reflexion 0.1.7 → 0.1.8

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

@@ -0,0 +1,196 @@
+/*
+* 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.
+*/
+
+#ifndef B2_PRISMATIC_JOINT_H
+#define B2_PRISMATIC_JOINT_H
+
+#include <Box2D/Dynamics/Joints/b2Joint.h>
+
+/// Prismatic joint definition. This requires defining a line of
+/// motion using an axis and an anchor point. The definition uses local
+/// anchor points and a local axis so that the initial configuration
+/// can violate the constraint slightly. The joint translation is zero
+/// when the local anchor points coincide in world space. Using local
+/// anchors and a local axis helps when saving and loading a game.
+struct b2PrismaticJointDef : public b2JointDef
+{
+	b2PrismaticJointDef()
+	{
+		type = e_prismaticJoint;
+		localAnchorA.SetZero();
+		localAnchorB.SetZero();
+		localAxisA.Set(1.0f, 0.0f);
+		referenceAngle = 0.0f;
+		enableLimit = false;
+		lowerTranslation = 0.0f;
+		upperTranslation = 0.0f;
+		enableMotor = false;
+		maxMotorForce = 0.0f;
+		motorSpeed = 0.0f;
+	}
+
+	/// Initialize the bodies, anchors, axis, and reference angle using the world
+	/// anchor and unit world axis.
+	void Initialize(b2Body* bodyA, b2Body* bodyB, const b2Vec2& anchor, const b2Vec2& axis);
+
+	/// The local anchor point relative to bodyA's origin.
+	b2Vec2 localAnchorA;
+
+	/// The local anchor point relative to bodyB's origin.
+	b2Vec2 localAnchorB;
+
+	/// The local translation unit axis in bodyA.
+	b2Vec2 localAxisA;
+
+	/// The constrained angle between the bodies: bodyB_angle - bodyA_angle.
+	float32 referenceAngle;
+
+	/// Enable/disable the joint limit.
+	bool enableLimit;
+
+	/// The lower translation limit, usually in meters.
+	float32 lowerTranslation;
+
+	/// The upper translation limit, usually in meters.
+	float32 upperTranslation;
+
+	/// Enable/disable the joint motor.
+	bool enableMotor;
+
+	/// The maximum motor torque, usually in N-m.
+	float32 maxMotorForce;
+
+	/// The desired motor speed in radians per second.
+	float32 motorSpeed;
+};
+
+/// A prismatic joint. This joint provides one degree of freedom: translation
+/// along an axis fixed in bodyA. Relative rotation is prevented. You can
+/// use a joint limit to restrict the range of motion and a joint motor to
+/// drive the motion or to model joint friction.
+class b2PrismaticJoint : public b2Joint
+{
+public:
+	b2Vec2 GetAnchorA() const;
+	b2Vec2 GetAnchorB() const;
+
+	b2Vec2 GetReactionForce(float32 inv_dt) const;
+	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; }
+
+	/// The local joint axis relative to bodyA.
+	const b2Vec2& GetLocalAxisA() const { return m_localXAxisA; }
+
+	/// Get the reference angle.
+	float32 GetReferenceAngle() const { return m_referenceAngle; }
+
+	/// Get the current joint translation, usually in meters.
+	float32 GetJointTranslation() const;
+
+	/// Get the current joint translation speed, usually in meters per second.
+	float32 GetJointSpeed() const;
+
+	/// Is the joint limit enabled?
+	bool IsLimitEnabled() const;
+
+	/// Enable/disable the joint limit.
+	void EnableLimit(bool flag);
+
+	/// Get the lower joint limit, usually in meters.
+	float32 GetLowerLimit() const;
+
+	/// Get the upper joint limit, usually in meters.
+	float32 GetUpperLimit() const;
+
+	/// Set the joint limits, usually in meters.
+	void SetLimits(float32 lower, float32 upper);
+
+	/// Is the joint motor enabled?
+	bool IsMotorEnabled() const;
+
+	/// Enable/disable the joint motor.
+	void EnableMotor(bool flag);
+
+	/// Set the motor speed, usually in meters per second.
+	void SetMotorSpeed(float32 speed);
+
+	/// Get the motor speed, usually in meters per second.
