reflexion 0.1.12 → 0.1.17
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- checksums.yaml +5 -5
- data/.doc/ext/reflex/application.cpp +9 -5
- data/.doc/ext/reflex/capture_event.cpp +4 -9
- data/.doc/ext/reflex/contact_event.cpp +17 -13
- data/.doc/ext/reflex/draw_event.cpp +3 -8
- data/.doc/ext/reflex/ellipse_shape.cpp +51 -24
- data/.doc/ext/reflex/event.cpp +0 -4
- data/.doc/ext/reflex/filter.cpp +81 -0
- data/.doc/ext/reflex/focus_event.cpp +9 -13
- data/.doc/ext/reflex/frame_event.cpp +47 -14
- data/.doc/ext/reflex/image_view.cpp +1 -10
- data/.doc/ext/reflex/key_event.cpp +9 -14
- data/.doc/ext/reflex/line_shape.cpp +99 -0
- data/.doc/ext/reflex/motion_event.cpp +73 -0
- data/.doc/ext/reflex/native.cpp +18 -18
- data/.doc/ext/reflex/pointer_event.cpp +27 -25
- data/.doc/ext/reflex/polygon_shape.cpp +65 -0
- data/.doc/ext/reflex/rect_shape.cpp +102 -23
- data/.doc/ext/reflex/reflex.cpp +24 -3
- data/.doc/ext/reflex/scroll_event.cpp +8 -15
- data/.doc/ext/reflex/selector.cpp +43 -15
- data/.doc/ext/reflex/shape.cpp +211 -0
- data/.doc/ext/reflex/style.cpp +359 -185
- data/.doc/ext/reflex/style_length.cpp +163 -35
- data/.doc/ext/reflex/timer.cpp +101 -0
- data/.doc/ext/reflex/timer_event.cpp +123 -0
- data/.doc/ext/reflex/update_event.cpp +12 -8
- data/.doc/ext/reflex/view.cpp +548 -144
- data/.doc/ext/reflex/wheel_event.cpp +5 -28
- data/.doc/ext/reflex/window.cpp +7 -15
- data/LICENSE +21 -0
- data/README.md +1 -1
- data/Rakefile +14 -12
- data/VERSION +1 -1
- data/ext/reflex/application.cpp +10 -5
- data/ext/reflex/capture_event.cpp +4 -9
- data/ext/reflex/contact_event.cpp +18 -13
- data/ext/reflex/defs.h +5 -2
- data/ext/reflex/draw_event.cpp +3 -8
- data/ext/reflex/ellipse_shape.cpp +56 -25
- data/ext/reflex/event.cpp +0 -4
- data/ext/reflex/extconf.rb +1 -2
- data/ext/reflex/filter.cpp +86 -0
- data/ext/reflex/focus_event.cpp +11 -15
- data/ext/reflex/frame_event.cpp +52 -14
- data/ext/reflex/image_view.cpp +1 -10
- data/ext/reflex/key_event.cpp +9 -14
- data/ext/reflex/line_shape.cpp +104 -0
- data/ext/reflex/motion_event.cpp +77 -0
- data/ext/reflex/native.cpp +18 -18
- data/ext/reflex/pointer_event.cpp +27 -25
- data/ext/reflex/polygon_shape.cpp +68 -0
- data/ext/reflex/rect_shape.cpp +113 -24
- data/ext/reflex/reflex.cpp +24 -3
- data/ext/reflex/scroll_event.cpp +8 -15
- data/ext/reflex/selector.cpp +46 -16
- data/ext/reflex/selector.h +130 -0
- data/ext/reflex/shape.cpp +231 -0
- data/ext/reflex/style.cpp +363 -192
- data/ext/reflex/style_length.cpp +164 -37
- data/ext/reflex/timer.cpp +108 -0
- data/ext/reflex/timer_event.cpp +133 -0
- data/ext/reflex/update_event.cpp +13 -8
- data/ext/reflex/view.cpp +594 -150
- data/ext/reflex/wheel_event.cpp +5 -30
- data/ext/reflex/window.cpp +7 -15
- data/include/reflex.h +5 -4
- data/include/reflex/application.h +2 -0
- data/include/reflex/debug.h +22 -0
- data/include/reflex/defs.h +45 -2
- data/include/reflex/event.h +55 -11
- data/include/reflex/exception.h +17 -2
- data/include/reflex/filter.h +56 -0
- data/include/reflex/image_view.h +1 -1
- data/include/reflex/ruby.h +6 -4
- data/include/reflex/ruby/application.h +17 -9
- data/include/reflex/ruby/event.h +22 -0
- data/include/reflex/ruby/filter.h +69 -0
- data/include/reflex/ruby/reflex.h +1 -0
- data/include/reflex/ruby/selector.h +1 -1
- data/include/reflex/ruby/shape.h +140 -0
- data/include/reflex/ruby/style.h +1 -1
- data/include/reflex/ruby/timer.h +69 -0
- data/include/reflex/ruby/view.h +43 -76
- data/include/reflex/ruby/window.h +17 -32
- data/include/reflex/selector.h +54 -2
- data/include/reflex/shape.h +211 -0
- data/include/reflex/style.h +136 -76
- data/include/reflex/timer.h +73 -0
- data/include/reflex/view.h +181 -59
- data/include/reflex/window.h +4 -3
- data/lib/reflex.rb +13 -6
- data/lib/reflex/application.rb +6 -3
- data/lib/reflex/button.rb +2 -2
- data/lib/reflex/{texture.rb → camera.rb} +2 -2
- data/lib/reflex/capture_event.rb +7 -6
- data/lib/reflex/contact_event.rb +10 -12
- data/lib/reflex/draw_event.rb +6 -1
- data/lib/reflex/ellipse_shape.rb +27 -0
- data/lib/reflex/filter.rb +18 -0
- data/lib/reflex/fixture.rb +4 -0
- data/lib/reflex/focus_event.rb +10 -12
- data/lib/reflex/frame_event.rb +1 -1
- data/lib/reflex/helper.rb +17 -29
- data/lib/reflex/key_event.rb +13 -11
- data/lib/reflex/line_shape.rb +18 -0
- data/lib/reflex/matrix.rb +13 -0
- data/lib/reflex/module.rb +4 -19
- data/lib/reflex/pointer_event.rb +28 -35
- data/lib/reflex/polygon.rb +14 -0
- data/lib/reflex/polygon_shape.rb +23 -0
- data/lib/reflex/polyline.rb +13 -0
- data/lib/reflex/rect_shape.rb +20 -0
- data/lib/reflex/reflex.rb +1 -3
- data/lib/reflex/scroll_event.rb +1 -1
- data/lib/reflex/selector.rb +2 -2
- data/lib/reflex/shape.rb +62 -0
- data/lib/reflex/style.rb +78 -11
- data/lib/reflex/style_length.rb +0 -11
- data/lib/reflex/text_view.rb +7 -24
- data/lib/reflex/timer.rb +30 -0
- data/lib/reflex/timer_event.rb +29 -0
- data/lib/reflex/update_event.rb +1 -1
- data/lib/reflex/view.rb +127 -32
- data/lib/reflex/wheel_event.rb +9 -1
- data/lib/reflex/window.rb +29 -9
- data/lib/reflexion.rb +23 -7
- data/reflex.gemspec +8 -10
- data/samples/bats.rb +4 -4
