reflexion 0.1.7 → 0.1.8

data/src/physics/Box2D/Dynamics/Joints/b2RevoluteJoint.cpp

@@ -0,0 +1,502 @@
+/*
+* 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/b2RevoluteJoint.h>
+#include <Box2D/Dynamics/b2Body.h>
+#include <Box2D/Dynamics/b2TimeStep.h>
+
+// Point-to-point constraint
+// C = p2 - p1
+// 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)
+
+// Motor constraint
+// Cdot = w2 - w1
+// J = [0 0 -1 0 0 1]
+// K = invI1 + invI2
+
+void b2RevoluteJointDef::Initialize(b2Body* bA, b2Body* bB, const b2Vec2& anchor)
+{
+	bodyA = bA;
+	bodyB = bB;
+	localAnchorA = bodyA->GetLocalPoint(anchor);
+	localAnchorB = bodyB->GetLocalPoint(anchor);
+	referenceAngle = bodyB->GetAngle() - bodyA->GetAngle();
+}
+
+b2RevoluteJoint::b2RevoluteJoint(const b2RevoluteJointDef* def)
+: b2Joint(def)
+{
+	m_localAnchorA = def->localAnchorA;
+	m_localAnchorB = def->localAnchorB;
+	m_referenceAngle = def->referenceAngle;
+
+	m_impulse.SetZero();
+	m_motorImpulse = 0.0f;
+
+	m_lowerAngle = def->lowerAngle;
+	m_upperAngle = def->upperAngle;
+	m_maxMotorTorque = def->maxMotorTorque;
+	m_motorSpeed = def->motorSpeed;
+	m_enableLimit = def->enableLimit;
+	m_enableMotor = def->enableMotor;
+	m_limitState = e_inactiveLimit;
+}
+
+void b2RevoluteJoint::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);
+
+	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;
+
+	bool fixedRotation = (iA + iB == 0.0f);
+
+	m_mass.ex.x = mA + mB + m_rA.y * m_rA.y * iA + m_rB.y * m_rB.y * iB;
+	m_mass.ey.x = -m_rA.y * m_rA.x * iA - m_rB.y * m_rB.x * iB;
+	m_mass.ez.x = -m_rA.y * iA - m_rB.y * iB;
+	m_mass.ex.y = m_mass.ey.x;
+	m_mass.ey.y = mA + mB + m_rA.x * m_rA.x * iA + m_rB.x * m_rB.x * iB;
+	m_mass.ez.y = m_rA.x * iA + m_rB.x * iB;
+	m_mass.ex.z = m_mass.ez.x;
+	m_mass.ey.z = m_mass.ez.y;
+	m_mass.ez.z = iA + iB;
+
+	m_motorMass = iA + iB;
+	if (m_motorMass > 0.0f)
+	{
+		m_motorMass = 1.0f / m_motorMass;
+	}
+
+	if (m_enableMotor == false || fixedRotation)
+	{
+		m_motorImpulse = 0.0f;
+	}
+
+	if (m_enableLimit && fixedRotation == false)
+	{
+		float32 jointAngle = aB - aA - m_referenceAngle;
+		if (b2Abs(m_upperAngle - m_lowerAngle) < 2.0f * b2_angularSlop)
+		{
+			m_limitState = e_equalLimits;
+		}
+		else if (jointAngle <= m_lowerAngle)
+		{
+			if (m_limitState != e_atLowerLimit)
+			{
+				m_impulse.z = 0.0f;
+			}
+			m_limitState = e_atLowerLimit;
+		}
+		else if (jointAngle >= m_upperAngle)
+		{
+			if (m_limitState != e_atUpperLimit)
+			{
+				m_impulse.z = 0.0f;
+			}
+			m_limitState = e_atUpperLimit;
+		}
+		else
+		{
+			m_limitState = e_inactiveLimit;
+			m_impulse.z = 0.0f;
+		}
+	}
+	else
+	{
+		m_limitState = e_inactiveLimit;
+	}
+
+	if (data.step.warmStarting)
+	{
+		// Scale impulses to support a variable time step.