+	float32 GetMotorSpeed() const;
+
+	/// Set the maximum motor force, usually in N.
+	void SetMaxMotorForce(float32 force);
+	float32 GetMaxMotorForce() const { return m_maxMotorForce; }
+
+	/// Get the current motor force given the inverse time step, usually in N.
+	float32 GetMotorForce(float32 inv_dt) const;
+
+	/// Dump to b2Log
+	void Dump();
+
+protected:
+	friend class b2Joint;
+	friend class b2GearJoint;
+	b2PrismaticJoint(const b2PrismaticJointDef* def);
+
+	void InitVelocityConstraints(const b2SolverData& data);
+	void SolveVelocityConstraints(const b2SolverData& data);
+	bool SolvePositionConstraints(const b2SolverData& data);
+
+	// Solver shared
+	b2Vec2 m_localAnchorA;
+	b2Vec2 m_localAnchorB;
+	b2Vec2 m_localXAxisA;
+	b2Vec2 m_localYAxisA;
+	float32 m_referenceAngle;
+	b2Vec3 m_impulse;
+	float32 m_motorImpulse;
+	float32 m_lowerTranslation;
+	float32 m_upperTranslation;
+	float32 m_maxMotorForce;
+	float32 m_motorSpeed;
+	bool m_enableLimit;
+	bool m_enableMotor;
+	b2LimitState m_limitState;
+
+	// Solver temp
+	int32 m_indexA;
+	int32 m_indexB;
+	b2Vec2 m_localCenterA;
+	b2Vec2 m_localCenterB;
+	float32 m_invMassA;
+	float32 m_invMassB;
+	float32 m_invIA;
+	float32 m_invIB;
+	b2Vec2 m_axis, m_perp;
+	float32 m_s1, m_s2;
+	float32 m_a1, m_a2;
+	b2Mat33 m_K;
+	float32 m_motorMass;
+};
+
+inline float32 b2PrismaticJoint::GetMotorSpeed() const
+{
+	return m_motorSpeed;
+}
+
+#endif

data/src/physics/Box2D/Dynamics/Joints/b2PulleyJoint.cpp

@@ -0,0 +1,348 @@
+/*
+* Copyright (c) 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/b2PulleyJoint.h>
+#include <Box2D/Dynamics/b2Body.h>
+#include <Box2D/Dynamics/b2TimeStep.h>
+
+// Pulley:
+// length1 = norm(p1 - s1)
+// length2 = norm(p2 - s2)
+// C0 = (length1 + ratio * length2)_initial
+// C = C0 - (length1 + ratio * length2)
+// u1 = (p1 - s1) / norm(p1 - s1)
+// u2 = (p2 - s2) / norm(p2 - s2)
+// Cdot = -dot(u1, v1 + cross(w1, r1)) - ratio * dot(u2, v2 + cross(w2, r2))
+// J = -[u1 cross(r1, u1) ratio * u2  ratio * cross(r2, u2)]
+// K = J * invM * JT
+//   = invMass1 + invI1 * cross(r1, u1)^2 + ratio^2 * (invMass2 + invI2 * cross(r2, u2)^2)
+
+void b2PulleyJointDef::Initialize(b2Body* bA, b2Body* bB,
+				const b2Vec2& groundA, const b2Vec2& groundB,
+				const b2Vec2& anchorA, const b2Vec2& anchorB,
+				float32 r)
+{
+	bodyA = bA;
+	bodyB = bB;
+	groundAnchorA = groundA;
+	groundAnchorB = groundB;
+	localAnchorA = bodyA->GetLocalPoint(anchorA);
+	localAnchorB = bodyB->GetLocalPoint(anchorB);
+	b2Vec2 dA = anchorA - groundA;
+	lengthA = dA.Length();
+	b2Vec2 dB = anchorB - groundB;
+	lengthB = dB.Length();
+	ratio = r;
+	b2Assert(ratio > b2_epsilon);
+}
+
+b2PulleyJoint::b2PulleyJoint(const b2PulleyJointDef* def)
+: b2Joint(def)
+{
+	m_groundAnchorA = def->groundAnchorA;
+	m_groundAnchorB = def->groundAnchorB;
+	m_localAnchorA = def->localAnchorA;
+	m_localAnchorB = def->localAnchorB;
+
+	m_lengthA = def->lengthA;
+	m_lengthB = def->lengthB;
+
+	b2Assert(def->ratio != 0.0f);
+	m_ratio = def->ratio;
+
+	m_constant = def->lengthA + m_ratio * def->lengthB;
+
+	m_impulse = 0.0f;
+}
+
+void b2PulleyJoint::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);
+
+	// Get the pulley axes.