- data/samples/camera.rb +45 -0
- data/samples/fans.rb +1 -1
- data/samples/fps.rb +5 -3
- data/samples/hello.rb +4 -6
- data/samples/image.rb +5 -4
- data/samples/ios/hello/hello.xcodeproj/project.pbxproj +0 -2
- data/samples/layout.rb +16 -7
- data/samples/model.rb +10 -7
- data/samples/physics.rb +22 -20
- data/samples/reflexion/breakout.rb +4 -5
- data/samples/reflexion/hello.rb +2 -2
- data/samples/reflexion/jump_action.rb +191 -0
- data/samples/reflexion/noise.rb +23 -0
- data/samples/reflexion/paint.rb +7 -6
- data/samples/reflexion/physics.rb +15 -8
- data/samples/reflexion/pulse.rb +24 -10
- data/samples/shader.rb +8 -6
- data/samples/shapes.rb +79 -14
- data/samples/tree.rb +9 -10
- data/samples/views.rb +3 -3
- data/samples/visuals.rb +2 -5
- data/src/body.cpp +146 -345
- data/src/body.h +91 -0
- data/src/event.cpp +65 -15
- data/src/exception.cpp +13 -3
- data/src/filter.cpp +76 -0
- data/src/fixture.cpp +164 -39
- data/src/fixture.h +85 -0
- data/src/image_view.cpp +4 -4
- data/src/ios/app_delegate.h +5 -10
- data/src/ios/app_delegate.mm +79 -41
- data/src/ios/application.h +32 -0
- data/src/ios/application.mm +35 -25
- data/src/ios/event.mm +8 -4
- data/src/ios/reflex.mm +0 -7
- data/src/ios/view_controller.h +37 -0
- data/src/ios/view_controller.mm +424 -0
- data/src/ios/window.h +40 -0
- data/src/ios/window.mm +59 -250
- data/src/osx/app_delegate.h +5 -10
- data/src/osx/app_delegate.mm +52 -55
- data/src/osx/application.h +32 -0
- data/src/osx/application.mm +44 -39
- data/src/osx/native_window.h +0 -15
- data/src/osx/native_window.mm +127 -127
- data/src/osx/opengl_view.h +0 -2
- data/src/osx/opengl_view.mm +12 -3
- data/src/osx/reflex.mm +0 -9
- data/src/osx/window.h +42 -0
- data/src/osx/window.mm +45 -252
- data/src/selector.cpp +232 -7
- data/src/selector.h +52 -0
- data/src/shape.cpp +1191 -0
- data/src/shape.h +61 -0
- data/src/style.cpp +573 -376
- data/src/style.h +39 -0
- data/src/timer.cpp +288 -0
- data/src/timer.h +55 -0
- data/src/view.cpp +1624 -984
- data/src/view.h +56 -0
- data/src/win32/window.cpp +3 -4
- data/src/window.cpp +302 -20
- data/src/window.h +94 -0
- data/src/world.cpp +112 -111
- data/src/world.h +34 -53
- data/task/box2d.rake +31 -10
- data/test/test_capture_event.rb +8 -6
- data/test/test_pointer_event.rb +130 -0
- data/test/test_selector.rb +1 -1
- data/test/test_shape.rb +71 -0
- data/test/test_style.rb +77 -11
- data/test/test_style_length.rb +42 -13
- data/test/test_view.rb +138 -14
- metadata +115 -213
- data/.doc/ext/reflex/arc_shape.cpp +0 -89
- data/.doc/ext/reflex/body.cpp +0 -299
- data/.doc/ext/reflex/fixture.cpp +0 -101
- data/.doc/ext/reflex/shape_view.cpp +0 -153
- data/ext/reflex/arc_shape.cpp +0 -94
- data/ext/reflex/body.cpp +0 -328
- data/ext/reflex/fixture.cpp +0 -108
- data/ext/reflex/shape_view.cpp +0 -161
- data/include/reflex/bitmap.h +0 -20
- data/include/reflex/body.h +0 -128
- data/include/reflex/bounds.h +0 -20
- data/include/reflex/color.h +0 -20
- data/include/reflex/color_space.h +0 -20
- data/include/reflex/fixture.h +0 -117
- data/include/reflex/font.h +0 -20
- data/include/reflex/image.h +0 -20
- data/include/reflex/matrix.h +0 -20
- data/include/reflex/painter.h +0 -20
- data/include/reflex/point.h +0 -24
- data/include/reflex/ruby/body.h +0 -41
- data/include/reflex/ruby/fixture.h +0 -41
- data/include/reflex/ruby/shape_view.h +0 -96
- data/include/reflex/shader.h +0 -20
- data/include/reflex/shape_view.h +0 -146
- data/include/reflex/texture.h +0 -20
- data/lib/reflex/body.rb +0 -22
- data/lib/reflex/flags.rb +0 -18
- data/lib/reflex/shape_view.rb +0 -25
- data/src/ios/application_data.h +0 -45
- data/src/ios/native_window.h +0 -39
- data/src/ios/native_window.mm +0 -224
- data/src/ios/opengl_view.h +0 -13
- data/src/ios/opengl_view.mm +0 -139
- data/src/ios/window_data.h +0 -75
- data/src/osx/application_data.h +0 -45
- data/src/osx/window_data.h +0 -75
- data/src/physics/Box2D/Box2D.h +0 -68
- data/src/physics/Box2D/Collision/Shapes/b2ChainShape.cpp +0 -193
- data/src/physics/Box2D/Collision/Shapes/b2ChainShape.h +0 -105
- data/src/physics/Box2D/Collision/Shapes/b2CircleShape.cpp +0 -99
- data/src/physics/Box2D/Collision/Shapes/b2CircleShape.h +0 -91
- data/src/physics/Box2D/Collision/Shapes/b2EdgeShape.cpp +0 -138
- data/src/physics/Box2D/Collision/Shapes/b2EdgeShape.h +0 -74
- data/src/physics/Box2D/Collision/Shapes/b2PolygonShape.cpp +0 -467
- data/src/physics/Box2D/Collision/Shapes/b2PolygonShape.h +0 -101
- data/src/physics/Box2D/Collision/Shapes/b2Shape.h +0 -101
- data/src/physics/Box2D/Collision/b2BroadPhase.cpp +0 -119
- data/src/physics/Box2D/Collision/b2BroadPhase.h +0 -257
- data/src/physics/Box2D/Collision/b2CollideCircle.cpp +0 -154
- data/src/physics/Box2D/Collision/b2CollideEdge.cpp +0 -698
- data/src/physics/Box2D/Collision/b2CollidePolygon.cpp +0 -239
- data/src/physics/Box2D/Collision/b2Collision.cpp +0 -252
- data/src/physics/Box2D/Collision/b2Collision.h +0 -277
- data/src/physics/Box2D/Collision/b2Distance.cpp +0 -603
- data/src/physics/Box2D/Collision/b2Distance.h +0 -141
- data/src/physics/Box2D/Collision/b2DynamicTree.cpp +0 -778