+		m_impulse *= data.step.dtRatio;
+		m_motorImpulse *= data.step.dtRatio;
+
+		b2Vec2 P(m_impulse.x, m_impulse.y);
+
+		vA -= mA * P;
+		wA -= iA * (b2Cross(m_rA, P) + m_motorImpulse + m_impulse.z);
+
+		vB += mB * P;
+		wB += iB * (b2Cross(m_rB, P) + m_motorImpulse + m_impulse.z);
+	}
+	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 b2RevoluteJoint::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;
+
+	bool fixedRotation = (iA + iB == 0.0f);
+
+	// Solve motor constraint.
+	if (m_enableMotor && m_limitState != e_equalLimits && fixedRotation == false)
+	{
+		float32 Cdot = wB - wA - m_motorSpeed;
+		float32 impulse = -m_motorMass * Cdot;
+		float32 oldImpulse = m_motorImpulse;
+		float32 maxImpulse = data.step.dt * m_maxMotorTorque;
+		m_motorImpulse = b2Clamp(m_motorImpulse + impulse, -maxImpulse, maxImpulse);
+		impulse = m_motorImpulse - oldImpulse;
+
+		wA -= iA * impulse;
+		wB += iB * impulse;
+	}
+
+	// Solve limit constraint.
+	if (m_enableLimit && m_limitState != e_inactiveLimit && fixedRotation == false)
+	{
+		b2Vec2 Cdot1 = vB + b2Cross(wB, m_rB) - vA - b2Cross(wA, m_rA);
+		float32 Cdot2 = wB - wA;
+		b2Vec3 Cdot(Cdot1.x, Cdot1.y, Cdot2);
+
+		b2Vec3 impulse = -m_mass.Solve33(Cdot);
+
+		if (m_limitState == e_equalLimits)
+		{
+			m_impulse += impulse;
+		}
+		else if (m_limitState == e_atLowerLimit)
+		{
+			float32 newImpulse = m_impulse.z + impulse.z;
+			if (newImpulse < 0.0f)
+			{
+				b2Vec2 rhs = -Cdot1 + m_impulse.z * b2Vec2(m_mass.ez.x, m_mass.ez.y);
+				b2Vec2 reduced = m_mass.Solve22(rhs);
+				impulse.x = reduced.x;
+				impulse.y = reduced.y;
+				impulse.z = -m_impulse.z;
+				m_impulse.x += reduced.x;
+				m_impulse.y += reduced.y;
+				m_impulse.z = 0.0f;
+			}
+			else
+			{
+				m_impulse += impulse;
+			}
+		}
+		else if (m_limitState == e_atUpperLimit)
+		{
+			float32 newImpulse = m_impulse.z + impulse.z;
+			if (newImpulse > 0.0f)
+			{
+				b2Vec2 rhs = -Cdot1 + m_impulse.z * b2Vec2(m_mass.ez.x, m_mass.ez.y);
+				b2Vec2 reduced = m_mass.Solve22(rhs);
+				impulse.x = reduced.x;
+				impulse.y = reduced.y;
+				impulse.z = -m_impulse.z;
+				m_impulse.x += reduced.x;
+				m_impulse.y += reduced.y;
+				m_impulse.z = 0.0f;
+			}
+			else
+			{
+				m_impulse += impulse;
+			}
+		}
+
+		b2Vec2 P(impulse.x, impulse.y);
+
+		vA -= mA * P;
+		wA -= iA * (b2Cross(m_rA, P) + impulse.z);
+
+		vB += mB * P;
+		wB += iB * (b2Cross(m_rB, P) + impulse.z);
+	}
+	else
+	{
+		// Solve point-to-point constraint
+		b2Vec2 Cdot = vB + b2Cross(wB, m_rB) - vA - b2Cross(wA, m_rA);
+		b2Vec2 impulse = m_mass.Solve22(-Cdot);
+
+		m_impulse.x += impulse.x;
+		m_impulse.y += impulse.y;
+
+		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 b2RevoluteJoint::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 angularError = 0.0f;
+	float32 positionError = 0.0f;
+
+	bool fixedRotation = (m_invIA + m_invIB == 0.0f);
+
+	// Solve angular limit constraint.
