reflexion 0.1.7 → 0.1.8

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

@@ -0,0 +1,629 @@
+/*
+* Copyright (c) 2006-2011 Erin Catto http://www.box2d.org
+*
+* This software is provided 'as-is', without any express or implied
+* warranty.  In no event will the authors be held liable for any damages
+* arising from the use of this software.
+* Permission is granted to anyone to use this software for any purpose,
+* including commercial applications, and to alter it and redistribute it
+* freely, subject to the following restrictions:
+* 1. The origin of this software must not be misrepresented; you must not
+* claim that you wrote the original software. If you use this software
+* in a product, an acknowledgment in the product documentation would be
+* appreciated but is not required.
+* 2. Altered source versions must be plainly marked as such, and must not be
+* misrepresented as being the original software.
+* 3. This notice may not be removed or altered from any source distribution.
+*/
+
+#include <Box2D/Dynamics/Joints/b2PrismaticJoint.h>
+#include <Box2D/Dynamics/b2Body.h>
+#include <Box2D/Dynamics/b2TimeStep.h>
+
+// Linear constraint (point-to-line)
+// d = p2 - p1 = x2 + r2 - x1 - r1
+// C = dot(perp, d)
+// Cdot = dot(d, cross(w1, perp)) + dot(perp, v2 + cross(w2, r2) - v1 - cross(w1, r1))
+//      = -dot(perp, v1) - dot(cross(d + r1, perp), w1) + dot(perp, v2) + dot(cross(r2, perp), v2)
+// J = [-perp, -cross(d + r1, perp), perp, cross(r2,perp)]
+//
+// Angular constraint
+// C = a2 - a1 + a_initial
+// Cdot = w2 - w1
+// J = [0 0 -1 0 0 1]
+//
+// K = J * invM * JT
+//
+// J = [-a -s1 a s2]
+//     [0  -1  0  1]
+// a = perp
+// s1 = cross(d + r1, a) = cross(p2 - x1, a)
+// s2 = cross(r2, a) = cross(p2 - x2, a)
+
+
+// Motor/Limit linear constraint
+// C = dot(ax1, d)
+// Cdot = = -dot(ax1, v1) - dot(cross(d + r1, ax1), w1) + dot(ax1, v2) + dot(cross(r2, ax1), v2)
+// J = [-ax1 -cross(d+r1,ax1) ax1 cross(r2,ax1)]
+
+// Block Solver
+// We develop a block solver that includes the joint limit. This makes the limit stiff (inelastic) even
+// when the mass has poor distribution (leading to large torques about the joint anchor points).
+//
+// The Jacobian has 3 rows:
+// J = [-uT -s1 uT s2] // linear
+//     [0   -1   0  1] // angular
+//     [-vT -a1 vT a2] // limit
+//
+// u = perp
+// v = axis
+// s1 = cross(d + r1, u), s2 = cross(r2, u)
+// a1 = cross(d + r1, v), a2 = cross(r2, v)
+
+// M * (v2 - v1) = JT * df
+// J * v2 = bias
+//
+// v2 = v1 + invM * JT * df
+// J * (v1 + invM * JT * df) = bias
+// K * df = bias - J * v1 = -Cdot
+// K = J * invM * JT
+// Cdot = J * v1 - bias
+//
+// Now solve for f2.
+// df = f2 - f1
+// K * (f2 - f1) = -Cdot
+// f2 = invK * (-Cdot) + f1
+//
+// Clamp accumulated limit impulse.