- data/src/physics/Box2D/Collision/b2DynamicTree.h +0 -289
- data/src/physics/Box2D/Collision/b2TimeOfImpact.cpp +0 -486
- data/src/physics/Box2D/Collision/b2TimeOfImpact.h +0 -58
- data/src/physics/Box2D/Common/b2BlockAllocator.cpp +0 -215
- data/src/physics/Box2D/Common/b2BlockAllocator.h +0 -62
- data/src/physics/Box2D/Common/b2Draw.cpp +0 -44
- data/src/physics/Box2D/Common/b2Draw.h +0 -86
- data/src/physics/Box2D/Common/b2GrowableStack.h +0 -85
- data/src/physics/Box2D/Common/b2Math.cpp +0 -94
- data/src/physics/Box2D/Common/b2Math.h +0 -720
- data/src/physics/Box2D/Common/b2Settings.cpp +0 -44
- data/src/physics/Box2D/Common/b2Settings.h +0 -151
- data/src/physics/Box2D/Common/b2StackAllocator.cpp +0 -83
- data/src/physics/Box2D/Common/b2StackAllocator.h +0 -60
- data/src/physics/Box2D/Common/b2Timer.cpp +0 -101
- data/src/physics/Box2D/Common/b2Timer.h +0 -50
- data/src/physics/Box2D/Dynamics/Contacts/b2ChainAndCircleContact.cpp +0 -53
- data/src/physics/Box2D/Dynamics/Contacts/b2ChainAndCircleContact.h +0 -39
- data/src/physics/Box2D/Dynamics/Contacts/b2ChainAndPolygonContact.cpp +0 -53
- data/src/physics/Box2D/Dynamics/Contacts/b2ChainAndPolygonContact.h +0 -39
- data/src/physics/Box2D/Dynamics/Contacts/b2CircleContact.cpp +0 -52
- data/src/physics/Box2D/Dynamics/Contacts/b2CircleContact.h +0 -39
- data/src/physics/Box2D/Dynamics/Contacts/b2Contact.cpp +0 -247
- data/src/physics/Box2D/Dynamics/Contacts/b2Contact.h +0 -349
- data/src/physics/Box2D/Dynamics/Contacts/b2ContactSolver.cpp +0 -838
- data/src/physics/Box2D/Dynamics/Contacts/b2ContactSolver.h +0 -95
- data/src/physics/Box2D/Dynamics/Contacts/b2EdgeAndCircleContact.cpp +0 -49
- data/src/physics/Box2D/Dynamics/Contacts/b2EdgeAndCircleContact.h +0 -39
- data/src/physics/Box2D/Dynamics/Contacts/b2EdgeAndPolygonContact.cpp +0 -49
- data/src/physics/Box2D/Dynamics/Contacts/b2EdgeAndPolygonContact.h +0 -39
- data/src/physics/Box2D/Dynamics/Contacts/b2PolygonAndCircleContact.cpp +0 -49
- data/src/physics/Box2D/Dynamics/Contacts/b2PolygonAndCircleContact.h +0 -38
- data/src/physics/Box2D/Dynamics/Contacts/b2PolygonContact.cpp +0 -52
- data/src/physics/Box2D/Dynamics/Contacts/b2PolygonContact.h +0 -39
- data/src/physics/Box2D/Dynamics/Joints/b2DistanceJoint.cpp +0 -260
- data/src/physics/Box2D/Dynamics/Joints/b2DistanceJoint.h +0 -169
- data/src/physics/Box2D/Dynamics/Joints/b2FrictionJoint.cpp +0 -251
- data/src/physics/Box2D/Dynamics/Joints/b2FrictionJoint.h +0 -119
- data/src/physics/Box2D/Dynamics/Joints/b2GearJoint.cpp +0 -419
- data/src/physics/Box2D/Dynamics/Joints/b2GearJoint.h +0 -125
- data/src/physics/Box2D/Dynamics/Joints/b2Joint.cpp +0 -211
- data/src/physics/Box2D/Dynamics/Joints/b2Joint.h +0 -226
- data/src/physics/Box2D/Dynamics/Joints/b2MotorJoint.cpp +0 -304
- data/src/physics/Box2D/Dynamics/Joints/b2MotorJoint.h +0 -133
- data/src/physics/Box2D/Dynamics/Joints/b2MouseJoint.cpp +0 -222
- data/src/physics/Box2D/Dynamics/Joints/b2MouseJoint.h +0 -129
- data/src/physics/Box2D/Dynamics/Joints/b2PrismaticJoint.cpp +0 -629
- data/src/physics/Box2D/Dynamics/Joints/b2PrismaticJoint.h +0 -196
- data/src/physics/Box2D/Dynamics/Joints/b2PulleyJoint.cpp +0 -348
- data/src/physics/Box2D/Dynamics/Joints/b2PulleyJoint.h +0 -152
- data/src/physics/Box2D/Dynamics/Joints/b2RevoluteJoint.cpp +0 -502
- data/src/physics/Box2D/Dynamics/Joints/b2RevoluteJoint.h +0 -204
- data/src/physics/Box2D/Dynamics/Joints/b2RopeJoint.cpp +0 -241
- data/src/physics/Box2D/Dynamics/Joints/b2RopeJoint.h +0 -114
- data/src/physics/Box2D/Dynamics/Joints/b2WeldJoint.cpp +0 -344
- data/src/physics/Box2D/Dynamics/Joints/b2WeldJoint.h +0 -126
- data/src/physics/Box2D/Dynamics/Joints/b2WheelJoint.cpp +0 -419
- data/src/physics/Box2D/Dynamics/Joints/b2WheelJoint.h +0 -210
- data/src/physics/Box2D/Dynamics/b2Body.cpp +0 -549
- data/src/physics/Box2D/Dynamics/b2Body.h +0 -860
- data/src/physics/Box2D/Dynamics/b2ContactManager.cpp +0 -296
- data/src/physics/Box2D/Dynamics/b2ContactManager.h +0 -52
- data/src/physics/Box2D/Dynamics/b2Fixture.cpp +0 -303
- data/src/physics/Box2D/Dynamics/b2Fixture.h +0 -345
- data/src/physics/Box2D/Dynamics/b2Island.cpp +0 -539
- data/src/physics/Box2D/Dynamics/b2Island.h +0 -93
- data/src/physics/Box2D/Dynamics/b2TimeStep.h +0 -70
- data/src/physics/Box2D/Dynamics/b2World.cpp +0 -1339
- data/src/physics/Box2D/Dynamics/b2World.h +0 -354
- data/src/physics/Box2D/Dynamics/b2WorldCallbacks.cpp +0 -36
- data/src/physics/Box2D/Dynamics/b2WorldCallbacks.h +0 -155
- data/src/physics/Box2D/Rope/b2Rope.cpp +0 -259
- data/src/physics/Box2D/Rope/b2Rope.h +0 -115
- data/src/shape_view.cpp +0 -306
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/*
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* Copyright (c) 2006-2011 Erin Catto http://www.box2d.org
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*
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* This software is provided 'as-is', without any express or implied
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* warranty. In no event will the authors be held liable for any damages
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* arising from the use of this software.
