reflexion 0.1.7 → 0.1.8

data/src/physics/Box2D/Dynamics/Joints/b2WeldJoint.h

@@ -0,0 +1,126 @@
+/*
+* 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_WELD_JOINT_H
+#define B2_WELD_JOINT_H
+
+#include <Box2D/Dynamics/Joints/b2Joint.h>
+
+/// Weld joint definition. You need to specify local anchor points
+/// where they are attached and the relative body angle. The position
+/// of the anchor points is important for computing the reaction torque.
+struct b2WeldJointDef : public b2JointDef
+{
+	b2WeldJointDef()
+	{
+		type = e_weldJoint;
+		localAnchorA.Set(0.0f, 0.0f);
+		localAnchorB.Set(0.0f, 0.0f);
+		referenceAngle = 0.0f;
+		frequencyHz = 0.0f;
+		dampingRatio = 0.0f;
+	}
+
+	/// 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;
+	
+	/// The mass-spring-damper frequency in Hertz. Rotation only.
+	/// Disable softness with a value of 0.
+	float32 frequencyHz;
+
+	/// The damping ratio. 0 = no damping, 1 = critical damping.
+	float32 dampingRatio;
+};
+
+/// A weld joint essentially glues two bodies together. A weld joint may
+/// distort somewhat because the island constraint solver is approximate.
+class b2WeldJoint : 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; }
+
+	/// Get the reference angle.
+	float32 GetReferenceAngle() const { return m_referenceAngle; }
+
+	/// Set/get frequency in Hz.
+	void SetFrequency(float32 hz) { m_frequencyHz = hz; }
+	float32 GetFrequency() const { return m_frequencyHz; }
+
+	/// Set/get damping ratio.
+	void SetDampingRatio(float32 ratio) { m_dampingRatio = ratio; }
+	float32 GetDampingRatio() const { return m_dampingRatio; }
+
+	/// Dump to b2Log
+	void Dump();
+
+protected:
+
+	friend class b2Joint;
+
+	b2WeldJoint(const b2WeldJointDef* def);
+
+	void InitVelocityConstraints(const b2SolverData& data);
+	void SolveVelocityConstraints(const b2SolverData& data);
+	bool SolvePositionConstraints(const b2SolverData& data);
+
+	float32 m_frequencyHz;
+	float32 m_dampingRatio;
+	float32 m_bias;
+
+	// Solver shared
+	b2Vec2 m_localAnchorA;
+	b2Vec2 m_localAnchorB;
+	float32 m_referenceAngle;
+	float32 m_gamma;
+	b2Vec3 m_impulse;
+
+	// 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;
+};
+
+#endif

data/src/physics/Box2D/Dynamics/Joints/b2WheelJoint.cpp

@@ -0,0 +1,419 @@
+/*
+* 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/b2WheelJoint.h>
+#include <Box2D/Dynamics/b2Body.h>
+#include <Box2D/Dynamics/b2TimeStep.h>
+
+// Linear constraint (point-to-line)
+// d = pB - pA = xB + rB - xA - rA
+// C = dot(ay, d)
+// Cdot = dot(d, cross(wA, ay)) + dot(ay, vB + cross(wB, rB) - vA - cross(wA, rA))
+//      = -dot(ay, vA) - dot(cross(d + rA, ay), wA) + dot(ay, vB) + dot(cross(rB, ay), vB)
+// J = [-ay, -cross(d + rA, ay), ay, cross(rB, ay)]
+