+	m_uA = cA + m_rA - m_groundAnchorA;
+	m_uB = cB + m_rB - m_groundAnchorB;
+
+	float32 lengthA = m_uA.Length();
+	float32 lengthB = m_uB.Length();
+
+	if (lengthA > 10.0f * b2_linearSlop)
+	{
+		m_uA *= 1.0f / lengthA;
+	}
+	else
+	{
+		m_uA.SetZero();
+	}
+
+	if (lengthB > 10.0f * b2_linearSlop)
+	{
+		m_uB *= 1.0f / lengthB;
+	}
+	else
+	{
+		m_uB.SetZero();
+	}
+
+	// Compute effective mass.
+	float32 ruA = b2Cross(m_rA, m_uA);
+	float32 ruB = b2Cross(m_rB, m_uB);
+
+	float32 mA = m_invMassA + m_invIA * ruA * ruA;
+	float32 mB = m_invMassB + m_invIB * ruB * ruB;
+
+	m_mass = mA + m_ratio * m_ratio * mB;
+
+	if (m_mass > 0.0f)
+	{
+		m_mass = 1.0f / m_mass;
+	}
+
+	if (data.step.warmStarting)
+	{
+		// Scale impulses to support variable time steps.
+		m_impulse *= data.step.dtRatio;
+
+		// Warm starting.
+		b2Vec2 PA = -(m_impulse) * m_uA;
+		b2Vec2 PB = (-m_ratio * m_impulse) * m_uB;
+
+		vA += m_invMassA * PA;
+		wA += m_invIA * b2Cross(m_rA, PA);
+		vB += m_invMassB * PB;
+		wB += m_invIB * b2Cross(m_rB, PB);
+	}
+	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 b2PulleyJoint::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;
+
+	b2Vec2 vpA = vA + b2Cross(wA, m_rA);
+	b2Vec2 vpB = vB + b2Cross(wB, m_rB);
+
+	float32 Cdot = -b2Dot(m_uA, vpA) - m_ratio * b2Dot(m_uB, vpB);
+	float32 impulse = -m_mass * Cdot;
+	m_impulse += impulse;
+
+	b2Vec2 PA = -impulse * m_uA;
+	b2Vec2 PB = -m_ratio * impulse * m_uB;
+	vA += m_invMassA * PA;
+	wA += m_invIA * b2Cross(m_rA, PA);
+	vB += m_invMassB * PB;
+	wB += m_invIB * b2Cross(m_rB, PB);
+
+	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 b2PulleyJoint::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);
+
+	b2Vec2 rA = b2Mul(qA, m_localAnchorA - m_localCenterA);
+	b2Vec2 rB = b2Mul(qB, m_localAnchorB - m_localCenterB);
+
+	// Get the pulley axes.
+	b2Vec2 uA = cA + rA - m_groundAnchorA;
+	b2Vec2 uB = cB + rB - m_groundAnchorB;
+
+	float32 lengthA = uA.Length();
+	float32 lengthB = uB.Length();
+
+	if (lengthA > 10.0f * b2_linearSlop)
+	{
+		uA *= 1.0f / lengthA;
+	}
+	else
+	{
+		uA.SetZero();
+	}
+
+	if (lengthB > 10.0f * b2_linearSlop)
+	{
+		uB *= 1.0f / lengthB;
+	}
+	else
+	{
+		uB.SetZero();
+	}
+
+	// Compute effective mass.