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* Permission is granted to anyone to use this software for any purpose,
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* including commercial applications, and to alter it and redistribute it
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* freely, subject to the following restrictions:
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* 1. The origin of this software must not be misrepresented; you must not
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* claim that you wrote the original software. If you use this software
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* in a product, an acknowledgment in the product documentation would be
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* appreciated but is not required.
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* 2. Altered source versions must be plainly marked as such, and must not be
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* misrepresented as being the original software.
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* 3. This notice may not be removed or altered from any source distribution.
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*/
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#ifndef B2_PULLEY_JOINT_H
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#define B2_PULLEY_JOINT_H
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#include <Box2D/Dynamics/Joints/b2Joint.h>
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const float32 b2_minPulleyLength = 2.0f;
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/// Pulley joint definition. This requires two ground anchors,
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/// two dynamic body anchor points, and a pulley ratio.
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struct b2PulleyJointDef : public b2JointDef
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{
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b2PulleyJointDef()
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{
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type = e_pulleyJoint;
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groundAnchorA.Set(-1.0f, 1.0f);
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groundAnchorB.Set(1.0f, 1.0f);
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localAnchorA.Set(-1.0f, 0.0f);
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localAnchorB.Set(1.0f, 0.0f);
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lengthA = 0.0f;
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lengthB = 0.0f;
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ratio = 1.0f;
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collideConnected = true;
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}
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/// Initialize the bodies, anchors, lengths, max lengths, and ratio using the world anchors.
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void Initialize(b2Body* bodyA, b2Body* bodyB,
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const b2Vec2& groundAnchorA, const b2Vec2& groundAnchorB,
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const b2Vec2& anchorA, const b2Vec2& anchorB,
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float32 ratio);
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/// The first ground anchor in world coordinates. This point never moves.
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b2Vec2 groundAnchorA;
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/// The second ground anchor in world coordinates. This point never moves.
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b2Vec2 groundAnchorB;
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/// The local anchor point relative to bodyA's origin.
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b2Vec2 localAnchorA;
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/// The local anchor point relative to bodyB's origin.
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b2Vec2 localAnchorB;
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/// The a reference length for the segment attached to bodyA.
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float32 lengthA;
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/// The a reference length for the segment attached to bodyB.
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float32 lengthB;
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/// The pulley ratio, used to simulate a block-and-tackle.
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float32 ratio;
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};
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/// The pulley joint is connected to two bodies and two fixed ground points.
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/// The pulley supports a ratio such that:
|
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/// length1 + ratio * length2 <= constant
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/// Yes, the force transmitted is scaled by the ratio.
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/// Warning: the pulley joint can get a bit squirrelly by itself. They often
|
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/// work better when combined with prismatic joints. You should also cover the
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/// the anchor points with static shapes to prevent one side from going to
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/// zero length.
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class b2PulleyJoint : public b2Joint
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{
|
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public:
|
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b2Vec2 GetAnchorA() const;
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b2Vec2 GetAnchorB() const;
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b2Vec2 GetReactionForce(float32 inv_dt) const;
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float32 GetReactionTorque(float32 inv_dt) const;
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/// Get the first ground anchor.
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b2Vec2 GetGroundAnchorA() const;
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/// Get the second ground anchor.
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b2Vec2 GetGroundAnchorB() const;
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|
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/// Get the current length of the segment attached to bodyA.
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float32 GetLengthA() const;
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|
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/// Get the current length of the segment attached to bodyB.
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float32 GetLengthB() const;
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|
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/// Get the pulley ratio.
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float32 GetRatio() const;
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/// Get the current length of the segment attached to bodyA.
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float32 GetCurrentLengthA() const;
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/// Get the current length of the segment attached to bodyB.
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float32 GetCurrentLengthB() const;
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/// Dump joint to dmLog
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void Dump();
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/// Implement b2Joint::ShiftOrigin
|
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void ShiftOrigin(const b2Vec2& newOrigin);
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|
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protected:
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|
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friend class b2Joint;
|
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b2PulleyJoint(const b2PulleyJointDef* data);
|
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|
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void InitVelocityConstraints(const b2SolverData& data);
|
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|
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void SolveVelocityConstraints(const b2SolverData& data);
|
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|
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bool SolvePositionConstraints(const b2SolverData& data);
|
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|
-
|
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|
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b2Vec2 m_groundAnchorA;
|
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|
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b2Vec2 m_groundAnchorB;
|
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|
-
float32 m_lengthA;
|
127
|
-
float32 m_lengthB;
|
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|
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|
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|
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// Solver shared
|
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|
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b2Vec2 m_localAnchorA;
|
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|
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b2Vec2 m_localAnchorB;
|
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|
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float32 m_constant;
|
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|
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float32 m_ratio;
|
134
|
-
float32 m_impulse;
|
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|
-
|
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|
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// Solver temp
|
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|
-
int32 m_indexA;
|
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|
-
int32 m_indexB;
|
139
|
-
b2Vec2 m_uA;
|
140
|
-
b2Vec2 m_uB;
|
141
|
-
b2Vec2 m_rA;
|
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|
-
b2Vec2 m_rB;
|
143
|
-
b2Vec2 m_localCenterA;
|
144
|
-
b2Vec2 m_localCenterB;
|
145
|
-
float32 m_invMassA;
|
146
|
-
float32 m_invMassB;
|
147
|
-
float32 m_invIA;
|
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|
-
float32 m_invIB;
|
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|
-
float32 m_mass;
|
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|
-
};
|
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|
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#endif
|
@@ -1,502 +0,0 @@
|
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|
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/*
|
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|
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* Copyright (c) 2006-2011 Erin Catto http://www.box2d.org
|
3
|
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*
|
4
|
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* This software is provided 'as-is', without any express or implied
|
5
|
-
* warranty. In no event will the authors be held liable for any damages
|
6
|
-
* arising from the use of this software.