+// Spring linear constraint
+// C = dot(ax, d)
+// Cdot = = -dot(ax, vA) - dot(cross(d + rA, ax), wA) + dot(ax, vB) + dot(cross(rB, ax), vB)
+// J = [-ax -cross(d+rA, ax) ax cross(rB, ax)]
+
+// Motor rotational constraint
+// Cdot = wB - wA
+// J = [0 0 -1 0 0 1]
+
+void b2WheelJointDef::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);
+}
+
+b2WheelJoint::b2WheelJoint(const b2WheelJointDef* def)
+: b2Joint(def)
+{
+	m_localAnchorA = def->localAnchorA;
+	m_localAnchorB = def->localAnchorB;
+	m_localXAxisA = def->localAxisA;
+	m_localYAxisA = b2Cross(1.0f, m_localXAxisA);
+
+	m_mass = 0.0f;
+	m_impulse = 0.0f;
+	m_motorMass = 0.0f;
+	m_motorImpulse = 0.0f;
+	m_springMass = 0.0f;
+	m_springImpulse = 0.0f;
+
+	m_maxMotorTorque = def->maxMotorTorque;
+	m_motorSpeed = def->motorSpeed;
+	m_enableMotor = def->enableMotor;
+
+	m_frequencyHz = def->frequencyHz;
+	m_dampingRatio = def->dampingRatio;
+
+	m_bias = 0.0f;
+	m_gamma = 0.0f;
+
+	m_ax.SetZero();
+	m_ay.SetZero();
+}
+
+void b2WheelJoint::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 mA = m_invMassA, mB = m_invMassB;
+	float32 iA = m_invIA, iB = m_invIB;
+
+	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 + rB - cA - rA;
+
+	// Point to line constraint
+	{
+		m_ay = b2Mul(qA, m_localYAxisA);
+		m_sAy = b2Cross(d + rA, m_ay);
+		m_sBy = b2Cross(rB, m_ay);
+
+		m_mass = mA + mB + iA * m_sAy * m_sAy + iB * m_sBy * m_sBy;
+
+		if (m_mass > 0.0f)
+		{
+			m_mass = 1.0f / m_mass;
+		}
+	}
+
+	// Spring constraint
+	m_springMass = 0.0f;
+	m_bias = 0.0f;
+	m_gamma = 0.0f;
+	if (m_frequencyHz > 0.0f)
+	{
+		m_ax = b2Mul(qA, m_localXAxisA);
+		m_sAx = b2Cross(d + rA, m_ax);
+		m_sBx = b2Cross(rB, m_ax);
+
+		float32 invMass = mA + mB + iA * m_sAx * m_sAx + iB * m_sBx * m_sBx;
+
+		if (invMass > 0.0f)
+		{
+			m_springMass = 1.0f / invMass;
+
+			float32 C = b2Dot(d, m_ax);
+
+			// Frequency
+			float32 omega = 2.0f * b2_pi * m_frequencyHz;
+
+			// Damping coefficient
+			float32 d = 2.0f * m_springMass * m_dampingRatio * omega;
+
+			// Spring stiffness
+			float32 k = m_springMass * omega * omega;
+
+			// magic formulas
+			float32 h = data.step.dt;
+			m_gamma = h * (d + h * k);
+			if (m_gamma > 0.0f)
+			{
+				m_gamma = 1.0f / m_gamma;
+			}
+
+			m_bias = C * h * k * m_gamma;
+
+			m_springMass = invMass + m_gamma;
+			if (m_springMass > 0.0f)
+			{
+				m_springMass = 1.0f / m_springMass;
+			}
+		}
+	}
+	else
+	{
+		m_springImpulse = 0.0f;
+	}
+
+	// Rotational motor
+	if (m_enableMotor)
+	{
+		m_motorMass = iA + iB;
+		if (m_motorMass > 0.0f)
+		{
+			m_motorMass = 1.0f / m_motorMass;
+		}
+	}
+	else
+	{
+		m_motorMass = 0.0f;
+		m_motorImpulse = 0.0f;
+	}
+
+	if (data.step.warmStarting)
+	{
+		// Account for variable time step.