+	if (m_enableLimit && m_limitState != e_inactiveLimit && fixedRotation == false)
+	{
+		float32 angle = aB - aA - m_referenceAngle;
+		float32 limitImpulse = 0.0f;
+
+		if (m_limitState == e_equalLimits)
+		{
+			// Prevent large angular corrections
+			float32 C = b2Clamp(angle - m_lowerAngle, -b2_maxAngularCorrection, b2_maxAngularCorrection);
+			limitImpulse = -m_motorMass * C;
+			angularError = b2Abs(C);
+		}
+		else if (m_limitState == e_atLowerLimit)
+		{
+			float32 C = angle - m_lowerAngle;
+			angularError = -C;
+
+			// Prevent large angular corrections and allow some slop.
+			C = b2Clamp(C + b2_angularSlop, -b2_maxAngularCorrection, 0.0f);
+			limitImpulse = -m_motorMass * C;
+		}
+		else if (m_limitState == e_atUpperLimit)
+		{
+			float32 C = angle - m_upperAngle;
+			angularError = C;
+
+			// Prevent large angular corrections and allow some slop.
+			C = b2Clamp(C - b2_angularSlop, 0.0f, b2_maxAngularCorrection);
+			limitImpulse = -m_motorMass * C;
+		}
+
+		aA -= m_invIA * limitImpulse;
+		aB += m_invIB * limitImpulse;
+	}
+
+	// Solve point-to-point constraint.
+	{
+		qA.Set(aA);
+		qB.Set(aB);
+		b2Vec2 rA = b2Mul(qA, m_localAnchorA - m_localCenterA);
+		b2Vec2 rB = b2Mul(qB, m_localAnchorB - m_localCenterB);
+
+		b2Vec2 C = cB + rB - cA - rA;
+		positionError = C.Length();
+
+		float32 mA = m_invMassA, mB = m_invMassB;
+		float32 iA = m_invIA, iB = m_invIB;
+
+		b2Mat22 K;
+		K.ex.x = mA + mB + iA * rA.y * rA.y + iB * rB.y * rB.y;
+		K.ex.y = -iA * rA.x * rA.y - iB * rB.x * rB.y;
+		K.ey.x = K.ex.y;
+		K.ey.y = mA + mB + iA * rA.x * rA.x + iB * rB.x * rB.x;
+
+		b2Vec2 impulse = -K.Solve(C);
+
+		cA -= mA * impulse;
+		aA -= iA * b2Cross(rA, impulse);
+
+		cB += mB * impulse;
+		aB += iB * b2Cross(rB, impulse);
+	}
+
+	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 positionError <= b2_linearSlop && angularError <= b2_angularSlop;
+}
+
+b2Vec2 b2RevoluteJoint::GetAnchorA() const
+{
+	return m_bodyA->GetWorldPoint(m_localAnchorA);
+}
+
+b2Vec2 b2RevoluteJoint::GetAnchorB() const
+{
+	return m_bodyB->GetWorldPoint(m_localAnchorB);
+}
+
+b2Vec2 b2RevoluteJoint::GetReactionForce(float32 inv_dt) const
+{
+	b2Vec2 P(m_impulse.x, m_impulse.y);
+	return inv_dt * P;
+}
+
+float32 b2RevoluteJoint::GetReactionTorque(float32 inv_dt) const
+{
+	return inv_dt * m_impulse.z;
+}
+
+float32 b2RevoluteJoint::GetJointAngle() const
+{
+	b2Body* bA = m_bodyA;
+	b2Body* bB = m_bodyB;
+	return bB->m_sweep.a - bA->m_sweep.a - m_referenceAngle;
+}
+
+float32 b2RevoluteJoint::GetJointSpeed() const
+{
+	b2Body* bA = m_bodyA;
+	b2Body* bB = m_bodyB;
+	return bB->m_angularVelocity - bA->m_angularVelocity;
+}
+
+bool b2RevoluteJoint::IsMotorEnabled() const
+{
+	return m_enableMotor;
+}
+
+void b2RevoluteJoint::EnableMotor(bool flag)
+{
+	m_bodyA->SetAwake(true);
+	m_bodyB->SetAwake(true);
+	m_enableMotor = flag;
+}
+
+float32 b2RevoluteJoint::GetMotorTorque(float32 inv_dt) const
+{
+	return inv_dt * m_motorImpulse;
+}
+
+void b2RevoluteJoint::SetMotorSpeed(float32 speed)
+{
+	m_bodyA->SetAwake(true);
+	m_bodyB->SetAwake(true);