|
7
|
-
* Permission is granted to anyone to use this software for any purpose,
|
8
|
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* including commercial applications, and to alter it and redistribute it
|
9
|
-
* freely, subject to the following restrictions:
|
10
|
-
* 1. The origin of this software must not be misrepresented; you must not
|
11
|
-
* claim that you wrote the original software. If you use this software
|
12
|
-
* in a product, an acknowledgment in the product documentation would be
|
13
|
-
* appreciated but is not required.
|
14
|
-
* 2. Altered source versions must be plainly marked as such, and must not be
|
15
|
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* misrepresented as being the original software.
|
16
|
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* 3. This notice may not be removed or altered from any source distribution.
|
17
|
-
*/
|
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|
-
|
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#include <Box2D/Dynamics/Joints/b2RevoluteJoint.h>
|
20
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#include <Box2D/Dynamics/b2Body.h>
|
21
|
-
#include <Box2D/Dynamics/b2TimeStep.h>
|
22
|
-
|
23
|
-
// Point-to-point constraint
|
24
|
-
// C = p2 - p1
|
25
|
-
// Cdot = v2 - v1
|
26
|
-
// = v2 + cross(w2, r2) - v1 - cross(w1, r1)
|
27
|
-
// J = [-I -r1_skew I r2_skew ]
|
28
|
-
// Identity used:
|
29
|
-
// w k % (rx i + ry j) = w * (-ry i + rx j)
|
30
|
-
|
31
|
-
// Motor constraint
|
32
|
-
// Cdot = w2 - w1
|
33
|
-
// J = [0 0 -1 0 0 1]
|
34
|
-
// K = invI1 + invI2
|
35
|
-
|
36
|
-
void b2RevoluteJointDef::Initialize(b2Body* bA, b2Body* bB, const b2Vec2& anchor)
|
37
|
-
{
|
38
|
-
bodyA = bA;
|
39
|
-
bodyB = bB;
|
40
|
-
localAnchorA = bodyA->GetLocalPoint(anchor);
|
41
|
-
localAnchorB = bodyB->GetLocalPoint(anchor);
|
42
|
-
referenceAngle = bodyB->GetAngle() - bodyA->GetAngle();
|
43
|
-
}
|
44
|
-
|
45
|
-
b2RevoluteJoint::b2RevoluteJoint(const b2RevoluteJointDef* def)
|
46
|
-
: b2Joint(def)
|
47
|
-
{
|
48
|
-
m_localAnchorA = def->localAnchorA;
|
49
|
-
m_localAnchorB = def->localAnchorB;
|
50
|
-
m_referenceAngle = def->referenceAngle;
|
51
|
-
|
52
|
-
m_impulse.SetZero();
|
53
|
-
m_motorImpulse = 0.0f;
|
54
|
-
|
55
|
-
m_lowerAngle = def->lowerAngle;
|
56
|
-
m_upperAngle = def->upperAngle;
|
57
|
-
m_maxMotorTorque = def->maxMotorTorque;
|
58
|
-
m_motorSpeed = def->motorSpeed;
|
59
|
-
m_enableLimit = def->enableLimit;
|
60
|
-
m_enableMotor = def->enableMotor;
|
61
|
-
m_limitState = e_inactiveLimit;
|
62
|
-
}
|
63
|
-
|
64
|
-
void b2RevoluteJoint::InitVelocityConstraints(const b2SolverData& data)
|
65
|
-
{
|
66
|
-
m_indexA = m_bodyA->m_islandIndex;
|
67
|
-
m_indexB = m_bodyB->m_islandIndex;
|
68
|
-
m_localCenterA = m_bodyA->m_sweep.localCenter;
|
69
|
-
m_localCenterB = m_bodyB->m_sweep.localCenter;
|
70
|
-
m_invMassA = m_bodyA->m_invMass;
|
71
|
-
m_invMassB = m_bodyB->m_invMass;
|
72
|
-
m_invIA = m_bodyA->m_invI;
|
73
|
-
m_invIB = m_bodyB->m_invI;
|
74
|
-
|
75
|
-
float32 aA = data.positions[m_indexA].a;
|
76
|
-
b2Vec2 vA = data.velocities[m_indexA].v;
|
77
|
-
float32 wA = data.velocities[m_indexA].w;
|
78
|
-
|
79
|
-
float32 aB = data.positions[m_indexB].a;
|
80
|
-
b2Vec2 vB = data.velocities[m_indexB].v;
|
81
|
-
float32 wB = data.velocities[m_indexB].w;
|
82
|
-
|
83
|
-
b2Rot qA(aA), qB(aB);
|
84
|
-
|
85
|
-
m_rA = b2Mul(qA, m_localAnchorA - m_localCenterA);
|
86
|
-
m_rB = b2Mul(qB, m_localAnchorB - m_localCenterB);
|
87
|
-
|
88
|
-
// J = [-I -r1_skew I r2_skew]
|
89
|
-
// [ 0 -1 0 1]
|
90
|
-
// r_skew = [-ry; rx]
|
91
|
-
|
92
|
-
// Matlab
|
93
|
-
// K = [ mA+r1y^2*iA+mB+r2y^2*iB, -r1y*iA*r1x-r2y*iB*r2x, -r1y*iA-r2y*iB]
|
94
|
-
// [ -r1y*iA*r1x-r2y*iB*r2x, mA+r1x^2*iA+mB+r2x^2*iB, r1x*iA+r2x*iB]
|
95
|
-
// [ -r1y*iA-r2y*iB, r1x*iA+r2x*iB, iA+iB]
|
96
|
-
|
97
|
-
float32 mA = m_invMassA, mB = m_invMassB;
|
98
|
-
float32 iA = m_invIA, iB = m_invIB;
|
99
|
-
|
100
|
-
bool fixedRotation = (iA + iB == 0.0f);
|
101
|
-
|
102
|
-
m_mass.ex.x = mA + mB + m_rA.y * m_rA.y * iA + m_rB.y * m_rB.y * iB;
|
103
|
-
m_mass.ey.x = -m_rA.y * m_rA.x * iA - m_rB.y * m_rB.x * iB;
|
104
|
-
m_mass.ez.x = -m_rA.y * iA - m_rB.y * iB;
|
105
|
-
m_mass.ex.y = m_mass.ey.x;
|
106
|
-
m_mass.ey.y = mA + mB + m_rA.x * m_rA.x * iA + m_rB.x * m_rB.x * iB;
|
107
|
-
m_mass.ez.y = m_rA.x * iA + m_rB.x * iB;
|
108
|
-
m_mass.ex.z = m_mass.ez.x;
|
109
|
-
m_mass.ey.z = m_mass.ez.y;
|
110
|
-
m_mass.ez.z = iA + iB;
|
111
|
-
|
112
|
-
m_motorMass = iA + iB;
|
113
|
-
if (m_motorMass > 0.0f)
|
114
|
-
{
|
115
|
-
m_motorMass = 1.0f / m_motorMass;
|
116
|
-
}
|
117
|
-
|
118
|
-
if (m_enableMotor == false || fixedRotation)
|
119
|
-
{
|
120
|
-
m_motorImpulse = 0.0f;
|
121
|
-
}
|
122
|
-
|
123
|
-
if (m_enableLimit && fixedRotation == false)
|
124
|
-
{
|
125
|
-
float32 jointAngle = aB - aA - m_referenceAngle;
|
126
|
-
if (b2Abs(m_upperAngle - m_lowerAngle) < 2.0f * b2_angularSlop)
|
127
|
-
{
|
128
|
-
m_limitState = e_equalLimits;
|
129
|
-
}
|
130
|
-
else if (jointAngle <= m_lowerAngle)
|
131
|
-
{
|
132
|
-
if (m_limitState != e_atLowerLimit)
|
133
|
-
{
|
134
|
-
m_impulse.z = 0.0f;
|
135
|
-
}
|
136
|
-
m_limitState = e_atLowerLimit;
|
137
|
-
}
|
138
|
-
else if (jointAngle >= m_upperAngle)
|
139
|
-
{
|
140
|
-
if (m_limitState != e_atUpperLimit)
|
141
|
-
{
|
142
|
-
m_impulse.z = 0.0f;
|
143
|
-
}
|
144
|
-
m_limitState = e_atUpperLimit;
|
145
|
-
}
|
146
|
-
else
|
147
|
-
{
|
148
|
-
m_limitState = e_inactiveLimit;
|
149
|
-
m_impulse.z = 0.0f;
|
150
|
-
}
|
151
|
-
}
|
152
|
-
else
|
153
|
-
{
|
154
|
-
m_limitState = e_inactiveLimit;
|
155
|
-
}
|
156
|
-
|
157
|
-
if (data.step.warmStarting)
|
158
|
-
{
|
159
|
-
// Scale impulses to support a variable time step.
