatic constraint.
-	{
-		m_perp = b2Mul(qA, m_localYAxisA);
-
-		m_s1 = b2Cross(d + rA, m_perp);
-		m_s2 = b2Cross(rB, m_perp);
-
-        float32 s1test;
-        s1test = b2Cross(rA, m_perp);
-
-		float32 k11 = mA + mB + iA * m_s1 * m_s1 + iB * m_s2 * m_s2;
-		float32 k12 = iA * m_s1 + iB * m_s2;
-		float32 k13 = iA * m_s1 * m_a1 + iB * m_s2 * m_a2;
-		float32 k22 = iA + iB;
-		if (k22 == 0.0f)
-		{
-			// For bodies with fixed rotation.
-			k22 = 1.0f;
-		}
-		float32 k23 = iA * m_a1 + iB * m_a2;
-		float32 k33 = mA + mB + iA * m_a1 * m_a1 + iB * m_a2 * m_a2;
-
-		m_K.ex.Set(k11, k12, k13);
-		m_K.ey.Set(k12, k22, k23);
-		m_K.ez.Set(k13, k23, k33);
-	}
-
-	// Compute motor and limit terms.
-	if (m_enableLimit)
-	{
-		float32 jointTranslation = b2Dot(m_axis, d);
-		if (b2Abs(m_upperTranslation - m_lowerTranslation) < 2.0f * b2_linearSlop)
-		{
-			m_limitState = e_equalLimits;
-		}
-		else if (jointTranslation <= m_lowerTranslation)
-		{
-			if (m_limitState != e_atLowerLimit)
-			{
-				m_limitState = e_atLowerLimit;
-				m_impulse.z = 0.0f;
-			}
-		}
-		else if (jointTranslation >= m_upperTranslation)
-		{
-			if (m_limitState != e_atUpperLimit)
-			{
-				m_limitState = e_atUpperLimit;
-				m_impulse.z = 0.0f;
-			}
-		}
-		else
-		{
-			m_limitState = e_inactiveLimit;
-			m_impulse.z = 0.0f;
-		}
-	}
-	else
-	{
-		m_limitState = e_inactiveLimit;
-		m_impulse.z = 0.0f;
-	}
-
-	if (m_enableMotor == false)
-	{
-		m_motorImpulse = 0.0f;
-	}
-
-	if (data.step.warmStarting)
-	{
-		// Account for variable time step.
-		m_impulse *= data.step.dtRatio;
-		m_motorImpulse *= data.step.dtRatio;
-
-		b2Vec2 P = m_impulse.x * m_perp + (m_motorImpulse + m_impulse.z) * m_axis;
-		float32 LA = m_impulse.x * m_s1 + m_impulse.y + (m_motorImpulse + m_impulse.z) * m_a1;
-		float32 LB = m_impulse.x * m_s2 + m_impulse.y + (m_motorImpulse + m_impulse.z) * m_a2;
-
-		vA -= mA * P;
-		wA -= iA * LA;
-
-		vB += mB * P;
-		wB += iB * LB;
-	}
-	else
-	{
-		m_impulse.SetZero();
-		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 b2PrismaticJoint::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;
-
-	// Solve linear motor constraint.
-	if (m_enableMotor && m_limitState != e_equalLimits)
-	{
-		float32 Cdot = b2Dot(m_axis, vB - vA) + m_a2 * wB - m_a1 * wA;
-		float32 impulse = m_motorMass * (m_motorSpeed - Cdot);
-		float32 oldImpulse = m_motorImpulse;
-		float32 maxImpulse = data.step.dt * m_maxMotorForce;
-		m_motorImpulse = b2Clamp(m_motorImpulse + impulse, -maxImpulse, maxImpulse);
-		impulse = m_motorImpulse - oldImpulse;
-
-		b2Vec2 P = impulse * m_axis;
-		float32 LA = impulse * m_a1;
-		float32 LB = impulse * m_a2;
-
-		vA -= mA * P;
-		wA -= iA * LA;
-
-		vB += mB * P;
-		wB += iB * LB;
-	}
-
-	b2Vec2 Cdot1;
-	Cdot1.x = b2Dot(m_perp, vB - vA) + m_s2 * wB - m_s1 * wA;
-	Cdot1.y = wB - wA;
-
-	if (m_enableLimit && m_limitState != e_inactiveLimit)
-	{
-		// Solve prismatic and limit constraint in block form.