+// lower: f2(3) = max(f2(3), 0)
+// upper: f2(3) = min(f2(3), 0)
+//
+// Solve for correct f2(1:2)
+// K(1:2, 1:2) * f2(1:2) = -Cdot(1:2) - K(1:2,3) * f2(3) + K(1:2,1:3) * f1
+//                       = -Cdot(1:2) - K(1:2,3) * f2(3) + K(1:2,1:2) * f1(1:2) + K(1:2,3) * f1(3)
+// K(1:2, 1:2) * f2(1:2) = -Cdot(1:2) - K(1:2,3) * (f2(3) - f1(3)) + K(1:2,1:2) * f1(1:2)
+// f2(1:2) = invK(1:2,1:2) * (-Cdot(1:2) - K(1:2,3) * (f2(3) - f1(3))) + f1(1:2)
+//
+// Now compute impulse to be applied:
+// df = f2 - f1
+
+void b2PrismaticJointDef::Initialize(b2Body* bA, b2Body* bB, const b2Vec2& anchor, const b2Vec2& axis)
+{
+	bodyA = bA;
+	bodyB = bB;
+	localAnchorA = bodyA->GetLocalPoint(anchor);
+	localAnchorB = bodyB->GetLocalPoint(anchor);
+	localAxisA = bodyA->GetLocalVector(axis);
+	referenceAngle = bodyB->GetAngle() - bodyA->GetAngle();
+}
+
+b2PrismaticJoint::b2PrismaticJoint(const b2PrismaticJointDef* def)
+: b2Joint(def)
+{
+	m_localAnchorA = def->localAnchorA;
+	m_localAnchorB = def->localAnchorB;
+	m_localXAxisA = def->localAxisA;
+	m_localXAxisA.Normalize();
+	m_localYAxisA = b2Cross(1.0f, m_localXAxisA);
+	m_referenceAngle = def->referenceAngle;
+
+	m_impulse.SetZero();
+	m_motorMass = 0.0f;
+	m_motorImpulse = 0.0f;
+
+	m_lowerTranslation = def->lowerTranslation;
+	m_upperTranslation = def->upperTranslation;
+	m_maxMotorForce = def->maxMotorForce;
+	m_motorSpeed = def->motorSpeed;
+	m_enableLimit = def->enableLimit;
+	m_enableMotor = def->enableMotor;
+	m_limitState = e_inactiveLimit;
+
+	m_axis.SetZero();
+	m_perp.SetZero();
+}
+
+void b2PrismaticJoint::InitVelocityConstraints(const b2SolverData& data)
+{
+	m_indexA = m_bodyA->m_islandIndex;
+	m_indexB = m_bodyB->m_islandIndex;
+	m_localCenterA = m_bodyA->m_sweep.localCenter;
+	m_localCenterB = m_bodyB->m_sweep.localCenter;
+	m_invMassA = m_bodyA->m_invMass;
+	m_invMassB = m_bodyB->m_invMass;
+	m_invIA = m_bodyA->m_invI;
+	m_invIB = m_bodyB->m_invI;
+
+	b2Vec2 cA = data.positions[m_indexA].c;
+	float32 aA = data.positions[m_indexA].a;
+	b2Vec2 vA = data.velocities[m_indexA].v;
+	float32 wA = data.velocities[m_indexA].w;
+
+	b2Vec2 cB = data.positions[m_indexB].c;
+	float32 aB = data.positions[m_indexB].a;
+	b2Vec2 vB = data.velocities[m_indexB].v;
+	float32 wB = data.velocities[m_indexB].w;
+
+	b2Rot qA(aA), qB(aB);
+
+	// Compute the effective masses.
+	b2Vec2 rA = b2Mul(qA, m_localAnchorA - m_localCenterA);
+	b2Vec2 rB = b2Mul(qB, m_localAnchorB - m_localCenterB);
+	b2Vec2 d = (cB - cA) + rB - rA;
+
+	float32 mA = m_invMassA, mB = m_invMassB;
+	float32 iA = m_invIA, iB = m_invIB;
+
+	// Compute motor Jacobian and effective mass.
+	{
+		m_axis = b2Mul(qA, m_localXAxisA);
+		m_a1 = b2Cross(d + rA, m_axis);
+		m_a2 = b2Cross(rB, m_axis);
+
+		m_motorMass = mA + mB + iA * m_a1 * m_a1 + iB * m_a2 * m_a2;
+		if (m_motorMass > 0.0f)
+		{
+			m_motorMass = 1.0f / m_motorMass;
+		}
+	}
+
+	// Prismatic constraint.
+	{
+		m_perp = b2Mul(qA, m_localYAxisA);
+
+		m_s1 = b2Cross(d + rA, m_perp);
+		m_s2 = b2Cross(rB, m_perp);
+
+        float32 s1test;
+        s1test = b2Cross(rA, m_perp);
+
+		float32 k11 = mA + mB + iA * m_s1 * m_s1 + iB * m_s2 * m_s2;
+		float32 k12 = iA * m_s1 + iB * m_s2;
+		float32 k13 = iA * m_s1 * m_a1 + iB * m_s2 * m_a2;
+		float32 k22 = iA + iB;
+		if (k22 == 0.0f)
+		{
+			// For bodies with fixed rotation.