|
160
|
-
m_impulse *= data.step.dtRatio;
|
161
|
-
m_motorImpulse *= data.step.dtRatio;
|
162
|
-
|
163
|
-
b2Vec2 P(m_impulse.x, m_impulse.y);
|
164
|
-
|
165
|
-
vA -= mA * P;
|
166
|
-
wA -= iA * (b2Cross(m_rA, P) + m_motorImpulse + m_impulse.z);
|
167
|
-
|
168
|
-
vB += mB * P;
|
169
|
-
wB += iB * (b2Cross(m_rB, P) + m_motorImpulse + m_impulse.z);
|
170
|
-
}
|
171
|
-
else
|
172
|
-
{
|
173
|
-
m_impulse.SetZero();
|
174
|
-
m_motorImpulse = 0.0f;
|
175
|
-
}
|
176
|
-
|
177
|
-
data.velocities[m_indexA].v = vA;
|
178
|
-
data.velocities[m_indexA].w = wA;
|
179
|
-
data.velocities[m_indexB].v = vB;
|
180
|
-
data.velocities[m_indexB].w = wB;
|
181
|
-
}
|
182
|
-
|
183
|
-
void b2RevoluteJoint::SolveVelocityConstraints(const b2SolverData& data)
|
184
|
-
{
|
185
|
-
b2Vec2 vA = data.velocities[m_indexA].v;
|
186
|
-
float32 wA = data.velocities[m_indexA].w;
|
187
|
-
b2Vec2 vB = data.velocities[m_indexB].v;
|
188
|
-
float32 wB = data.velocities[m_indexB].w;
|
189
|
-
|
190
|
-
float32 mA = m_invMassA, mB = m_invMassB;
|
191
|
-
float32 iA = m_invIA, iB = m_invIB;
|
192
|
-
|
193
|
-
bool fixedRotation = (iA + iB == 0.0f);
|
194
|
-
|
195
|
-
// Solve motor constraint.
|
196
|
-
if (m_enableMotor && m_limitState != e_equalLimits && fixedRotation == false)
|
197
|
-
{
|
198
|
-
float32 Cdot = wB - wA - m_motorSpeed;
|
199
|
-
float32 impulse = -m_motorMass * Cdot;
|
200
|
-
float32 oldImpulse = m_motorImpulse;
|
201
|
-
float32 maxImpulse = data.step.dt * m_maxMotorTorque;
|
202
|
-
m_motorImpulse = b2Clamp(m_motorImpulse + impulse, -maxImpulse, maxImpulse);
|
203
|
-
impulse = m_motorImpulse - oldImpulse;
|
204
|
-
|
205
|
-
wA -= iA * impulse;
|
206
|
-
wB += iB * impulse;
|
207
|
-
}
|
208
|
-
|
209
|
-
// Solve limit constraint.
|
210
|
-
if (m_enableLimit && m_limitState != e_inactiveLimit && fixedRotation == false)
|
211
|
-
{
|
212
|
-
b2Vec2 Cdot1 = vB + b2Cross(wB, m_rB) - vA - b2Cross(wA, m_rA);
|
213
|
-
float32 Cdot2 = wB - wA;
|
214
|
-
b2Vec3 Cdot(Cdot1.x, Cdot1.y, Cdot2);
|
215
|
-
|
216
|
-
b2Vec3 impulse = -m_mass.Solve33(Cdot);
|
217
|
-
|
218
|
-
if (m_limitState == e_equalLimits)
|
219
|
-
{
|
220
|
-
m_impulse += impulse;
|
221
|
-
}
|
222
|
-
else if (m_limitState == e_atLowerLimit)
|
223
|
-
{
|
224
|
-
float32 newImpulse = m_impulse.z + impulse.z;
|
225
|
-
if (newImpulse < 0.0f)
|
226
|
-
{
|
227
|
-
b2Vec2 rhs = -Cdot1 + m_impulse.z * b2Vec2(m_mass.ez.x, m_mass.ez.y);
|
228
|
-
b2Vec2 reduced = m_mass.Solve22(rhs);
|
229
|
-
impulse.x = reduced.x;
|
230
|
-
impulse.y = reduced.y;
|
231
|
-
impulse.z = -m_impulse.z;
|
232
|
-
m_impulse.x += reduced.x;
|
233
|
-
m_impulse.y += reduced.y;
|
234
|
-
m_impulse.z = 0.0f;
|
235
|
-
}
|
236
|
-
else
|
237
|
-
{
|
238
|
-
m_impulse += impulse;
|
239
|
-
}
|
240
|
-
}
|
241
|
-
else if (m_limitState == e_atUpperLimit)
|
242
|
-
{
|
243
|
-
float32 newImpulse = m_impulse.z + impulse.z;
|
244
|
-
if (newImpulse > 0.0f)
|
245
|
-
{
|
246
|
-
b2Vec2 rhs = -Cdot1 + m_impulse.z * b2Vec2(m_mass.ez.x, m_mass.ez.y);
|
247
|
-
b2Vec2 reduced = m_mass.Solve22(rhs);
|
248
|
-