+	m_motorSpeed = speed;
+}
+
+void b2RevoluteJoint::SetMaxMotorTorque(float32 torque)
+{
+	m_bodyA->SetAwake(true);
+	m_bodyB->SetAwake(true);
+	m_maxMotorTorque = torque;
+}
+
+bool b2RevoluteJoint::IsLimitEnabled() const
+{
+	return m_enableLimit;
+}
+
+void b2RevoluteJoint::EnableLimit(bool flag)
+{
+	if (flag != m_enableLimit)
+	{
+		m_bodyA->SetAwake(true);
+		m_bodyB->SetAwake(true);
+		m_enableLimit = flag;
+		m_impulse.z = 0.0f;
+	}
+}
+
+float32 b2RevoluteJoint::GetLowerLimit() const
+{
+	return m_lowerAngle;
+}
+
+float32 b2RevoluteJoint::GetUpperLimit() const
+{
+	return m_upperAngle;
+}
+
+void b2RevoluteJoint::SetLimits(float32 lower, float32 upper)
+{
+	b2Assert(lower <= upper);
+	
+	if (lower != m_lowerAngle || upper != m_upperAngle)
+	{
+		m_bodyA->SetAwake(true);
+		m_bodyB->SetAwake(true);
+		m_impulse.z = 0.0f;
+		m_lowerAngle = lower;
+		m_upperAngle = upper;
+	}
+}
+
+void b2RevoluteJoint::Dump()
+{
+	int32 indexA = m_bodyA->m_islandIndex;
+	int32 indexB = m_bodyB->m_islandIndex;
+
+	b2Log("  b2RevoluteJointDef 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.referenceAngle = %.15lef;\n", m_referenceAngle);
+	b2Log("  jd.enableLimit = bool(%d);\n", m_enableLimit);
+	b2Log("  jd.lowerAngle = %.15lef;\n", m_lowerAngle);
+	b2Log("  jd.upperAngle = %.15lef;\n", m_upperAngle);
+	b2Log("  jd.enableMotor = bool(%d);\n", m_enableMotor);
+	b2Log("  jd.motorSpeed = %.15lef;\n", m_motorSpeed);
+	b2Log("  jd.maxMotorTorque = %.15lef;\n", m_maxMotorTorque);
+	b2Log("  joints[%d] = m_world->CreateJoint(&jd);\n", m_index);
+}

data/src/physics/Box2D/Dynamics/Joints/b2RevoluteJoint.h

@@ -0,0 +1,204 @@
+/*
+* 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_REVOLUTE_JOINT_H
+#define B2_REVOLUTE_JOINT_H
+
+#include <Box2D/Dynamics/Joints/b2Joint.h>
+
+/// Revolute joint definition. This requires defining an
+/// anchor point where the bodies are joined. The definition
+/// uses local anchor points so that the initial configuration
+/// can violate the constraint slightly. You also need to
+/// specify the initial relative angle for joint limits. This
+/// helps when saving and loading a game.
+/// The local anchor points are measured from the body's origin
+/// rather than the center of mass because:
+/// 1. you might not know where the center of mass will be.
+/// 2. if you add/remove shapes from a body and recompute the mass,
+///    the joints will be broken.
+struct b2RevoluteJointDef : public b2JointDef
+{
+	b2RevoluteJointDef()
+	{
+		type = e_revoluteJoint;
+		localAnchorA.Set(0.0f, 0.0f);
+		localAnchorB.Set(0.0f, 0.0f);
+		referenceAngle = 0.0f;
+		lowerAngle = 0.0f;
+		upperAngle = 0.0f;
+		maxMotorTorque = 0.0f;
+		motorSpeed = 0.0f;
+		enableLimit = false;
+		enableMotor = false;
+	}
+
+	/// Initialize the bodies, anchors, and reference angle using a world
+	/// anchor point.
+	void Initialize(b2Body* bodyA, b2Body* bodyB, const b2Vec2& anchor);
+
+	/// The local anchor point relative to bodyA's origin.
+	b2Vec2 localAnchorA;
+
+	/// The local anchor point relative to bodyB's origin.
