reflexion 0.1.7 → 0.1.8

data/src/physics/Box2D/Dynamics/Joints/b2Joint.cpp

@@ -0,0 +1,211 @@
+/*
+* 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/b2Joint.h>
+#include <Box2D/Dynamics/Joints/b2DistanceJoint.h>
+#include <Box2D/Dynamics/Joints/b2WheelJoint.h>
+#include <Box2D/Dynamics/Joints/b2MouseJoint.h>
+#include <Box2D/Dynamics/Joints/b2RevoluteJoint.h>
+#include <Box2D/Dynamics/Joints/b2PrismaticJoint.h>
+#include <Box2D/Dynamics/Joints/b2PulleyJoint.h>
+#include <Box2D/Dynamics/Joints/b2GearJoint.h>
+#include <Box2D/Dynamics/Joints/b2WeldJoint.h>
+#include <Box2D/Dynamics/Joints/b2FrictionJoint.h>
+#include <Box2D/Dynamics/Joints/b2RopeJoint.h>
+#include <Box2D/Dynamics/Joints/b2MotorJoint.h>
+#include <Box2D/Dynamics/b2Body.h>
+#include <Box2D/Dynamics/b2World.h>
+#include <Box2D/Common/b2BlockAllocator.h>
+
+#include <new>
+
+b2Joint* b2Joint::Create(const b2JointDef* def, b2BlockAllocator* allocator)
+{
+	b2Joint* joint = NULL;
+
+	switch (def->type)
+	{
+	case e_distanceJoint:
+		{
+			void* mem = allocator->Allocate(sizeof(b2DistanceJoint));
+			joint = new (mem) b2DistanceJoint(static_cast<const b2DistanceJointDef*>(def));
+		}
+		break;
+
+	case e_mouseJoint:
+		{
+			void* mem = allocator->Allocate(sizeof(b2MouseJoint));
+			joint = new (mem) b2MouseJoint(static_cast<const b2MouseJointDef*>(def));
+		}
+		break;
+
+	case e_prismaticJoint:
+		{
+			void* mem = allocator->Allocate(sizeof(b2PrismaticJoint));
+			joint = new (mem) b2PrismaticJoint(static_cast<const b2PrismaticJointDef*>(def));
+		}
+		break;
+
+	case e_revoluteJoint:
+		{
+			void* mem = allocator->Allocate(sizeof(b2RevoluteJoint));
+			joint = new (mem) b2RevoluteJoint(static_cast<const b2RevoluteJointDef*>(def));
+		}
+		break;
+
+	case e_pulleyJoint:
+		{
+			void* mem = allocator->Allocate(sizeof(b2PulleyJoint));
+			joint = new (mem) b2PulleyJoint(static_cast<const b2PulleyJointDef*>(def));
+		}
+		break;
+
+	case e_gearJoint:
+		{
+			void* mem = allocator->Allocate(sizeof(b2GearJoint));
+			joint = new (mem) b2GearJoint(static_cast<const b2GearJointDef*>(def));
+		}
+		break;
+
+	case e_wheelJoint:
+		{
+			void* mem = allocator->Allocate(sizeof(b2WheelJoint));
+			joint = new (mem) b2WheelJoint(static_cast<const b2WheelJointDef*>(def));
+		}
+		break;
+
+	case e_weldJoint:
+		{
+			void* mem = allocator->Allocate(sizeof(b2WeldJoint));
+			joint = new (mem) b2WeldJoint(static_cast<const b2WeldJointDef*>(def));
+		}
+		break;
+        
+	case e_frictionJoint:
+		{
+			void* mem = allocator->Allocate(sizeof(b2FrictionJoint));
+			joint = new (mem) b2FrictionJoint(static_cast<const b2FrictionJointDef*>(def));
+		}
+		break;
+
+	case e_ropeJoint:
+		{
+			void* mem = allocator->Allocate(sizeof(b2RopeJoint));
+			joint = new (mem) b2RopeJoint(static_cast<const b2RopeJointDef*>(def));
+		}
+		break;
+
+	case e_motorJoint:
+		{
+			void* mem = allocator->Allocate(sizeof(b2MotorJoint));
+			joint = new (mem) b2MotorJoint(static_cast<const b2MotorJointDef*>(def));
+		}
+		break;
+
+	default:
+		b2Assert(false);