impulse.x = reduced.x;
|
249
|
-
impulse.y = reduced.y;
|
250
|
-
impulse.z = -m_impulse.z;
|
251
|
-
m_impulse.x += reduced.x;
|
252
|
-
m_impulse.y += reduced.y;
|
253
|
-
m_impulse.z = 0.0f;
|
254
|
-
}
|
255
|
-
else
|
256
|
-
{
|
257
|
-
m_impulse += impulse;
|
258
|
-
}
|
259
|
-
}
|
260
|
-
|
261
|
-
b2Vec2 P(impulse.x, impulse.y);
|
262
|
-
|
263
|
-
vA -= mA * P;
|
264
|
-
wA -= iA * (b2Cross(m_rA, P) + impulse.z);
|
265
|
-
|
266
|
-
vB += mB * P;
|
267
|
-
wB += iB * (b2Cross(m_rB, P) + impulse.z);
|
268
|
-
}
|
269
|
-
else
|
270
|
-
{
|
271
|
-
// Solve point-to-point constraint
|
272
|
-
b2Vec2 Cdot = vB + b2Cross(wB, m_rB) - vA - b2Cross(wA, m_rA);
|
273
|
-
b2Vec2 impulse = m_mass.Solve22(-Cdot);
|
274
|
-
|
275
|
-
m_impulse.x += impulse.x;
|
276
|
-
m_impulse.y += impulse.y;
|
277
|
-
|
278
|
-
vA -= mA * impulse;
|
279
|
-
wA -= iA * b2Cross(m_rA, impulse);
|
280
|
-
|
281
|
-
vB += mB * impulse;
|
282
|
-
wB += iB * b2Cross(m_rB, impulse);
|
283
|
-
}
|
284
|
-
|
285
|
-
data.velocities[m_indexA].v = vA;
|
286
|
-
data.velocities[m_indexA].w = wA;
|
287
|
-
data.velocities[m_indexB].v = vB;
|
288
|
-
data.velocities[m_indexB].w = wB;
|
289
|
-
}
|
290
|
-
|
291
|
-
bool b2RevoluteJoint::SolvePositionConstraints(const b2SolverData& data)
|
292
|
-
{
|
293
|
-
b2Vec2 cA = data.positions[m_indexA].c;
|
294
|
-
float32 aA = data.positions[m_indexA].a;
|
295
|
-
b2Vec2 cB = data.positions[m_indexB].c;
|
296
|
-
float32 aB = data.positions[m_indexB].a;
|
297
|
-
|
298
|
-
b2Rot qA(aA), qB(aB);
|
299
|
-
|
300
|
-
float32 angularError = 0.0f;
|
301
|
-
float32 positionError = 0.0f;
|
302
|
-
|
303
|
-
bool fixedRotation = (m_invIA + m_invIB == 0.0f);
|
304
|
-
|
305
|
-
// Solve angular limit constraint.
|
306
|
-
if (m_enableLimit && m_limitState != e_inactiveLimit && fixedRotation == false)
|
307
|
-
{
|
308
|
-
float32 angle = aB - aA - m_referenceAngle;
|
309
|
-
float32 limitImpulse = 0.0f;
|
310
|
-
|
311
|
-
if (m_limitState == e_equalLimits)
|
312
|
-
{
|
313
|
-
// Prevent large angular corrections
|
314
|
-
float32 C = b2Clamp(angle - m_lowerAngle, -b2_maxAngularCorrection, b2_maxAngularCorrection);
|
315
|
-
limitImpulse = -m_motorMass * C;
|
316
|
-
angularError = b2Abs(C);
|
317
|
-
}
|
318
|
-
else if (m_limitState == e_atLowerLimit)
|
319
|
-
{
|
320
|
-
float32 C = angle - m_lowerAngle;
|
321
|
-
angularError = -C;
|
322
|
-
|
323
|
-
// Prevent large angular corrections and allow some slop.
|
324
|
-
C = b2Clamp(C + b2_angularSlop, -b2_maxAngularCorrection, 0.0f);
|
325
|
-
limitImpulse = -m_motorMass * C;
|
326
|
-
}
|
327
|
-
else if (m_limitState == e_atUpperLimit)
|
328
|
-
{
|
329
|
-
float32 C = angle - m_upperAngle;
|
330
|
-
angularError = C;
|
331
|
-
|
332
|
-
// Prevent large angular corrections and allow some slop.
|
333
|
-
C = b2Clamp(C - b2_angularSlop, 0.0f, b2_maxAngularCorrection);
|
334
|
-
limitImpulse = -m_motorMass * C;
|
335
|
-
}
|
336
|
-
|
337
|
-
aA -= m_invIA * limitImpulse;
|
338
|
-
aB += m_invIB * limitImpulse;
|
339
|
-
}
|
340
|
-
|
341
|
-
// Solve point-to-point constraint.