+			k22 = 1.0f;
+		}
+		float32 k23 = iA * m_a1 + iB * m_a2;
+		float32 k33 = mA + mB + iA * m_a1 * m_a1 + iB * m_a2 * m_a2;
+
+		m_K.ex.Set(k11, k12, k13);
+		m_K.ey.Set(k12, k22, k23);
+		m_K.ez.Set(k13, k23, k33);
+	}
+
+	// Compute motor and limit terms.
+	if (m_enableLimit)
+	{
+		float32 jointTranslation = b2Dot(m_axis, d);
+		if (b2Abs(m_upperTranslation - m_lowerTranslation) < 2.0f * b2_linearSlop)
+		{
+			m_limitState = e_equalLimits;
+		}
+		else if (jointTranslation <= m_lowerTranslation)
+		{
+			if (m_limitState != e_atLowerLimit)
+			{
+				m_limitState = e_atLowerLimit;
+				m_impulse.z = 0.0f;
+			}
+		}
+		else if (jointTranslation >= m_upperTranslation)
+		{
+			if (m_limitState != e_atUpperLimit)
+			{
+				m_limitState = e_atUpperLimit;
+				m_impulse.z = 0.0f;
+			}
+		}
+		else
+		{
+			m_limitState = e_inactiveLimit;
+			m_impulse.z = 0.0f;
+		}
+	}
+	else
+	{
+		m_limitState = e_inactiveLimit;
+		m_impulse.z = 0.0f;
+	}
+
+	if (m_enableMotor == false)
+	{
+		m_motorImpulse = 0.0f;
+	}
+
+	if (data.step.warmStarting)
+	{
+		// Account for variable time step.
+		m_impulse *= data.step.dtRatio;
+		m_motorImpulse *= data.step.dtRatio;
+
+		b2Vec2 P = m_impulse.x * m_perp + (m_motorImpulse + m_impulse.z) * m_axis;
+		float32 LA = m_impulse.x * m_s1 + m_impulse.y + (m_motorImpulse + m_impulse.z) * m_a1;
+		float32 LB = m_impulse.x * m_s2 + m_impulse.y + (m_motorImpulse + m_impulse.z) * m_a2;
+
+		vA -= mA * P;
+		wA -= iA * LA;
+
+		vB += mB * P;
+		wB += iB * LB;
+	}
+	else
+	{
+		m_impulse.SetZero();
+		m_motorImpulse = 0.0f;
+	}
+
+	data.velocities[m_indexA].v = vA;
+	data.velocities[m_indexA].w = wA;
+	data.velocities[m_indexB].v = vB;
+	data.velocities[m_indexB].w = wB;
+}
+
+void b2PrismaticJoint::SolveVelocityConstraints(const b2SolverData& data)
+{
+	b2Vec2 vA = data.velocities[m_indexA].v;
+	float32 wA = data.velocities[m_indexA].w;
+	b2Vec2 vB = data.velocities[m_indexB].v;
+	float32 wB = data.velocities[m_indexB].w;
+
+	float32 mA = m_invMassA, mB = m_invMassB;
+	float32 iA = m_invIA, iB = m_invIB;
+
+	// Solve linear motor constraint.
+	if (m_enableMotor && m_limitState != e_equalLimits)
+	{
+		float32 Cdot = b2Dot(m_axis, vB - vA) + m_a2 * wB - m_a1 * wA;
+		float32 impulse = m_motorMass * (m_motorSpeed - Cdot);
+		float32 oldImpulse = m_motorImpulse;
+		float32 maxImpulse = data.step.dt * m_maxMotorForce;
+		m_motorImpulse = b2Clamp(m_motorImpulse + impulse, -maxImpulse, maxImpulse);
+		impulse = m_motorImpulse - oldImpulse;
+
+		b2Vec2 P = impulse * m_axis;
+		float32 LA = impulse * m_a1;
+		float32 LB = impulse * m_a2;
+
+		vA -= mA * P;
+		wA -= iA * LA;
+
+		vB += mB * P;
+		wB += iB * LB;
+	}
+
+	b2Vec2 Cdot1;
+	Cdot1.x = b2Dot(m_perp, vB - vA) + m_s2 * wB - m_s1 * wA;
+	Cdot1.y = wB - wA;
+
+	if (m_enableLimit && m_limitState != e_inactiveLimit)
+	{
+		// Solve prismatic and limit constraint in block form.