-		float32 Cdot2;
-		Cdot2 = b2Dot(m_axis, vB - vA) + m_a2 * wB - m_a1 * wA;
-		b2Vec3 Cdot(Cdot1.x, Cdot1.y, Cdot2);
-
-		b2Vec3 f1 = m_impulse;
-		b2Vec3 df =  m_K.Solve33(-Cdot);
-		m_impulse += df;
-
-		if (m_limitState == e_atLowerLimit)
-		{
-			m_impulse.z = b2Max(m_impulse.z, 0.0f);
-		}
-		else if (m_limitState == e_atUpperLimit)
-		{
-			m_impulse.z = b2Min(m_impulse.z, 0.0f);
-		}
-
-		// f2(1:2) = invK(1:2,1:2) * (-Cdot(1:2) - K(1:2,3) * (f2(3) - f1(3))) + f1(1:2)
-		b2Vec2 b = -Cdot1 - (m_impulse.z - f1.z) * b2Vec2(m_K.ez.x, m_K.ez.y);
-		b2Vec2 f2r = m_K.Solve22(b) + b2Vec2(f1.x, f1.y);
-		m_impulse.x = f2r.x;
-		m_impulse.y = f2r.y;
-
-		df = m_impulse - f1;
-
-		b2Vec2 P = df.x * m_perp + df.z * m_axis;
-		float32 LA = df.x * m_s1 + df.y + df.z * m_a1;
-		float32 LB = df.x * m_s2 + df.y + df.z * m_a2;
-
-		vA -= mA * P;
-		wA -= iA * LA;
-
-		vB += mB * P;
-		wB += iB * LB;
-	}
-	else
-	{
-		// Limit is inactive, just solve the prismatic constraint in block form.
-		b2Vec2 df = m_K.Solve22(-Cdot1);
-		m_impulse.x += df.x;
-		m_impulse.y += df.y;
-
-		b2Vec2 P = df.x * m_perp;
-		float32 LA = df.x * m_s1 + df.y;
-		float32 LB = df.x * m_s2 + df.y;
-
-		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 b2PrismaticJoint::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;
-
-	// Compute fresh Jacobians
-	b2Vec2 rA = b2Mul(qA, m_localAnchorA - m_localCenterA);
-	b2Vec2 rB = b2Mul(qB, m_localAnchorB - m_localCenterB);
-	b2Vec2 d = cB + rB - cA - rA;
-
-	b2Vec2 axis = b2Mul(qA, m_localXAxisA);
-	float32 a1 = b2Cross(d + rA, axis);
-	float32 a2 = b2Cross(rB, axis);
-	b2Vec2 perp = b2Mul(qA, m_localYAxisA);
-
-	float32 s1 = b2Cross(d + rA, perp);
-	float32 s2 = b2Cross(rB, perp);
-
-	b2Vec3 impulse;
-	b2Vec2 C1;
-	C1.x = b2Dot(perp, d);
-	C1.y = aB - aA - m_referenceAngle;
-
-	float32 linearError = b2Abs(C1.x);
-	float32 angularError = b2Abs(C1.y);
-
-	bool active = false;
-	float32 C2 = 0.0f;
-	if (m_enableLimit)
-	{
-		float32 translation = b2Dot(axis, d);
-		if (b2Abs(m_upperTranslation - m_lowerTranslation) < 2.0f * b2_linearSlop)
-		{
-			// Prevent large angular corrections
-			C2 = b2Clamp(translation, -b2_maxLinearCorrection, b2_maxLinearCorrection);
-			linearError = b2Max(linearError, b2Abs(translation));
-			active = true;
-		}
-		else if (translation <= m_lowerTranslation)
-		{
-			// Prevent large linear corrections and allow some slop.
