reflexion 0.1.7 → 0.1.8

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

@@ -0,0 +1,304 @@
+/*
+* Copyright (c) 2006-2012 Erin Catto http://www.box2d.org
+*
+* This software is provided 'as-is', without any express or implied
+* warranty.  In no event will the authors be held liable for any damages
+* arising from the use of this software.
+* Permission is granted to anyone to use this software for any purpose,
+* including commercial applications, and to alter it and redistribute it
+* freely, subject to the following restrictions:
+* 1. The origin of this software must not be misrepresented; you must not
+* claim that you wrote the original software. If you use this software
+* in a product, an acknowledgment in the product documentation would be
+* appreciated but is not required.
+* 2. Altered source versions must be plainly marked as such, and must not be
+* misrepresented as being the original software.
+* 3. This notice may not be removed or altered from any source distribution.
+*/
+
+#include <Box2D/Dynamics/Joints/b2MotorJoint.h>
+#include <Box2D/Dynamics/b2Body.h>
+#include <Box2D/Dynamics/b2TimeStep.h>
+
+// Point-to-point constraint
+// Cdot = v2 - v1
+//      = v2 + cross(w2, r2) - v1 - cross(w1, r1)
+// J = [-I -r1_skew I r2_skew ]
+// Identity used:
+// w k % (rx i + ry j) = w * (-ry i + rx j)
+
+// Angle constraint
+// Cdot = w2 - w1
+// J = [0 0 -1 0 0 1]
+// K = invI1 + invI2
+
+void b2MotorJointDef::Initialize(b2Body* bA, b2Body* bB)
+{
+	bodyA = bA;
+	bodyB = bB;
+	b2Vec2 xB = bodyB->GetPosition();
+	linearOffset = bodyA->GetLocalPoint(xB);
+
+	float32 angleA = bodyA->GetAngle();
+	float32 angleB = bodyB->GetAngle();
+	angularOffset = angleB - angleA;
+}
+
+b2MotorJoint::b2MotorJoint(const b2MotorJointDef* def)
+: b2Joint(def)
+{
+	m_linearOffset = def->linearOffset;
+	m_angularOffset = def->angularOffset;
+
+	m_linearImpulse.SetZero();
+	m_angularImpulse = 0.0f;
+
+	m_maxForce = def->maxForce;
+	m_maxTorque = def->maxTorque;
+	m_correctionFactor = def->correctionFactor;
+}
+
+void b2MotorJoint::InitVelocityConstraints(const b2SolverData& data)
+{
+	m_indexA = m_bodyA->m_islandIndex;
+	m_indexB = m_bodyB->m_islandIndex;
+	m_localCenterA = m_bodyA->m_sweep.localCenter;
+	m_localCenterB = m_bodyB->m_sweep.localCenter;
+	m_invMassA = m_bodyA->m_invMass;
+	m_invMassB = m_bodyB->m_invMass;
+	m_invIA = m_bodyA->m_invI;
+	m_invIB = m_bodyB->m_invI;
+
+	b2Vec2 cA = data.positions[m_indexA].c;
+	float32 aA = data.positions[m_indexA].a;
+	b2Vec2 vA = data.velocities[m_indexA].v;
+	float32 wA = data.velocities[m_indexA].w;
+
+	b2Vec2 cB = data.positions[m_indexB].c;
+	float32 aB = data.positions[m_indexB].a;
+	b2Vec2 vB = data.velocities[m_indexB].v;
+	float32 wB = data.velocities[m_indexB].w;
+
+	b2Rot qA(aA), qB(aB);
+
+	// Compute the effective mass matrix.