+		float32 Cdot2;
+		Cdot2 = b2Dot(m_axis, vB - vA) + m_a2 * wB - m_a1 * wA;
+		b2Vec3 Cdot(Cdot1.x, Cdot1.y, Cdot2);
+
+		b2Vec3 f1 = m_impulse;
+		b2Vec3 df =  m_K.Solve33(-Cdot);
+		m_impulse += df;
+
+		if (m_limitState == e_atLowerLimit)
+		{
+			m_impulse.z = b2Max(m_impulse.z, 0.0f);
+		}
+		else if (m_limitState == e_atUpperLimit)
+		{
+			m_impulse.z = b2Min(m_impulse.z, 0.0f);
+		}
+
+		// f2(1:2) = invK(1:2,1:2) * (-Cdot(1:2) - K(1:2,3) * (f2(3) - f1(3))) + f1(1:2)
+		b2Vec2 b = -Cdot1 - (m_impulse.z - f1.z) * b2Vec2(m_K.ez.x, m_K.ez.y);
+		b2Vec2 f2r = m_K.Solve22(b) + b2Vec2(f1.x, f1.y);
+		m_impulse.x = f2r.x;
+		m_impulse.y = f2r.y;
+
+		df = m_impulse - f1;
+
+		b2Vec2 P = df.x * m_perp + df.z * m_axis;
+		float32 LA = df.x * m_s1 + df.y + df.z * m_a1;
+		float32 LB = df.x * m_s2 + df.y + df.z * m_a2;
+
+		vA -= mA * P;
+		wA -= iA * LA;
+
+		vB += mB * P;
+		wB += iB * LB;
+	}
+	else
+	{
+		// Limit is inactive, just solve the prismatic constraint in block form.
+		b2Vec2 df = m_K.Solve22(-Cdot1);
+		m_impulse.x += df.x;
+		m_impulse.y += df.y;
+
+		b2Vec2 P = df.x * m_perp;
+		float32 LA = df.x * m_s1 + df.y;
+		float32 LB = df.x * m_s2 + df.y;
+
+		vA -= mA * P;
+		wA -= iA * LA;
+
+		vB += mB * P;
+		wB += iB * LB;
+	}
+
+	data.velocities[m_indexA].v = vA;
+	data.velocities[m_indexA].w = wA;
+	data.velocities[m_indexB].v = vB;
+	data.velocities[m_indexB].w = wB;
+}
+
+bool b2PrismaticJoint::SolvePositionConstraints(const b2SolverData& data)
+{
+	b2Vec2 cA = data.positions[m_indexA].c;
+	float32 aA = data.positions[m_indexA].a;
+	b2Vec2 cB = data.positions[m_indexB].c;
+	float32 aB = data.positions[m_indexB].a;
+
+	b2Rot qA(aA), qB(aB);
+
+	float32 mA = m_invMassA, mB = m_invMassB;
+	float32 iA = m_invIA, iB = m_invIB;
+
+	// Compute fresh Jacobians
+	b2Vec2 rA = b2Mul(qA, m_localAnchorA - m_localCenterA);
+	b2Vec2 rB = b2Mul(qB, m_localAnchorB - m_localCenterB);
+	b2Vec2 d = cB + rB - cA - rA;
+
+	b2Vec2 axis = b2Mul(qA, m_localXAxisA);
+	float32 a1 = b2Cross(d + rA, axis);
+	float32 a2 = b2Cross(rB, axis);
+	b2Vec2 perp = b2Mul(qA, m_localYAxisA);
+
+	float32 s1 = b2Cross(d + rA, perp);
+	float32 s2 = b2Cross(rB, perp);
+
+	b2Vec3 impulse;
+	b2Vec2 C1;
+	C1.x = b2Dot(perp, d);
+	C1.y = aB - aA - m_referenceAngle;
+
+	float32 linearError = b2Abs(C1.x);
+	float32 angularError = b2Abs(C1.y);
+
+	bool active = false;
+	float32 C2 = 0.0f;
+	if (m_enableLimit)
+	{
+		float32 translation = b2Dot(axis, d);
+		if (b2Abs(m_upperTranslation - m_lowerTranslation) < 2.0f * b2_linearSlop)
+		{
+			// Prevent large angular corrections
+			C2 = b2Clamp(translation, -b2_maxLinearCorrection, b2_maxLinearCorrection);
+			linearError = b2Max(linearError, b2Abs(translation));
+			active = true;
+		}
+		else if (translation <= m_lowerTranslation)
+		{
+			// Prevent large linear corrections and allow some slop.
