reflexion 0.1.7 → 0.1.8

data/src/physics/Box2D/Dynamics/Joints/b2DistanceJoint.cpp

@@ -0,0 +1,260 @@
+/*
+* 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/b2DistanceJoint.h>
+#include <Box2D/Dynamics/b2Body.h>
+#include <Box2D/Dynamics/b2TimeStep.h>
+
+// 1-D constrained system
+// m (v2 - v1) = lambda
+// v2 + (beta/h) * x1 + gamma * lambda = 0, gamma has units of inverse mass.
+// x2 = x1 + h * v2
+
+// 1-D mass-damper-spring system
+// m (v2 - v1) + h * d * v2 + h * k * 
+
+// C = norm(p2 - p1) - L
+// u = (p2 - p1) / norm(p2 - p1)
+// Cdot = dot(u, v2 + cross(w2, r2) - v1 - cross(w1, r1))
+// J = [-u -cross(r1, u) u cross(r2, u)]
+// K = J * invM * JT
+//   = invMass1 + invI1 * cross(r1, u)^2 + invMass2 + invI2 * cross(r2, u)^2
+
+void b2DistanceJointDef::Initialize(b2Body* b1, b2Body* b2,
+									const b2Vec2& anchor1, const b2Vec2& anchor2)
+{
+	bodyA = b1;
+	bodyB = b2;
+	localAnchorA = bodyA->GetLocalPoint(anchor1);
+	localAnchorB = bodyB->GetLocalPoint(anchor2);
+	b2Vec2 d = anchor2 - anchor1;
+	length = d.Length();
+}
+
+b2DistanceJoint::b2DistanceJoint(const b2DistanceJointDef* def)
+: b2Joint(def)
+{
+	m_localAnchorA = def->localAnchorA;
+	m_localAnchorB = def->localAnchorB;
+	m_length = def->length;
+	m_frequencyHz = def->frequencyHz;
+	m_dampingRatio = def->dampingRatio;
+	m_impulse = 0.0f;
+	m_gamma = 0.0f;
+	m_bias = 0.0f;
+}
+
+void b2DistanceJoint::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);
+
+	m_rA = b2Mul(qA, m_localAnchorA - m_localCenterA);
+	m_rB = b2Mul(qB, m_localAnchorB - m_localCenterB);
+	m_u = cB + m_rB - cA - m_rA;
+
+	// Handle singularity.
+	float32 length = m_u.Length();
+	if (length > b2_linearSlop)
+	{
+		m_u *= 1.0f / length;
+	}
+	else
+	{
+		m_u.Set(0.0f, 0.0f);
+	}
+
+	float32 crAu = b2Cross(m_rA, m_u);
+	float32 crBu = b2Cross(m_rB, m_u);
+	float32 invMass = m_invMassA + m_invIA * crAu * crAu + m_invMassB + m_invIB * crBu * crBu;
+
+	// Compute the effective mass matrix.
+	m_mass = invMass != 0.0f ? 1.0f / invMass : 0.0f;
+
+	if (m_frequencyHz > 0.0f)
+	{
+		float32 C = length - m_length;
+
+		// Frequency
+		float32 omega = 2.0f * b2_pi * m_frequencyHz;
+
+		// Damping coefficient
+		float32 d = 2.0f * m_mass * m_dampingRatio * omega;
+
+		// Spring stiffness
+		float32 k = m_mass * omega * omega;
+
+		// magic formulas
+		float32 h = data.step.dt;
+		m_gamma = h * (d + h * k);
+		m_gamma = m_gamma != 0.0f ? 1.0f / m_gamma : 0.0f;
+		m_bias = C * h * k * m_gamma;
+
+		invMass += m_gamma;
+		m_mass = invMass != 0.0f ? 1.0f / invMass : 0.0f;
+	}
+	else
+	{
+		m_gamma = 0.0f;
+		m_bias = 0.0f;
+	}
+
+	if (data.step.warmStarting)
+	{
+		// Scale the impulse to support a variable time step.