+	float32 ruA = b2Cross(rA, uA);
+	float32 ruB = b2Cross(rB, uB);
+
+	float32 mA = m_invMassA + m_invIA * ruA * ruA;
+	float32 mB = m_invMassB + m_invIB * ruB * ruB;
+
+	float32 mass = mA + m_ratio * m_ratio * mB;
+
+	if (mass > 0.0f)
+	{
+		mass = 1.0f / mass;
+	}
+
+	float32 C = m_constant - lengthA - m_ratio * lengthB;
+	float32 linearError = b2Abs(C);
+
+	float32 impulse = -mass * C;
+
+	b2Vec2 PA = -impulse * uA;
+	b2Vec2 PB = -m_ratio * impulse * uB;
+
+	cA += m_invMassA * PA;
+	aA += m_invIA * b2Cross(rA, PA);
+	cB += m_invMassB * PB;
+	aB += m_invIB * b2Cross(rB, PB);
+
+	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;
+}
+
+b2Vec2 b2PulleyJoint::GetAnchorA() const
+{
+	return m_bodyA->GetWorldPoint(m_localAnchorA);
+}
+
+b2Vec2 b2PulleyJoint::GetAnchorB() const
+{
+	return m_bodyB->GetWorldPoint(m_localAnchorB);
+}
+
+b2Vec2 b2PulleyJoint::GetReactionForce(float32 inv_dt) const
+{
+	b2Vec2 P = m_impulse * m_uB;
+	return inv_dt * P;
+}
+
+float32 b2PulleyJoint::GetReactionTorque(float32 inv_dt) const
+{
+	B2_NOT_USED(inv_dt);
+	return 0.0f;
+}
+
+b2Vec2 b2PulleyJoint::GetGroundAnchorA() const
+{
+	return m_groundAnchorA;
+}
+
+b2Vec2 b2PulleyJoint::GetGroundAnchorB() const
+{
+	return m_groundAnchorB;
+}
+
+float32 b2PulleyJoint::GetLengthA() const
+{
+	return m_lengthA;
+}
+
+float32 b2PulleyJoint::GetLengthB() const
+{
+	return m_lengthB;
+}
+
+float32 b2PulleyJoint::GetRatio() const
+{
+	return m_ratio;
+}
+
+float32 b2PulleyJoint::GetCurrentLengthA() const
+{
+	b2Vec2 p = m_bodyA->GetWorldPoint(m_localAnchorA);
+	b2Vec2 s = m_groundAnchorA;
+	b2Vec2 d = p - s;
+	return d.Length();
+}
+
+float32 b2PulleyJoint::GetCurrentLengthB() const
+{
+	b2Vec2 p = m_bodyB->GetWorldPoint(m_localAnchorB);
+	b2Vec2 s = m_groundAnchorB;
+	b2Vec2 d = p - s;
+	return d.Length();
+}
+
+void b2PulleyJoint::Dump()
+{
+	int32 indexA = m_bodyA->m_islandIndex;
+	int32 indexB = m_bodyB->m_islandIndex;
+
+	b2Log("  b2PulleyJointDef 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.groundAnchorA.Set(%.15lef, %.15lef);\n", m_groundAnchorA.x, m_groundAnchorA.y);
+	b2Log("  jd.groundAnchorB.Set(%.15lef, %.15lef);\n", m_groundAnchorB.x, m_groundAnchorB.y);
+	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.lengthA = %.15lef;\n", m_lengthA);
+	b2Log("  jd.lengthB = %.15lef;\n", m_lengthB);
+	b2Log("  jd.ratio = %.15lef;\n", m_ratio);
+	b2Log("  joints[%d] = m_world->CreateJoint(&jd);\n", m_index);
+}
+
+void b2PulleyJoint::ShiftOrigin(const b2Vec2& newOrigin)
+{
+	m_groundAnchorA -= newOrigin;
+	m_groundAnchorB -= newOrigin;
+}

data/src/physics/Box2D/Dynamics/Joints/b2PulleyJoint.h

@@ -0,0 +1,152 @@
+/*
+* 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.
+*/
+
+#ifndef B2_PULLEY_JOINT_H
+#define B2_PULLEY_JOINT_H
+
+#include <Box2D/Dynamics/Joints/b2Joint.h>
+
+const float32 b2_minPulleyLength = 2.0f;
+
+/// Pulley joint definition. This requires two ground anchors,
+/// two dynamic body anchor points, and a pulley ratio.