-			C2 = b2Clamp(translation - m_lowerTranslation + b2_linearSlop, -b2_maxLinearCorrection, 0.0f);
-			linearError = b2Max(linearError, m_lowerTranslation - translation);
-			active = true;
-		}
-		else if (translation >= m_upperTranslation)
-		{
-			// Prevent large linear corrections and allow some slop.
-			C2 = b2Clamp(translation - m_upperTranslation - b2_linearSlop, 0.0f, b2_maxLinearCorrection);
-			linearError = b2Max(linearError, translation - m_upperTranslation);
-			active = true;
-		}
-	}
-
-	if (active)
-	{
-		float32 k11 = mA + mB + iA * s1 * s1 + iB * s2 * s2;
-		float32 k12 = iA * s1 + iB * s2;
-		float32 k13 = iA * s1 * a1 + iB * s2 * a2;
-		float32 k22 = iA + iB;
-		if (k22 == 0.0f)
-		{
-			// For fixed rotation
-			k22 = 1.0f;
-		}
-		float32 k23 = iA * a1 + iB * a2;
-		float32 k33 = mA + mB + iA * a1 * a1 + iB * a2 * a2;
-
-		b2Mat33 K;
-		K.ex.Set(k11, k12, k13);
-		K.ey.Set(k12, k22, k23);
-		K.ez.Set(k13, k23, k33);
-
-		b2Vec3 C;
-		C.x = C1.x;
-		C.y = C1.y;
-		C.z = C2;
-
-		impulse = K.Solve33(-C);
-	}
-	else
-	{
-		float32 k11 = mA + mB + iA * s1 * s1 + iB * s2 * s2;
-		float32 k12 = iA * s1 + iB * s2;
-		float32 k22 = iA + iB;
-		if (k22 == 0.0f)
-		{
-			k22 = 1.0f;
-		}
-
-		b2Mat22 K;
-		K.ex.Set(k11, k12);
-		K.ey.Set(k12, k22);
-
-		b2Vec2 impulse1 = K.Solve(-C1);
-		impulse.x = impulse1.x;
-		impulse.y = impulse1.y;
-		impulse.z = 0.0f;
-	}
-
-	b2Vec2 P = impulse.x * perp + impulse.z * axis;
-	float32 LA = impulse.x * s1 + impulse.y + impulse.z * a1;
-	float32 LB = impulse.x * s2 + impulse.y + impulse.z * a2;
-
-	cA -= mA * P;
-	aA -= iA * LA;
-	cB += mB * P;
-	aB += iB * 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 linearError <= b2_linearSlop && angularError <= b2_angularSlop;
-}
-
-b2Vec2 b2PrismaticJoint::GetAnchorA() const
-{
-	return m_bodyA->GetWorldPoint(m_localAnchorA);
-}
-
-b2Vec2 b2PrismaticJoint::GetAnchorB() const
-{
-	return m_bodyB->GetWorldPoint(m_localAnchorB);
-}
-
-b2Vec2 b2PrismaticJoint::GetReactionForce(float32 inv_dt) const
-{
-	return inv_dt * (m_impulse.x * m_perp + (m_motorImpulse + m_impulse.z) * m_axis);
-}
-
-float32 b2PrismaticJoint::GetReactionTorque(float32 inv_dt) const
-{
-	return inv_dt * m_impulse.y;
-}
-
-float32 b2PrismaticJoint::GetJointTranslation() const
-{
-	b2Vec2 pA = m_bodyA->GetWorldPoint(m_localAnchorA);
-	b2Vec2 pB = m_bodyB->GetWorldPoint(m_localAnchorB);
-	b2Vec2 d = pB - pA;
-	b2Vec2 axis = m_bodyA->GetWorldVector(m_localXAxisA);
-
-	float32 translation = b2Dot(d, axis);
-	return translation;
-}
-
-float32 b2PrismaticJoint::GetJointSpeed() const
-{
-	b2Body* bA = m_bodyA;
-	b2Body* bB = m_bodyB;