+		m_impulse *= data.step.dtRatio;
+
+		b2Vec2 P = m_impulse * m_u;
+		vA -= m_invMassA * P;
+		wA -= m_invIA * b2Cross(m_rA, P);
+		vB += m_invMassB * P;
+		wB += m_invIB * b2Cross(m_rB, P);
+	}
+	else
+	{
+		m_impulse = 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 b2DistanceJoint::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;
+
+	// Cdot = dot(u, v + cross(w, r))
+	b2Vec2 vpA = vA + b2Cross(wA, m_rA);
+	b2Vec2 vpB = vB + b2Cross(wB, m_rB);
+	float32 Cdot = b2Dot(m_u, vpB - vpA);
+
+	float32 impulse = -m_mass * (Cdot + m_bias + m_gamma * m_impulse);
+	m_impulse += impulse;
+
+	b2Vec2 P = impulse * m_u;
+	vA -= m_invMassA * P;
+	wA -= m_invIA * b2Cross(m_rA, P);
+	vB += m_invMassB * P;
+	wB += m_invIB * b2Cross(m_rB, P);
+
+	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 b2DistanceJoint::SolvePositionConstraints(const b2SolverData& data)
+{
+	if (m_frequencyHz > 0.0f)
+	{
+		// There is no position correction for soft distance constraints.
+		return true;
+	}
+
+	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 u = cB + rB - cA - rA;
+
+	float32 length = u.Normalize();
+	float32 C = length - m_length;
+	C = b2Clamp(C, -b2_maxLinearCorrection, b2_maxLinearCorrection);
+
+	float32 impulse = -m_mass * C;
+	b2Vec2 P = impulse * u;
+
+	cA -= m_invMassA * P;
+	aA -= m_invIA * b2Cross(rA, P);
+	cB += m_invMassB * P;
+	aB += m_invIB * b2Cross(rB, P);
+
+	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 b2DistanceJoint::GetAnchorA() const
+{
+	return m_bodyA->GetWorldPoint(m_localAnchorA);
+}
+
+b2Vec2 b2DistanceJoint::GetAnchorB() const
+{
+	return m_bodyB->GetWorldPoint(m_localAnchorB);
+}
+
+b2Vec2 b2DistanceJoint::GetReactionForce(float32 inv_dt) const
+{
+	b2Vec2 F = (inv_dt * m_impulse) * m_u;
+	return F;
+}
+
+float32 b2DistanceJoint::GetReactionTorque(float32 inv_dt) const
+{
+	B2_NOT_USED(inv_dt);
+	return 0.0f;
+}
+
+void b2DistanceJoint::Dump()
+{
+	int32 indexA = m_bodyA->m_islandIndex;
+	int32 indexB = m_bodyB->m_islandIndex;
+
+	b2Log("  b2DistanceJointDef 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.length = %.15lef;\n", m_length);
+	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/b2DistanceJoint.h

@@ -0,0 +1,169 @@
+/*
+* 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_DISTANCE_JOINT_H
+#define B2_DISTANCE_JOINT_H
+
+#include <Box2D/Dynamics/Joints/b2Joint.h>
+
+/// Distance joint definition. This requires defining an
+/// anchor point on both bodies and the non-zero length of the
+/// distance joint. The definition uses local anchor points
+/// so that the initial configuration can violate the constraint
+/// slightly. This helps when saving and loading a game.
+/// @warning Do not use a zero or short length.
+struct b2DistanceJointDef : public b2JointDef
+{
+	b2DistanceJointDef()
+	{
+		type = e_distanceJoint;
+		localAnchorA.Set(0.0f, 0.0f);
+		localAnchorB.Set(0.0f, 0.0f);
+		length = 1.0f;
+		frequencyHz = 0.0f;
+		dampingRatio = 0.0f;
+	}
+
+	/// Initialize the bodies, anchors, and length using the world
+	/// anchors.
+	void Initialize(b2Body* bodyA, b2Body* bodyB,
+					const b2Vec2& anchorA, const b2Vec2& anchorB);
+
+	/// The local anchor point relative to bodyA's origin.
+	b2Vec2 localAnchorA;
+
+	/// The local anchor point relative to bodyB's origin.
+	b2Vec2 localAnchorB;
+
+	/// The natural length between the anchor points.