+struct b2PulleyJointDef : public b2JointDef
+{
+	b2PulleyJointDef()
+	{
+		type = e_pulleyJoint;
+		groundAnchorA.Set(-1.0f, 1.0f);
+		groundAnchorB.Set(1.0f, 1.0f);
+		localAnchorA.Set(-1.0f, 0.0f);
+		localAnchorB.Set(1.0f, 0.0f);
+		lengthA = 0.0f;
+		lengthB = 0.0f;
+		ratio = 1.0f;
+		collideConnected = true;
+	}
+
+	/// Initialize the bodies, anchors, lengths, max lengths, and ratio using the world anchors.
+	void Initialize(b2Body* bodyA, b2Body* bodyB,
+					const b2Vec2& groundAnchorA, const b2Vec2& groundAnchorB,
+					const b2Vec2& anchorA, const b2Vec2& anchorB,
+					float32 ratio);
+
+	/// The first ground anchor in world coordinates. This point never moves.
+	b2Vec2 groundAnchorA;
+
+	/// The second ground anchor in world coordinates. This point never moves.
+	b2Vec2 groundAnchorB;
+
+	/// The local anchor point relative to bodyA's origin.
+	b2Vec2 localAnchorA;
+
+	/// The local anchor point relative to bodyB's origin.
+	b2Vec2 localAnchorB;
+
+	/// The a reference length for the segment attached to bodyA.
+	float32 lengthA;
+
+	/// The a reference length for the segment attached to bodyB.
+	float32 lengthB;
+
+	/// The pulley ratio, used to simulate a block-and-tackle.
+	float32 ratio;
+};
+
+/// The pulley joint is connected to two bodies and two fixed ground points.
+/// The pulley supports a ratio such that:
+/// length1 + ratio * length2 <= constant
+/// Yes, the force transmitted is scaled by the ratio.
+/// Warning: the pulley joint can get a bit squirrelly by itself. They often
+/// work better when combined with prismatic joints. You should also cover the
+/// the anchor points with static shapes to prevent one side from going to
+/// zero length.
+class b2PulleyJoint : public b2Joint
+{
+public:
+	b2Vec2 GetAnchorA() const;
+	b2Vec2 GetAnchorB() const;
+
+	b2Vec2 GetReactionForce(float32 inv_dt) const;
+	float32 GetReactionTorque(float32 inv_dt) const;
+
+	/// Get the first ground anchor.
+	b2Vec2 GetGroundAnchorA() const;
+
+	/// Get the second ground anchor.
+	b2Vec2 GetGroundAnchorB() const;
+
+	/// Get the current length of the segment attached to bodyA.
+	float32 GetLengthA() const;
+
+	/// Get the current length of the segment attached to bodyB.
+	float32 GetLengthB() const;
+
+	/// Get the pulley ratio.
+	float32 GetRatio() const;
+
+	/// Get the current length of the segment attached to bodyA.
+	float32 GetCurrentLengthA() const;
+
+	/// Get the current length of the segment attached to bodyB.
+	float32 GetCurrentLengthB() const;
+
+	/// Dump joint to dmLog
+	void Dump();
+
+	/// Implement b2Joint::ShiftOrigin
+	void ShiftOrigin(const b2Vec2& newOrigin);
+
+protected:
+
+	friend class b2Joint;
+	b2PulleyJoint(const b2PulleyJointDef* data);
+
+	void InitVelocityConstraints(const b2SolverData& data);
+	void SolveVelocityConstraints(const b2SolverData& data);
+	bool SolvePositionConstraints(const b2SolverData& data);
+
+	b2Vec2 m_groundAnchorA;
+	b2Vec2 m_groundAnchorB;
+	float32 m_lengthA;
+	float32 m_lengthB;
+	
+	// Solver shared
+	b2Vec2 m_localAnchorA;
+	b2Vec2 m_localAnchorB;
+	float32 m_constant;
+	float32 m_ratio;
+	float32 m_impulse;
+
+	// Solver temp
+	int32 m_indexA;
+	int32 m_indexB;
+	b2Vec2 m_uA;
+	b2Vec2 m_uB;
+	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;
+};
+
+#endif