+		break;
+	}
+
+	return joint;
+}
+
+void b2Joint::Destroy(b2Joint* joint, b2BlockAllocator* allocator)
+{
+	joint->~b2Joint();
+	switch (joint->m_type)
+	{
+	case e_distanceJoint:
+		allocator->Free(joint, sizeof(b2DistanceJoint));
+		break;
+
+	case e_mouseJoint:
+		allocator->Free(joint, sizeof(b2MouseJoint));
+		break;
+
+	case e_prismaticJoint:
+		allocator->Free(joint, sizeof(b2PrismaticJoint));
+		break;
+
+	case e_revoluteJoint:
+		allocator->Free(joint, sizeof(b2RevoluteJoint));
+		break;
+
+	case e_pulleyJoint:
+		allocator->Free(joint, sizeof(b2PulleyJoint));
+		break;
+
+	case e_gearJoint:
+		allocator->Free(joint, sizeof(b2GearJoint));
+		break;
+
+	case e_wheelJoint:
+		allocator->Free(joint, sizeof(b2WheelJoint));
+		break;
+    
+	case e_weldJoint:
+		allocator->Free(joint, sizeof(b2WeldJoint));
+		break;
+
+	case e_frictionJoint:
+		allocator->Free(joint, sizeof(b2FrictionJoint));
+		break;
+
+	case e_ropeJoint:
+		allocator->Free(joint, sizeof(b2RopeJoint));
+		break;
+
+	case e_motorJoint:
+		allocator->Free(joint, sizeof(b2MotorJoint));
+		break;
+
+	default:
+		b2Assert(false);
+		break;
+	}
+}
+
+b2Joint::b2Joint(const b2JointDef* def)
+{
+	b2Assert(def->bodyA != def->bodyB);
+
+	m_type = def->type;
+	m_prev = NULL;
+	m_next = NULL;
+	m_bodyA = def->bodyA;
+	m_bodyB = def->bodyB;
+	m_index = 0;
+	m_collideConnected = def->collideConnected;
+	m_islandFlag = false;
+	m_userData = def->userData;
+
+	m_edgeA.joint = NULL;
+	m_edgeA.other = NULL;
+	m_edgeA.prev = NULL;
+	m_edgeA.next = NULL;
+
+	m_edgeB.joint = NULL;
+	m_edgeB.other = NULL;
+	m_edgeB.prev = NULL;
+	m_edgeB.next = NULL;
+}
+
+bool b2Joint::IsActive() const
+{
+	return m_bodyA->IsActive() && m_bodyB->IsActive();
+}

data/src/physics/Box2D/Dynamics/Joints/b2Joint.h

@@ -0,0 +1,226 @@
+/*
+* 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_JOINT_H
+#define B2_JOINT_H
+
+#include <Box2D/Common/b2Math.h>
+
+class b2Body;
+class b2Joint;
+struct b2SolverData;
+class b2BlockAllocator;
+
+enum b2JointType
+{
+	e_unknownJoint,
+	e_revoluteJoint,
+	e_prismaticJoint,
+	e_distanceJoint,
+	e_pulleyJoint,
+	e_mouseJoint,
+	e_gearJoint,
+	e_wheelJoint,
+    e_weldJoint,
+	e_frictionJoint,
+	e_ropeJoint,
+	e_motorJoint
+};
+
+enum b2LimitState
+{
+	e_inactiveLimit,
+	e_atLowerLimit,
+	e_atUpperLimit,
+	e_equalLimits
+};
+
+struct b2Jacobian
+{
+	b2Vec2 linear;
+	float32 angularA;
+	float32 angularB;
+};
+
+/// A joint edge is used to connect bodies and joints together
+/// in a joint graph where each body is a node and each joint
+/// is an edge. A joint edge belongs to a doubly linked list
+/// maintained in each attached body. Each joint has two joint
+/// nodes, one for each attached body.
+struct b2JointEdge
+{
+	b2Body* other;			///< provides quick access to the other body attached.
+	b2Joint* joint;			///< the joint
+	b2JointEdge* prev;		///< the previous joint edge in the body's joint list
+	b2JointEdge* next;		///< the next joint edge in the body's joint list
+};
+
+/// Joint definitions are used to construct joints.