+	float32 length;
+
+	/// The mass-spring-damper frequency in Hertz. A value of 0
+	/// disables softness.
+	float32 frequencyHz;
+
+	/// The damping ratio. 0 = no damping, 1 = critical damping.
+	float32 dampingRatio;
+};
+
+/// A distance joint constrains two points on two bodies
+/// to remain at a fixed distance from each other. You can view
+/// this as a massless, rigid rod.
+class b2DistanceJoint : public b2Joint
+{
+public:
+
+	b2Vec2 GetAnchorA() const;
+	b2Vec2 GetAnchorB() const;
+
+	/// Get the reaction force given the inverse time step.
+	/// Unit is N.
+	b2Vec2 GetReactionForce(float32 inv_dt) const;
+
+	/// Get the reaction torque given the inverse time step.
+	/// Unit is N*m. This is always zero for a distance joint.
+	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; }
+
+	/// Set/get the natural length.
+	/// Manipulating the length can lead to non-physical behavior when the frequency is zero.
+	void SetLength(float32 length);
+	float32 GetLength() const;
+
+	/// Set/get frequency in Hz.
+	void SetFrequency(float32 hz);
+	float32 GetFrequency() const;
+
+	/// Set/get damping ratio.
+	void SetDampingRatio(float32 ratio);
+	float32 GetDampingRatio() const;
+
+	/// Dump joint to dmLog
+	void Dump();
+
+protected:
+
+	friend class b2Joint;
+	b2DistanceJoint(const b2DistanceJointDef* data);
+
+	void InitVelocityConstraints(const b2SolverData& data);
+	void SolveVelocityConstraints(const b2SolverData& data);
+	bool SolvePositionConstraints(const b2SolverData& data);
+
+	float32 m_frequencyHz;
+	float32 m_dampingRatio;
+	float32 m_bias;
+
+	// Solver shared
+	b2Vec2 m_localAnchorA;
+	b2Vec2 m_localAnchorB;
+	float32 m_gamma;
+	float32 m_impulse;
+	float32 m_length;
+
+	// Solver temp
+	int32 m_indexA;
+	int32 m_indexB;
+	b2Vec2 m_u;
+	b2Vec2 m_rA;
+	b2Vec2 m_rB;
+	b2Vec2 m_localCenterA;
+	b2Vec2 m_localCenterB;
+	float32 m_invMassA;
+	float32 m_invMassB;
+	float32 m_invIA;
+	float32 m_invIB;
+	float32 m_mass;
+};
+
+inline void b2DistanceJoint::SetLength(float32 length)
+{
+	m_length = length;
+}
+
+inline float32 b2DistanceJoint::GetLength() const
+{
+	return m_length;
+}
+
+inline void b2DistanceJoint::SetFrequency(float32 hz)
+{
+	m_frequencyHz = hz;
+}
+
+inline float32 b2DistanceJoint::GetFrequency() const
+{
+	return m_frequencyHz;
+}
+
+inline void b2DistanceJoint::SetDampingRatio(float32 ratio)
+{
+	m_dampingRatio = ratio;
+}
+
+inline float32 b2DistanceJoint::GetDampingRatio() const
+{
+	return m_dampingRatio;
+}
+
+#endif

data/src/physics/Box2D/Dynamics/Joints/b2FrictionJoint.cpp

@@ -0,0 +1,251 @@
+/*
+* 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/b2FrictionJoint.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 b2FrictionJointDef::Initialize(b2Body* bA, b2Body* bB, const b2Vec2& anchor)
+{
+	bodyA = bA;
+	bodyB = bB;
+	localAnchorA = bodyA->GetLocalPoint(anchor);
+	localAnchorB = bodyB->GetLocalPoint(anchor);
+}
+
+b2FrictionJoint::b2FrictionJoint(const b2FrictionJointDef* def)
+: b2Joint(def)
+{
+	m_localAnchorA = def->localAnchorA;
+	m_localAnchorB = def->localAnchorB;
+
+	m_linearImpulse.SetZero();
+	m_angularImpulse = 0.0f;
+
+	m_maxForce = def->maxForce;
+	m_maxTorque = def->maxTorque;
+}
+
+void b2FrictionJoint::InitVelocityConstraints(const b2SolverData& data)
+{
+	m_indexA = m_bodyA->m_islandIndex;
+	m_indexB = m_bodyB->m_islandIndex;
+	m_localCenterA = m_bodyA->m_sweep.localCenter;
+	m_localCenterB = m_bodyB->m_sweep.localCenter;
+	m_invMassA = m_bodyA->m_invMass;
+	m_invMassB = m_bodyB->m_invMass;
+	m_invIA = m_bodyA->m_invI;
+	m_invIB = m_bodyB->m_invI;
+
+	float32 aA = data.positions[m_indexA].a;
+	b2Vec2 vA = data.velocities[m_indexA].v;
+	float32 wA = data.velocities[m_indexA].w;
+
+	float32 aB = data.positions[m_indexB].a;
+	b2Vec2 vB = data.velocities[m_indexB].v;
+	float32 wB = data.velocities[m_indexB].w;
+
+	b2Rot qA(aA), qB(aB);
+
+	// Compute the effective mass matrix.