+	m_rA = b2Mul(qA, -m_localCenterA);
+	m_rB = b2Mul(qB, -m_localCenterB);
+
+	// J = [-I -r1_skew I r2_skew]
+	//     [ 0       -1 0       1]
+	// r_skew = [-ry; rx]
+
+	// Matlab
+	// K = [ mA+r1y^2*iA+mB+r2y^2*iB,  -r1y*iA*r1x-r2y*iB*r2x,          -r1y*iA-r2y*iB]
+	//     [  -r1y*iA*r1x-r2y*iB*r2x, mA+r1x^2*iA+mB+r2x^2*iB,           r1x*iA+r2x*iB]
+	//     [          -r1y*iA-r2y*iB,           r1x*iA+r2x*iB,                   iA+iB]
+
+	float32 mA = m_invMassA, mB = m_invMassB;
+	float32 iA = m_invIA, iB = m_invIB;
+
+	b2Mat22 K;
+	K.ex.x = mA + mB + iA * m_rA.y * m_rA.y + iB * m_rB.y * m_rB.y;
+	K.ex.y = -iA * m_rA.x * m_rA.y - iB * m_rB.x * m_rB.y;
+	K.ey.x = K.ex.y;
+	K.ey.y = mA + mB + iA * m_rA.x * m_rA.x + iB * m_rB.x * m_rB.x;
+
+	m_linearMass = K.GetInverse();
+
+	m_angularMass = iA + iB;
+	if (m_angularMass > 0.0f)
+	{
+		m_angularMass = 1.0f / m_angularMass;
+	}
+
+	m_linearError = cB + m_rB - cA - m_rA - b2Mul(qA, m_linearOffset);
+	m_angularError = aB - aA - m_angularOffset;
+
+	if (data.step.warmStarting)
+	{
+		// Scale impulses to support a variable time step.
+		m_linearImpulse *= data.step.dtRatio;
+		m_angularImpulse *= data.step.dtRatio;
+
+		b2Vec2 P(m_linearImpulse.x, m_linearImpulse.y);
+		vA -= mA * P;
+		wA -= iA * (b2Cross(m_rA, P) + m_angularImpulse);
+		vB += mB * P;
+		wB += iB * (b2Cross(m_rB, P) + m_angularImpulse);
+	}
+	else
+	{
+		m_linearImpulse.SetZero();
+		m_angularImpulse = 0.0f;
+	}
+
+	data.velocities[m_indexA].v = vA;
+	data.velocities[m_indexA].w = wA;
+	data.velocities[m_indexB].v = vB;
+	data.velocities[m_indexB].w = wB;
+}
+
+void b2MotorJoint::SolveVelocityConstraints(const b2SolverData& data)
+{
+	b2Vec2 vA = data.velocities[m_indexA].v;
+	float32 wA = data.velocities[m_indexA].w;
+	b2Vec2 vB = data.velocities[m_indexB].v;
+	float32 wB = data.velocities[m_indexB].w;
+
+	float32 mA = m_invMassA, mB = m_invMassB;
+	float32 iA = m_invIA, iB = m_invIB;
+
+	float32 h = data.step.dt;
+	float32 inv_h = data.step.inv_dt;
+
+	// Solve angular friction
+	{
+		float32 Cdot = wB - wA + inv_h * m_correctionFactor * m_angularError;
+		float32 impulse = -m_angularMass * Cdot;
+
+		float32 oldImpulse = m_angularImpulse;
+		float32 maxImpulse = h * m_maxTorque;
+		m_angularImpulse = b2Clamp(m_angularImpulse + impulse, -maxImpulse, maxImpulse);
+		impulse = m_angularImpulse - oldImpulse;
+
+		wA -= iA * impulse;
+		wB += iB * impulse;
+	}
+
+	// Solve linear friction
+	{
+		b2Vec2 Cdot = vB + b2Cross(wB, m_rB) - vA - b2Cross(wA, m_rA) + inv_h * m_correctionFactor * m_linearError;
+
+		b2Vec2 impulse = -b2Mul(m_linearMass, Cdot);
+		b2Vec2 oldImpulse = m_linearImpulse;
+		m_linearImpulse += impulse;
+
+		float32 maxImpulse = h * m_maxForce;
+
+		if (m_linearImpulse.LengthSquared() > maxImpulse * maxImpulse)
+		{
+			m_linearImpulse.Normalize();
+			m_linearImpulse *= maxImpulse;
+		}
+
+		impulse = m_linearImpulse - oldImpulse;
+
+		vA -= mA * impulse;
+		wA -= iA * b2Cross(m_rA, impulse);
+
+		vB += mB * impulse;