+struct b2JointDef
+{
+	b2JointDef()
+	{
+		type = e_unknownJoint;
+		userData = NULL;
+		bodyA = NULL;
+		bodyB = NULL;
+		collideConnected = false;
+	}
+
+	/// The joint type is set automatically for concrete joint types.
+	b2JointType type;
+
+	/// Use this to attach application specific data to your joints.
+	void* userData;
+
+	/// The first attached body.
+	b2Body* bodyA;
+
+	/// The second attached body.
+	b2Body* bodyB;
+
+	/// Set this flag to true if the attached bodies should collide.
+	bool collideConnected;
+};
+
+/// The base joint class. Joints are used to constraint two bodies together in
+/// various fashions. Some joints also feature limits and motors.
+class b2Joint
+{
+public:
+
+	/// Get the type of the concrete joint.
+	b2JointType GetType() const;
+
+	/// Get the first body attached to this joint.
+	b2Body* GetBodyA();
+
+	/// Get the second body attached to this joint.
+	b2Body* GetBodyB();
+
+	/// Get the anchor point on bodyA in world coordinates.
+	virtual b2Vec2 GetAnchorA() const = 0;
+
+	/// Get the anchor point on bodyB in world coordinates.
+	virtual b2Vec2 GetAnchorB() const = 0;
+
+	/// Get the reaction force on bodyB at the joint anchor in Newtons.
+	virtual b2Vec2 GetReactionForce(float32 inv_dt) const = 0;
+
+	/// Get the reaction torque on bodyB in N*m.
+	virtual float32 GetReactionTorque(float32 inv_dt) const = 0;
+
+	/// Get the next joint the world joint list.
+	b2Joint* GetNext();
+	const b2Joint* GetNext() const;
+
+	/// Get the user data pointer.
+	void* GetUserData() const;
+
+	/// Set the user data pointer.
+	void SetUserData(void* data);
+
+	/// Short-cut function to determine if either body is inactive.
+	bool IsActive() const;
+
+	/// Get collide connected.
+	/// Note: modifying the collide connect flag won't work correctly because
+	/// the flag is only checked when fixture AABBs begin to overlap.
+	bool GetCollideConnected() const;
+
+	/// Dump this joint to the log file.
+	virtual void Dump() { b2Log("// Dump is not supported for this joint type.\n"); }
+
+	/// Shift the origin for any points stored in world coordinates.
+	virtual void ShiftOrigin(const b2Vec2& newOrigin) { B2_NOT_USED(newOrigin);  }
+
+protected:
+	friend class b2World;
+	friend class b2Body;
+	friend class b2Island;
+	friend class b2GearJoint;
+
+	static b2Joint* Create(const b2JointDef* def, b2BlockAllocator* allocator);
+	static void Destroy(b2Joint* joint, b2BlockAllocator* allocator);
+
+	b2Joint(const b2JointDef* def);
+	virtual ~b2Joint() {}
+
+	virtual void InitVelocityConstraints(const b2SolverData& data) = 0;
+	virtual void SolveVelocityConstraints(const b2SolverData& data) = 0;
+
+	// This returns true if the position errors are within tolerance.
+	virtual bool SolvePositionConstraints(const b2SolverData& data) = 0;
+
+	b2JointType m_type;
+	b2Joint* m_prev;
+	b2Joint* m_next;
+	b2JointEdge m_edgeA;
+	b2JointEdge m_edgeB;
+	b2Body* m_bodyA;
+	b2Body* m_bodyB;
+
+	int32 m_index;
+
+	bool m_islandFlag;
+	bool m_collideConnected;
+
+	void* m_userData;
+};
+
+inline b2JointType b2Joint::GetType() const
+{
+	return m_type;
+}
+
+inline b2Body* b2Joint::GetBodyA()
+{
+	return m_bodyA;
+}
+
+inline b2Body* b2Joint::GetBodyB()
+{
+	return m_bodyB;
+}
+
+inline b2Joint* b2Joint::GetNext()
+{
+	return m_next;
+}
+
+inline const b2Joint* b2Joint::GetNext() const
+{
+	return m_next;
+}
+
+inline void* b2Joint::GetUserData() const
+{
+	return m_userData;
+}
+
+inline void b2Joint::SetUserData(void* data)
+{
+	m_userData = data;
+}
+
+inline bool b2Joint::GetCollideConnected() const
+{
+	return m_collideConnected;
+}
+
+#endif