-
-	b2Vec2 rA = b2Mul(bA->m_xf.q, m_localAnchorA - bA->m_sweep.localCenter);
-	b2Vec2 rB = b2Mul(bB->m_xf.q, m_localAnchorB - bB->m_sweep.localCenter);
-	b2Vec2 p1 = bA->m_sweep.c + rA;
-	b2Vec2 p2 = bB->m_sweep.c + rB;
-	b2Vec2 d = p2 - p1;
-	b2Vec2 axis = b2Mul(bA->m_xf.q, m_localXAxisA);
-
-	b2Vec2 vA = bA->m_linearVelocity;
-	b2Vec2 vB = bB->m_linearVelocity;
-	float32 wA = bA->m_angularVelocity;
-	float32 wB = bB->m_angularVelocity;
-
-	float32 speed = b2Dot(d, b2Cross(wA, axis)) + b2Dot(axis, vB + b2Cross(wB, rB) - vA - b2Cross(wA, rA));
-	return speed;
-}
-
-bool b2PrismaticJoint::IsLimitEnabled() const
-{
-	return m_enableLimit;
-}
-
-void b2PrismaticJoint::EnableLimit(bool flag)
-{
-	if (flag != m_enableLimit)
-	{
-		m_bodyA->SetAwake(true);
-		m_bodyB->SetAwake(true);
-		m_enableLimit = flag;
-		m_impulse.z = 0.0f;
-	}
-}
-
-float32 b2PrismaticJoint::GetLowerLimit() const
-{
-	return m_lowerTranslation;
-}
-
-float32 b2PrismaticJoint::GetUpperLimit() const
-{
-	return m_upperTranslation;
-}
-
-void b2PrismaticJoint::SetLimits(float32 lower, float32 upper)
-{
-	b2Assert(lower <= upper);
-	if (lower != m_lowerTranslation || upper != m_upperTranslation)
-	{
-		m_bodyA->SetAwake(true);
-		m_bodyB->SetAwake(true);
-		m_lowerTranslation = lower;
-		m_upperTranslation = upper;
-		m_impulse.z = 0.0f;
-	}
-}
-
-bool b2PrismaticJoint::IsMotorEnabled() const
-{
-	return m_enableMotor;
-}
-
-void b2PrismaticJoint::EnableMotor(bool flag)
-{
-	m_bodyA->SetAwake(true);
-	m_bodyB->SetAwake(true);
-	m_enableMotor = flag;
-}
-
-void b2PrismaticJoint::SetMotorSpeed(float32 speed)
-{
-	m_bodyA->SetAwake(true);
-	m_bodyB->SetAwake(true);
-	m_motorSpeed = speed;
-}
-
-void b2PrismaticJoint::SetMaxMotorForce(float32 force)
-{
-	m_bodyA->SetAwake(true);
-	m_bodyB->SetAwake(true);
-	m_maxMotorForce = force;
-}
-
-float32 b2PrismaticJoint::GetMotorForce(float32 inv_dt) const
-{
-	return inv_dt * m_motorImpulse;
-}
-
-void b2PrismaticJoint::Dump()
-{
-	int32 indexA = m_bodyA->m_islandIndex;
-	int32 indexB = m_bodyB->m_islandIndex;
-
-	b2Log("  b2PrismaticJointDef 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.referenceAngle = %.15lef;\n", m_referenceAngle);
-	b2Log("  jd.enableLimit = bool(%d);\n", m_enableLimit);
-	b2Log("  jd.lowerTranslation = %.15lef;\n", m_lowerTranslation);
-	b2Log("  jd.upperTranslation = %.15lef;\n", m_upperTranslation);
-	b2Log("  jd.enableMotor = bool(%d);\n", m_enableMotor);
-	b2Log("  jd.motorSpeed = %.15lef;\n", m_motorSpeed);
-	b2Log("  jd.maxMotorForce = %.15lef;\n", m_maxMotorForce);
-	b2Log("  joints[%d] = m_world->CreateJoint(&jd);\n", m_index);
-}