+		wB += iB * b2Cross(m_rB, impulse);
+	}
+
+	data.velocities[m_indexA].v = vA;
+	data.velocities[m_indexA].w = wA;
+	data.velocities[m_indexB].v = vB;
+	data.velocities[m_indexB].w = wB;
+}
+
+bool b2MotorJoint::SolvePositionConstraints(const b2SolverData& data)
+{
+	B2_NOT_USED(data);
+
+	return true;
+}
+
+b2Vec2 b2MotorJoint::GetAnchorA() const
+{
+	return m_bodyA->GetPosition();
+}
+
+b2Vec2 b2MotorJoint::GetAnchorB() const
+{
+	return m_bodyB->GetPosition();
+}
+
+b2Vec2 b2MotorJoint::GetReactionForce(float32 inv_dt) const
+{
+	return inv_dt * m_linearImpulse;
+}
+
+float32 b2MotorJoint::GetReactionTorque(float32 inv_dt) const
+{
+	return inv_dt * m_angularImpulse;
+}
+
+void b2MotorJoint::SetMaxForce(float32 force)
+{
+	b2Assert(b2IsValid(force) && force >= 0.0f);
+	m_maxForce = force;
+}
+
+float32 b2MotorJoint::GetMaxForce() const
+{
+	return m_maxForce;
+}
+
+void b2MotorJoint::SetMaxTorque(float32 torque)
+{
+	b2Assert(b2IsValid(torque) && torque >= 0.0f);
+	m_maxTorque = torque;
+}
+
+float32 b2MotorJoint::GetMaxTorque() const
+{
+	return m_maxTorque;
+}
+
+void b2MotorJoint::SetCorrectionFactor(float32 factor)
+{
+	b2Assert(b2IsValid(factor) && 0.0f <= factor && factor <= 1.0f);
+	m_correctionFactor = factor;
+}
+
+float32 b2MotorJoint::GetCorrectionFactor() const
+{
+	return m_correctionFactor;
+}
+
+void b2MotorJoint::SetLinearOffset(const b2Vec2& linearOffset)
+{
+	if (linearOffset.x != m_linearOffset.x || linearOffset.y != m_linearOffset.y)
+	{
+		m_bodyA->SetAwake(true);
+		m_bodyB->SetAwake(true);
+		m_linearOffset = linearOffset;
+	}
+}
+
+const b2Vec2& b2MotorJoint::GetLinearOffset() const
+{
+	return m_linearOffset;
+}
+
+void b2MotorJoint::SetAngularOffset(float32 angularOffset)
+{
+	if (angularOffset != m_angularOffset)
+	{
+		m_bodyA->SetAwake(true);
+		m_bodyB->SetAwake(true);
+		m_angularOffset = angularOffset;
+	}
+}
+
+float32 b2MotorJoint::GetAngularOffset() const
+{
+	return m_angularOffset;
+}
+
+void b2MotorJoint::Dump()
+{
+	int32 indexA = m_bodyA->m_islandIndex;
+	int32 indexB = m_bodyB->m_islandIndex;
+
+	b2Log("  b2MotorJointDef jd;\n");
+	b2Log("  jd.bodyA = bodies[%d];\n", indexA);
+	b2Log("  jd.bodyB = bodies[%d];\n", indexB);
+	b2Log("  jd.collideConnected = bool(%d);\n", m_collideConnected);
+	b2Log("  jd.linearOffset.Set(%.15lef, %.15lef);\n", m_linearOffset.x, m_linearOffset.y);
+	b2Log("  jd.angularOffset = %.15lef;\n", m_angularOffset);
+	b2Log("  jd.maxForce = %.15lef;\n", m_maxForce);
+	b2Log("  jd.maxTorque = %.15lef;\n", m_maxTorque);
+	b2Log("  jd.correctionFactor = %.15lef;\n", m_correctionFactor);
+	b2Log("  joints[%d] = m_world->CreateJoint(&jd);\n", m_index);
+}

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

@@ -0,0 +1,133 @@
+/*
+* Copyright (c) 2006-2012 Erin Catto http://www.box2d.org
+*
+* This software is provided 'as-is', without any express or implied
+* warranty.  In no event will the authors be held liable for any damages
+* arising from the use of this software.