+	b2Vec2 localAnchorB;
+
+	/// The bodyB angle minus bodyA angle in the reference state (radians).
+	float32 referenceAngle;
+
+	/// A flag to enable joint limits.
+	bool enableLimit;
+
+	/// The lower angle for the joint limit (radians).
+	float32 lowerAngle;
+
+	/// The upper angle for the joint limit (radians).
+	float32 upperAngle;
+
+	/// A flag to enable the joint motor.
+	bool enableMotor;
+
+	/// The desired motor speed. Usually in radians per second.
+	float32 motorSpeed;
+
+	/// The maximum motor torque used to achieve the desired motor speed.
+	/// Usually in N-m.
+	float32 maxMotorTorque;
+};
+
+/// A revolute joint constrains two bodies to share a common point while they
+/// are free to rotate about the point. The relative rotation about the shared
+/// point is the joint angle. You can limit the relative rotation with
+/// a joint limit that specifies a lower and upper angle. You can use a motor
+/// to drive the relative rotation about the shared point. A maximum motor torque
+/// is provided so that infinite forces are not generated.
+class b2RevoluteJoint : public b2Joint
+{
+public:
+	b2Vec2 GetAnchorA() const;
+	b2Vec2 GetAnchorB() 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; }
+
+	/// Get the reference angle.
+	float32 GetReferenceAngle() const { return m_referenceAngle; }
+
+	/// Get the current joint angle in radians.
+	float32 GetJointAngle() const;
+
+	/// Get the current joint angle speed in radians 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 in radians.
+	float32 GetLowerLimit() const;
+
+	/// Get the upper joint limit in radians.
+	float32 GetUpperLimit() const;
+
+	/// Set the joint limits in radians.
+	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 in radians per second.
+	void SetMotorSpeed(float32 speed);
+
+	/// Get the motor speed in radians per second.
+	float32 GetMotorSpeed() const;
+
+	/// Set the maximum motor torque, usually in N-m.
+	void SetMaxMotorTorque(float32 torque);
+	float32 GetMaxMotorTorque() const { return m_maxMotorTorque; }
+
+	/// Get the reaction force given the inverse time step.
+	/// Unit is N.
+	b2Vec2 GetReactionForce(float32 inv_dt) const;
+
+	/// Get the reaction torque due to the joint limit given the inverse time step.
+	/// Unit is N*m.
+	float32 GetReactionTorque(float32 inv_dt) const;
+
+	/// Get the current motor torque given the inverse time step.
+	/// Unit is N*m.
+	float32 GetMotorTorque(float32 inv_dt) const;
+
+	/// Dump to b2Log.
+	void Dump();
+
+protected:
+	
+	friend class b2Joint;
+	friend class b2GearJoint;
+
+	b2RevoluteJoint(const b2RevoluteJointDef* def);
+
+	void InitVelocityConstraints(const b2SolverData& data);
+	void SolveVelocityConstraints(const b2SolverData& data);
+	bool SolvePositionConstraints(const b2SolverData& data);
+
+	// Solver shared
+	b2Vec2 m_localAnchorA;
+	b2Vec2 m_localAnchorB;
+	b2Vec3 m_impulse;
+	float32 m_motorImpulse;
+
+	bool m_enableMotor;
+	float32 m_maxMotorTorque;
+	float32 m_motorSpeed;
+
+	bool m_enableLimit;
+	float32 m_referenceAngle;
+	float32 m_lowerAngle;
+	float32 m_upperAngle;
+
+	// Solver temp
+	int32 m_indexA;
+	int32 m_indexB;
+	b2Vec2 m_rA;
+	b2Vec2 m_rB;
+	b2Vec2 m_localCenterA;
+	b2Vec2 m_localCenterB;
+	float32 m_invMassA;
+	float32 m_invMassB;
+	float32 m_invIA;
+	float32 m_invIB;
+	b2Mat33 m_mass;			// effective mass for point-to-point constraint.
+	float32 m_motorMass;	// effective mass for motor/limit angular constraint.
+	b2LimitState m_limitState;
+};
+
+inline float32 b2RevoluteJoint::GetMotorSpeed() const
+{
+	return m_motorSpeed;
+}
+
+#endif