+			C2 = b2Clamp(translation - m_lowerTranslation + b2_linearSlop, -b2_maxLinearCorrection, 0.0f);
+			linearError = b2Max(linearError, m_lowerTranslation - translation);
+			active = true;
+		}
+		else if (translation >= m_upperTranslation)
+		{
+			// Prevent large linear corrections and allow some slop.
+			C2 = b2Clamp(translation - m_upperTranslation - b2_linearSlop, 0.0f, b2_maxLinearCorrection);
+			linearError = b2Max(linearError, translation - m_upperTranslation);
+			active = true;
+		}
+	}
+
+	if (active)
+	{
+		float32 k11 = mA + mB + iA * s1 * s1 + iB * s2 * s2;
+		float32 k12 = iA * s1 + iB * s2;
+		float32 k13 = iA * s1 * a1 + iB * s2 * a2;
+		float32 k22 = iA + iB;
+		if (k22 == 0.0f)
+		{
+			// For fixed rotation
+			k22 = 1.0f;
+		}
+		float32 k23 = iA * a1 + iB * a2;
+		float32 k33 = mA + mB + iA * a1 * a1 + iB * a2 * a2;
+
+		b2Mat33 K;
+		K.ex.Set(k11, k12, k13);
+		K.ey.Set(k12, k22, k23);
+		K.ez.Set(k13, k23, k33);
+
+		b2Vec3 C;
+		C.x = C1.x;
+		C.y = C1.y;
+		C.z = C2;
+
+		impulse = K.Solve33(-C);
+	}
+	else
+	{
+		float32 k11 = mA + mB + iA * s1 * s1 + iB * s2 * s2;
+		float32 k12 = iA * s1 + iB * s2;
+		float32 k22 = iA + iB;
+		if (k22 == 0.0f)
+		{
+			k22 = 1.0f;
+		}
+
+		b2Mat22 K;
+		K.ex.Set(k11, k12);
+		K.ey.Set(k12, k22);
+
+		b2Vec2 impulse1 = K.Solve(-C1);
+		impulse.x = impulse1.x;
+		impulse.y = impulse1.y;
+		impulse.z = 0.0f;
+	}
+
+	b2Vec2 P = impulse.x * perp + impulse.z * axis;
+	float32 LA = impulse.x * s1 + impulse.y + impulse.z * a1;
+	float32 LB = impulse.x * s2 + impulse.y + impulse.z * a2;
+
+	cA -= mA * P;
+	aA -= iA * LA;
+	cB += mB * P;
+	aB += iB * LB;
+
+	data.positions[m_indexA].c = cA;
+	data.positions[m_indexA].a = aA;
+	data.positions[m_indexB].c = cB;
+	data.positions[m_indexB].a = aB;
+
+	return linearError <= b2_linearSlop && angularError <= b2_angularSlop;
+}
+
+b2Vec2 b2PrismaticJoint::GetAnchorA() const
+{
+	return m_bodyA->GetWorldPoint(m_localAnchorA);
+}
+
+b2Vec2 b2PrismaticJoint::GetAnchorB() const
+{
+	return m_bodyB->GetWorldPoint(m_localAnchorB);
+}
+
+b2Vec2 b2PrismaticJoint::GetReactionForce(float32 inv_dt) const
+{
+	return inv_dt * (m_impulse.x * m_perp + (m_motorImpulse + m_impulse.z) * m_axis);
+}
+
+float32 b2PrismaticJoint::GetReactionTorque(float32 inv_dt) const
+{
+	return inv_dt * m_impulse.y;
+}
+
+float32 b2PrismaticJoint::GetJointTranslation() const
+{
+	b2Vec2 pA = m_bodyA->GetWorldPoint(m_localAnchorA);
+	b2Vec2 pB = m_bodyB->GetWorldPoint(m_localAnchorB);
+	b2Vec2 d = pB - pA;
+	b2Vec2 axis = m_bodyA->GetWorldVector(m_localXAxisA);
+
+	float32 translation = b2Dot(d, axis);
+	return translation;
+}
+
+float32 b2PrismaticJoint::GetJointSpeed() const
+{
+	b2Body* bA = m_bodyA;
+	b2Body* bB = m_bodyB;
+
+	b2Vec2 rA = b2Mul(bA->m_xf.q, m_localAnchorA - bA->m_sweep.localCenter);
+	b2Vec2 rB = b2Mul(bB->m_xf.q, m_localAnchorB - bB->m_sweep.localCenter);