+* Permission is granted to anyone to use this software for any purpose,
+* including commercial applications, and to alter it and redistribute it
+* freely, subject to the following restrictions:
+* 1. The origin of this software must not be misrepresented; you must not
+* claim that you wrote the original software. If you use this software
+* in a product, an acknowledgment in the product documentation would be
+* appreciated but is not required.
+* 2. Altered source versions must be plainly marked as such, and must not be
+* misrepresented as being the original software.
+* 3. This notice may not be removed or altered from any source distribution.
+*/
+
+#ifndef B2_MOTOR_JOINT_H
+#define B2_MOTOR_JOINT_H
+
+#include <Box2D/Dynamics/Joints/b2Joint.h>
+
+/// Motor joint definition.
+struct b2MotorJointDef : public b2JointDef
+{
+	b2MotorJointDef()
+	{
+		type = e_motorJoint;
+		linearOffset.SetZero();
+		angularOffset = 0.0f;
+		maxForce = 1.0f;
+		maxTorque = 1.0f;
+		correctionFactor = 0.3f;
+	}
+
+	/// Initialize the bodies and offsets using the current transforms.
+	void Initialize(b2Body* bodyA, b2Body* bodyB);
+
+	/// Position of bodyB minus the position of bodyA, in bodyA's frame, in meters.
+	b2Vec2 linearOffset;
+
+	/// The bodyB angle minus bodyA angle in radians.
+	float32 angularOffset;
+	
+	/// The maximum motor force in N.
+	float32 maxForce;
+
+	/// The maximum motor torque in N-m.
+	float32 maxTorque;
+
+	/// Position correction factor in the range [0,1].
+	float32 correctionFactor;
+};
+
+/// A motor joint is used to control the relative motion
+/// between two bodies. A typical usage is to control the movement
+/// of a dynamic body with respect to the ground.
+class b2MotorJoint : public b2Joint
+{
+public:
+	b2Vec2 GetAnchorA() const;
+	b2Vec2 GetAnchorB() const;
+
+	b2Vec2 GetReactionForce(float32 inv_dt) const;
+	float32 GetReactionTorque(float32 inv_dt) const;
+
+	/// Set/get the target linear offset, in frame A, in meters.
+	void SetLinearOffset(const b2Vec2& linearOffset);
+	const b2Vec2& GetLinearOffset() const;
+
+	/// Set/get the target angular offset, in radians.
+	void SetAngularOffset(float32 angularOffset);
+	float32 GetAngularOffset() const;
+
+	/// Set the maximum friction force in N.
+	void SetMaxForce(float32 force);
+
+	/// Get the maximum friction force in N.
+	float32 GetMaxForce() const;
+
+	/// Set the maximum friction torque in N*m.
+	void SetMaxTorque(float32 torque);
+
+	/// Get the maximum friction torque in N*m.
+	float32 GetMaxTorque() const;
+
+	/// Set the position correction factor in the range [0,1].
+	void SetCorrectionFactor(float32 factor);
+
+	/// Get the position correction factor in the range [0,1].
+	float32 GetCorrectionFactor() const;
+
+	/// Dump to b2Log
+	void Dump();
+
+protected:
+
+	friend class b2Joint;
+
+	b2MotorJoint(const b2MotorJointDef* def);
+
+	void InitVelocityConstraints(const b2SolverData& data);
+	void SolveVelocityConstraints(const b2SolverData& data);
+	bool SolvePositionConstraints(const b2SolverData& data);
+
+	// Solver shared
+	b2Vec2 m_linearOffset;
+	float32 m_angularOffset;
+	b2Vec2 m_linearImpulse;
+	float32 m_angularImpulse;
+	float32 m_maxForce;
+	float32 m_maxTorque;
+	float32 m_correctionFactor;
+
+	// Solver temp
+	int32 m_indexA;
+	int32 m_indexB;
+	b2Vec2 m_rA;
+	b2Vec2 m_rB;
+	b2Vec2 m_localCenterA;
+	b2Vec2 m_localCenterB;
+	b2Vec2 m_linearError;
+	float32 m_angularError;
+	float32 m_invMassA;
+	float32 m_invMassB;
+	float32 m_invIA;
+	float32 m_invIB;
+	b2Mat22 m_linearMass;
+	float32 m_angularMass;
+};
+
+#endif

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

@@ -0,0 +1,222 @@
+/*
+* Copyright (c) 2006-2007 Erin Catto http://www.box2d.org
+*
+* This software is provided 'as-is', without any express or implied
+* warranty.  In no event will the authors be held liable for any damages
+* arising from the use of this software.