+	m_rA = b2Mul(qA, m_localAnchorA - m_localCenterA);
+	m_rB = b2Mul(qB, m_localAnchorB - m_localCenterB);
+
+	// J = [-I -r1_skew I r2_skew]
+	//     [ 0       -1 0       1]
+	// r_skew = [-ry; rx]
+
+	// Matlab
+	// K = [ mA+r1y^2*iA+mB+r2y^2*iB,  -r1y*iA*r1x-r2y*iB*r2x,          -r1y*iA-r2y*iB]
+	//     [  -r1y*iA*r1x-r2y*iB*r2x, mA+r1x^2*iA+mB+r2x^2*iB,           r1x*iA+r2x*iB]
+	//     [          -r1y*iA-r2y*iB,           r1x*iA+r2x*iB,                   iA+iB]
+
+	float32 mA = m_invMassA, mB = m_invMassB;
+	float32 iA = m_invIA, iB = m_invIB;
+
+	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;
+	}
+
+	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 b2FrictionJoint::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;
+
+	// Solve angular friction
+	{
+		float32 Cdot = wB - wA;
+		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);
+
+		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 b2FrictionJoint::SolvePositionConstraints(const b2SolverData& data)
+{
+	B2_NOT_USED(data);
+
+	return true;
+}
+
+b2Vec2 b2FrictionJoint::GetAnchorA() const
+{
+	return m_bodyA->GetWorldPoint(m_localAnchorA);
+}
+
+b2Vec2 b2FrictionJoint::GetAnchorB() const
+{
+	return m_bodyB->GetWorldPoint(m_localAnchorB);
+}
+
+b2Vec2 b2FrictionJoint::GetReactionForce(float32 inv_dt) const
+{
+	return inv_dt * m_linearImpulse;
+}
+
+float32 b2FrictionJoint::GetReactionTorque(float32 inv_dt) const
+{
+	return inv_dt * m_angularImpulse;
+}
+
+void b2FrictionJoint::SetMaxForce(float32 force)
+{
+	b2Assert(b2IsValid(force) && force >= 0.0f);
+	m_maxForce = force;
+}
+
+float32 b2FrictionJoint::GetMaxForce() const
+{
+	return m_maxForce;
+}
+
+void b2FrictionJoint::SetMaxTorque(float32 torque)
+{
+	b2Assert(b2IsValid(torque) && torque >= 0.0f);
+	m_maxTorque = torque;
+}
+
+float32 b2FrictionJoint::GetMaxTorque() const
+{
+	return m_maxTorque;
+}
+
+void b2FrictionJoint::Dump()
+{
+	int32 indexA = m_bodyA->m_islandIndex;
+	int32 indexB = m_bodyB->m_islandIndex;
+
+	b2Log("  b2FrictionJointDef 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.maxForce = %.15lef;\n", m_maxForce);
+	b2Log("  jd.maxTorque = %.15lef;\n", m_maxTorque);
+	b2Log("  joints[%d] = m_world->CreateJoint(&jd);\n", m_index);
+}