+	b2Vec2 p1 = bA->m_sweep.c + rA;
+	b2Vec2 p2 = bB->m_sweep.c + rB;
+	b2Vec2 d = p2 - p1;
+	b2Vec2 axis = b2Mul(bA->m_xf.q, m_localXAxisA);
+
+	b2Vec2 vA = bA->m_linearVelocity;
+	b2Vec2 vB = bB->m_linearVelocity;
+	float32 wA = bA->m_angularVelocity;
+	float32 wB = bB->m_angularVelocity;
+
+	float32 speed = b2Dot(d, b2Cross(wA, axis)) + b2Dot(axis, vB + b2Cross(wB, rB) - vA - b2Cross(wA, rA));
+	return speed;
+}
+
+bool b2PrismaticJoint::IsLimitEnabled() const
+{
+	return m_enableLimit;
+}
+
+void b2PrismaticJoint::EnableLimit(bool flag)
+{
+	if (flag != m_enableLimit)
+	{
+		m_bodyA->SetAwake(true);
+		m_bodyB->SetAwake(true);
+		m_enableLimit = flag;
+		m_impulse.z = 0.0f;
+	}
+}
+
+float32 b2PrismaticJoint::GetLowerLimit() const
+{
+	return m_lowerTranslation;
+}
+
+float32 b2PrismaticJoint::GetUpperLimit() const
+{
+	return m_upperTranslation;
+}
+
+void b2PrismaticJoint::SetLimits(float32 lower, float32 upper)
+{
+	b2Assert(lower <= upper);
+	if (lower != m_lowerTranslation || upper != m_upperTranslation)
+	{
+		m_bodyA->SetAwake(true);
+		m_bodyB->SetAwake(true);
+		m_lowerTranslation = lower;
+		m_upperTranslation = upper;
+		m_impulse.z = 0.0f;
+	}
+}
+
+bool b2PrismaticJoint::IsMotorEnabled() const
+{
+	return m_enableMotor;
+}
+
+void b2PrismaticJoint::EnableMotor(bool flag)
+{
+	m_bodyA->SetAwake(true);
+	m_bodyB->SetAwake(true);
+	m_enableMotor = flag;
+}
+
+void b2PrismaticJoint::SetMotorSpeed(float32 speed)
+{
+	m_bodyA->SetAwake(true);
+	m_bodyB->SetAwake(true);
+	m_motorSpeed = speed;
+}
+
+void b2PrismaticJoint::SetMaxMotorForce(float32 force)
+{
+	m_bodyA->SetAwake(true);
+	m_bodyB->SetAwake(true);
+	m_maxMotorForce = force;
+}
+
+float32 b2PrismaticJoint::GetMotorForce(float32 inv_dt) const
+{
+	return inv_dt * m_motorImpulse;
+}
+
+void b2PrismaticJoint::Dump()
+{
+	int32 indexA = m_bodyA->m_islandIndex;
+	int32 indexB = m_bodyB->m_islandIndex;
+
+	b2Log("  b2PrismaticJointDef jd;\n");
+	b2Log("  jd.bodyA = bodies[%d];\n", indexA);
+	b2Log("  jd.bodyB = bodies[%d];\n", indexB);
+	b2Log("  jd.collideConnected = bool(%d);\n", m_collideConnected);
+	b2Log("  jd.localAnchorA.Set(%.15lef, %.15lef);\n", m_localAnchorA.x, m_localAnchorA.y);
+	b2Log("  jd.localAnchorB.Set(%.15lef, %.15lef);\n", m_localAnchorB.x, m_localAnchorB.y);
+	b2Log("  jd.localAxisA.Set(%.15lef, %.15lef);\n", m_localXAxisA.x, m_localXAxisA.y);
+	b2Log("  jd.referenceAngle = %.15lef;\n", m_referenceAngle);
+	b2Log("  jd.enableLimit = bool(%d);\n", m_enableLimit);
+	b2Log("  jd.lowerTranslation = %.15lef;\n", m_lowerTranslation);
+	b2Log("  jd.upperTranslation = %.15lef;\n", m_upperTranslation);
+	b2Log("  jd.enableMotor = bool(%d);\n", m_enableMotor);
+	b2Log("  jd.motorSpeed = %.15lef;\n", m_motorSpeed);
+	b2Log("  jd.maxMotorForce = %.15lef;\n", m_maxMotorForce);
+	b2Log("  joints[%d] = m_world->CreateJoint(&jd);\n", m_index);
+}