+* Permission is granted to anyone to use this software for any purpose,
+* including commercial applications, and to alter it and redistribute it
+* freely, subject to the following restrictions:
+* 1. The origin of this software must not be misrepresented; you must not
+* claim that you wrote the original software. If you use this software
+* in a product, an acknowledgment in the product documentation would be
+* appreciated but is not required.
+* 2. Altered source versions must be plainly marked as such, and must not be
+* misrepresented as being the original software.
+* 3. This notice may not be removed or altered from any source distribution.
+*/
+
+#include <Box2D/Dynamics/Joints/b2MouseJoint.h>
+#include <Box2D/Dynamics/b2Body.h>
+#include <Box2D/Dynamics/b2TimeStep.h>
+
+// p = attached point, m = mouse point
+// C = p - m
+// Cdot = v
+//      = v + cross(w, r)
+// J = [I r_skew]
+// Identity used:
+// w k % (rx i + ry j) = w * (-ry i + rx j)
+
+b2MouseJoint::b2MouseJoint(const b2MouseJointDef* def)
+: b2Joint(def)
+{
+	b2Assert(def->target.IsValid());
+	b2Assert(b2IsValid(def->maxForce) && def->maxForce >= 0.0f);
+	b2Assert(b2IsValid(def->frequencyHz) && def->frequencyHz >= 0.0f);
+	b2Assert(b2IsValid(def->dampingRatio) && def->dampingRatio >= 0.0f);
+
+	m_targetA = def->target;
+	m_localAnchorB = b2MulT(m_bodyB->GetTransform(), m_targetA);
+
+	m_maxForce = def->maxForce;
+	m_impulse.SetZero();
+
+	m_frequencyHz = def->frequencyHz;
+	m_dampingRatio = def->dampingRatio;
+
+	m_beta = 0.0f;
+	m_gamma = 0.0f;
+}
+
+void b2MouseJoint::SetTarget(const b2Vec2& target)
+{
+	if (m_bodyB->IsAwake() == false)
+	{
+		m_bodyB->SetAwake(true);
+	}
+	m_targetA = target;
+}
+
+const b2Vec2& b2MouseJoint::GetTarget() const
+{
+	return m_targetA;
+}
+
+void b2MouseJoint::SetMaxForce(float32 force)
+{
+	m_maxForce = force;
+}
+
+float32 b2MouseJoint::GetMaxForce() const
+{
+	return m_maxForce;
+}
+
+void b2MouseJoint::SetFrequency(float32 hz)
+{
+	m_frequencyHz = hz;
+}
+
+float32 b2MouseJoint::GetFrequency() const
+{
+	return m_frequencyHz;
+}
+
+void b2MouseJoint::SetDampingRatio(float32 ratio)
+{
+	m_dampingRatio = ratio;
+}
+
+float32 b2MouseJoint::GetDampingRatio() const
+{
+	return m_dampingRatio;
+}
+
+void b2MouseJoint::InitVelocityConstraints(const b2SolverData& data)
+{
+	m_indexB = m_bodyB->m_islandIndex;
+	m_localCenterB = m_bodyB->m_sweep.localCenter;
+	m_invMassB = m_bodyB->m_invMass;
+	m_invIB = m_bodyB->m_invI;
+
+	b2Vec2 cB = data.positions[m_indexB].c;
+	float32 aB = data.positions[m_indexB].a;
+	b2Vec2 vB = data.velocities[m_indexB].v;
+	float32 wB = data.velocities[m_indexB].w;
+
+	b2Rot qB(aB);
+
+	float32 mass = m_bodyB->GetMass();
+
+	// Frequency
+	float32 omega = 2.0f * b2_pi * m_frequencyHz;
+
+	// Damping coefficient
+	float32 d = 2.0f * mass * m_dampingRatio * omega;
+
+	// Spring stiffness
+	float32 k = mass * (omega * omega);
+
+	// magic formulas
+	// gamma has units of inverse mass.