|
342
|
-
{
|
343
|
-
qA.Set(aA);
|
344
|
-
qB.Set(aB);
|
345
|
-
b2Vec2 rA = b2Mul(qA, m_localAnchorA - m_localCenterA);
|
346
|
-
b2Vec2 rB = b2Mul(qB, m_localAnchorB - m_localCenterB);
|
347
|
-
|
348
|
-
b2Vec2 C = cB + rB - cA - rA;
|
349
|
-
positionError = C.Length();
|
350
|
-
|
351
|
-
float32 mA = m_invMassA, mB = m_invMassB;
|
352
|
-
float32 iA = m_invIA, iB = m_invIB;
|
353
|
-
|
354
|
-
b2Mat22 K;
|
355
|
-
K.ex.x = mA + mB + iA * rA.y * rA.y + iB * rB.y * rB.y;
|
356
|
-
K.ex.y = -iA * rA.x * rA.y - iB * rB.x * rB.y;
|
357
|
-
K.ey.x = K.ex.y;
|
358
|
-
K.ey.y = mA + mB + iA * rA.x * rA.x + iB * rB.x * rB.x;
|
359
|
-
|
360
|
-
b2Vec2 impulse = -K.Solve(C);
|
361
|
-
|
362
|
-
cA -= mA * impulse;
|
363
|
-
aA -= iA * b2Cross(rA, impulse);
|
364
|
-
|
365
|
-
cB += mB * impulse;
|
366
|
-
aB += iB * b2Cross(rB, impulse);
|
367
|
-
}
|
368
|
-
|
369
|
-
data.positions[m_indexA].c = cA;
|
370
|
-
data.positions[m_indexA].a = aA;
|
371
|
-
data.positions[m_indexB].c = cB;
|
372
|
-
data.positions[m_indexB].a = aB;
|
373
|
-
|
374
|
-
return positionError <= b2_linearSlop && angularError <= b2_angularSlop;
|
375
|
-
}
|
376
|
-
|
377
|
-
b2Vec2 b2RevoluteJoint::GetAnchorA() const
|
378
|
-
{
|
379
|
-
return m_bodyA->GetWorldPoint(m_localAnchorA);
|
380
|
-
}
|
381
|
-
|
382
|
-
b2Vec2 b2RevoluteJoint::GetAnchorB() const
|
383
|
-
{
|
384
|
-
return m_bodyB->GetWorldPoint(m_localAnchorB);
|
385
|
-
}
|
386
|
-
|
387
|
-
b2Vec2 b2RevoluteJoint::GetReactionForce(float32 inv_dt) const
|
388
|
-
{
|
389
|
-
b2Vec2 P(m_impulse.x, m_impulse.y);
|
390
|
-
return inv_dt * P;
|
391
|
-
}
|
392
|
-
|
393
|
-
float32 b2RevoluteJoint::GetReactionTorque(float32 inv_dt) const
|
394
|
-
{
|
395
|
-
return inv_dt * m_impulse.z;
|
396
|
-
}
|
397
|
-
|
398
|
-
float32 b2RevoluteJoint::GetJointAngle() const
|
399
|
-
{
|
400
|
-
b2Body* bA = m_bodyA;
|
401
|
-
b2Body* bB = m_bodyB;
|
402
|
-
return bB->m_sweep.a - bA->m_sweep.a - m_referenceAngle;
|
403
|
-
}
|
404
|
-
|
405
|
-
float32 b2RevoluteJoint::GetJointSpeed() const
|
406
|
-
{
|
407
|
-
b2Body* bA = m_bodyA;
|
408
|
-
b2Body* bB = m_bodyB;
|
409
|
-
return bB->m_angularVelocity - bA->m_angularVelocity;
|
410
|
-
}
|
411
|
-
|
412
|
-
bool b2RevoluteJoint::IsMotorEnabled() const
|
413
|
-
{
|
414
|
-
return m_enableMotor;
|
415
|
-
}
|
416
|
-
|
417
|
-
void b2RevoluteJoint::EnableMotor(bool flag)
|
418
|
-
{
|
419
|
-
m_bodyA->SetAwake(true);
|
420
|
-
m_bodyB->SetAwake(true);
|
421
|
-
m_enableMotor = flag;
|
422
|
-
}
|
423
|
-
|
424
|
-
float32 b2RevoluteJoint::GetMotorTorque(float32 inv_dt) const
|
425
|
-
{
|
426
|
-
return inv_dt * m_motorImpulse;
|
427
|
-
}
|
428
|
-
|
429
|
-
void b2RevoluteJoint::SetMotorSpeed(float32 speed)
|
430
|
-
{
|
431
|
-
m_bodyA->SetAwake(true);
|
432
|
-
m_bodyB->SetAwake(true);
|
433
|
-
m_motorSpeed = speed;
|
434
|
-
}
|
435
|
-
|
436
|
-
void b2RevoluteJoint::SetMaxMotorTorque(float32 torque)
|
437
|
-
{
|
438
|
-
m_bodyA->SetAwake(true);
|
439
|
-
m_bodyB->SetAwake(true);
|
440
|
-
m_maxMotorTorque = torque;
|
441
|
-
}
|
442
|
-
|
443
|
-
bool b2RevoluteJoint::IsLimitEnabled() const
|
444
|
-
{
|
445
|
-
return m_enableLimit;
|
446
|
-
}
|
447
|
-
|
448
|
-
void b2RevoluteJoint::EnableLimit(bool flag)
|
449
|
-
{
|
450
|
-
if (flag != m_enableLimit)
|
451
|
-
{
|
452
|
-
m_bodyA->SetAwake(true);
|
453
|
-
m_bodyB->SetAwake(true);
|
454
|
-
m_enableLimit = flag;
|
455
|
-
m_impulse.z = 0.0f;
|
456
|
-
}
|
457
|
-
}
|
458
|
-
|
459
|
-
float32 b2RevoluteJoint::GetLowerLimit() const
|
460
|
-
{
|
461
|
-
return m_lowerAngle;
|
462
|
-
}
|
463
|
-
|
464
|
-
float32 b2RevoluteJoint::GetUpperLimit() const
|
465
|
-
{
|
466
|
-
return m_upperAngle;
|
467
|
-
}
|
468
|
-
|
469
|
-
void b2RevoluteJoint::SetLimits(float32 lower, float32 upper)
|
470
|
-
{
|
471
|
-
b2Assert(lower <= upper);
|
472
|
-
|
473
|
-
if (lower != m_lowerAngle || upper != m_upperAngle)
|
474
|
-
{
|
475
|
-
m_bodyA->SetAwake(true);
|
476
|
-
m_bodyB->SetAwake(true);
|
477
|
-
m_impulse.z = 0.0f;
|
478
|
-
m_lowerAngle = lower;
|
479
|
-
m_upperAngle = upper;
|
480
|
-
}
|
481
|
-
}
|
482
|
-
|
483
|
-
void b2RevoluteJoint::Dump()
|
484
|
-
{
|
485
|
-
int32 indexA = m_bodyA->m_islandIndex;
|
486
|
-
int32 indexB = m_bodyB->m_islandIndex;
|
487
|
-
|
488
|
-
b2Log(" b2RevoluteJointDef jd;\n");
|
489
|
-
b2Log(" jd.bodyA = bodies[%d];\n", indexA);
|
490
|
-
b2Log(" jd.bodyB = bodies[%d];\n", indexB);
|
491
|
-
b2Log(" jd.collideConnected = bool(%d);\n", m_collideConnected);
|
492
|
-
b2Log(" jd.localAnchorA.Set(%.15lef, %.15lef);\n", m_localAnchorA.x, m_localAnchorA.y);
|
493
|
-
b2Log(" jd.localAnchorB.Set(%.15lef, %.15lef);\n", m_localAnchorB.x, m_localAnchorB.y);
|
494
|
-
b2Log(" jd.referenceAngle = %.15lef;\n", m_referenceAngle);
|
495
|
-
b2Log(" jd.enableLimit = bool(%d);\n", m_enableLimit);
|
496
|
-
b2Log(" jd.lowerAngle = %.15lef;\n", m_lowerAngle);
|
497
|
-
b2Log(" jd.upperAngle = %.15lef;\n", m_upperAngle);
|
498
|
-
b2Log(" jd.enableMotor = bool(%d);\n", m_enableMotor);
|
499
|
-
b2Log(" jd.motorSpeed = %.15lef;\n", m_motorSpeed);
|
500
|
-
b2Log(" jd.maxMotorTorque = %.15lef;\n", m_maxMotorTorque);
|
501
|
-
b2Log(" joints[%d] = m_world->CreateJoint(&jd);\n", m_index);
|
502
|
-
}
|