+	// beta has units of inverse time.
+	float32 h = data.step.dt;
+	b2Assert(d + h * k > b2_epsilon);
+	m_gamma = h * (d + h * k);
+	if (m_gamma != 0.0f)
+	{
+		m_gamma = 1.0f / m_gamma;
+	}
+	m_beta = h * k * m_gamma;
+
+	// Compute the effective mass matrix.
+	m_rB = b2Mul(qB, m_localAnchorB - m_localCenterB);
+
+	// K    = [(1/m1 + 1/m2) * eye(2) - skew(r1) * invI1 * skew(r1) - skew(r2) * invI2 * skew(r2)]
+	//      = [1/m1+1/m2     0    ] + invI1 * [r1.y*r1.y -r1.x*r1.y] + invI2 * [r1.y*r1.y -r1.x*r1.y]
+	//        [    0     1/m1+1/m2]           [-r1.x*r1.y r1.x*r1.x]           [-r1.x*r1.y r1.x*r1.x]
+	b2Mat22 K;
+	K.ex.x = m_invMassB + m_invIB * m_rB.y * m_rB.y + m_gamma;
+	K.ex.y = -m_invIB * m_rB.x * m_rB.y;
+	K.ey.x = K.ex.y;
+	K.ey.y = m_invMassB + m_invIB * m_rB.x * m_rB.x + m_gamma;
+
+	m_mass = K.GetInverse();
+
+	m_C = cB + m_rB - m_targetA;
+	m_C *= m_beta;
+
+	// Cheat with some damping
+	wB *= 0.98f;
+
+	if (data.step.warmStarting)
+	{
+		m_impulse *= data.step.dtRatio;
+		vB += m_invMassB * m_impulse;
+		wB += m_invIB * b2Cross(m_rB, m_impulse);
+	}
+	else
+	{
+		m_impulse.SetZero();
+	}
+
+	data.velocities[m_indexB].v = vB;
+	data.velocities[m_indexB].w = wB;
+}
+
+void b2MouseJoint::SolveVelocityConstraints(const b2SolverData& data)
+{
+	b2Vec2 vB = data.velocities[m_indexB].v;
+	float32 wB = data.velocities[m_indexB].w;
+
+	// Cdot = v + cross(w, r)
+	b2Vec2 Cdot = vB + b2Cross(wB, m_rB);
+	b2Vec2 impulse = b2Mul(m_mass, -(Cdot + m_C + m_gamma * m_impulse));
+
+	b2Vec2 oldImpulse = m_impulse;
+	m_impulse += impulse;
+	float32 maxImpulse = data.step.dt * m_maxForce;
+	if (m_impulse.LengthSquared() > maxImpulse * maxImpulse)
+	{
+		m_impulse *= maxImpulse / m_impulse.Length();
+	}
+	impulse = m_impulse - oldImpulse;
+
+	vB += m_invMassB * impulse;
+	wB += m_invIB * b2Cross(m_rB, impulse);
+
+	data.velocities[m_indexB].v = vB;
+	data.velocities[m_indexB].w = wB;
+}
+
+bool b2MouseJoint::SolvePositionConstraints(const b2SolverData& data)
+{
+	B2_NOT_USED(data);
+	return true;
+}
+
+b2Vec2 b2MouseJoint::GetAnchorA() const
+{
+	return m_targetA;
+}
+
+b2Vec2 b2MouseJoint::GetAnchorB() const
+{
+	return m_bodyB->GetWorldPoint(m_localAnchorB);
+}
+
+b2Vec2 b2MouseJoint::GetReactionForce(float32 inv_dt) const
+{
+	return inv_dt * m_impulse;
+}
+
+float32 b2MouseJoint::GetReactionTorque(float32 inv_dt) const
+{
+	return inv_dt * 0.0f;
+}
+
+void b2MouseJoint::ShiftOrigin(const b2Vec2& newOrigin)
+{
+	m_targetA -= newOrigin;
+}