+		m_impulse *= data.step.dtRatio;
+		m_springImpulse *= data.step.dtRatio;
+		m_motorImpulse *= data.step.dtRatio;
+
+		b2Vec2 P = m_impulse * m_ay + m_springImpulse * m_ax;
+		float32 LA = m_impulse * m_sAy + m_springImpulse * m_sAx + m_motorImpulse;
+		float32 LB = m_impulse * m_sBy + m_springImpulse * m_sBx + m_motorImpulse;
+
+		vA -= m_invMassA * P;
+		wA -= m_invIA * LA;
+
+		vB += m_invMassB * P;
+		wB += m_invIB * LB;
+	}
+	else
+	{
+		m_impulse = 0.0f;
+		m_springImpulse = 0.0f;
+		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 b2WheelJoint::SolveVelocityConstraints(const b2SolverData& data)
+{
+	float32 mA = m_invMassA, mB = m_invMassB;
+	float32 iA = m_invIA, iB = m_invIB;
+
+	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;
+
+	// Solve spring constraint
+	{
+		float32 Cdot = b2Dot(m_ax, vB - vA) + m_sBx * wB - m_sAx * wA;
+		float32 impulse = -m_springMass * (Cdot + m_bias + m_gamma * m_springImpulse);
+		m_springImpulse += impulse;
+
+		b2Vec2 P = impulse * m_ax;
+		float32 LA = impulse * m_sAx;
+		float32 LB = impulse * m_sBx;
+
+		vA -= mA * P;
+		wA -= iA * LA;
+
+		vB += mB * P;
+		wB += iB * LB;
+	}
+
+	// Solve rotational motor constraint
+	{
+		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 point to line constraint
+	{
+		float32 Cdot = b2Dot(m_ay, vB - vA) + m_sBy * wB - m_sAy * wA;
+		float32 impulse = -m_mass * Cdot;
+		m_impulse += impulse;
+
+		b2Vec2 P = impulse * m_ay;
+		float32 LA = impulse * m_sAy;
+		float32 LB = impulse * m_sBy;
+
+		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 b2WheelJoint::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);
+	b2Vec2 d = (cB - cA) + rB - rA;
+
+	b2Vec2 ay = b2Mul(qA, m_localYAxisA);
+
+	float32 sAy = b2Cross(d + rA, ay);
+	float32 sBy = b2Cross(rB, ay);
+
+	float32 C = b2Dot(d, ay);
+
+	float32 k = m_invMassA + m_invMassB + m_invIA * m_sAy * m_sAy + m_invIB * m_sBy * m_sBy;
+
+	float32 impulse;
+	if (k != 0.0f)
+	{
+		impulse = - C / k;
+	}
+	else
+	{
+		impulse = 0.0f;
+	}
+
+	b2Vec2 P = impulse * ay;
+	float32 LA = impulse * sAy;
+	float32 LB = impulse * sBy;
+
+	cA -= m_invMassA * P;
+	aA -= m_invIA * LA;
+	cB += m_invMassB * P;
+	aB += m_invIB * 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 b2Abs(C) <= b2_linearSlop;
+}
+
+b2Vec2 b2WheelJoint::GetAnchorA() const
+{
+	return m_bodyA->GetWorldPoint(m_localAnchorA);
+}
+
+b2Vec2 b2WheelJoint::GetAnchorB() const
+{
+	return m_bodyB->GetWorldPoint(m_localAnchorB);
+}
+
+b2Vec2 b2WheelJoint::GetReactionForce(float32 inv_dt) const
+{
+	return inv_dt * (m_impulse * m_ay + m_springImpulse * m_ax);
+}
+
+float32 b2WheelJoint::GetReactionTorque(float32 inv_dt) const
+{
+	return inv_dt * m_motorImpulse;
+}
+
+float32 b2WheelJoint::GetJointTranslation() const
+{
+	b2Body* bA = m_bodyA;
+	b2Body* bB = m_bodyB;
+
+	b2Vec2 pA = bA->GetWorldPoint(m_localAnchorA);
+	b2Vec2 pB = bB->GetWorldPoint(m_localAnchorB);
+	b2Vec2 d = pB - pA;
+	b2Vec2 axis = bA->GetWorldVector(m_localXAxisA);
+
+	float32 translation = b2Dot(d, axis);
+	return translation;
+}
+
+float32 b2WheelJoint::GetJointSpeed() const
+{
+	float32 wA = m_bodyA->m_angularVelocity;
+	float32 wB = m_bodyB->m_angularVelocity;
+	return wB - wA;
+}
+
+bool b2WheelJoint::IsMotorEnabled() const
+{
+	return m_enableMotor;
+}
+
+void b2WheelJoint::EnableMotor(bool flag)
+{
+	m_bodyA->SetAwake(true);
+	m_bodyB->SetAwake(true);
+	m_enableMotor = flag;
+}
+
+void b2WheelJoint::SetMotorSpeed(float32 speed)
+{
+	m_bodyA->SetAwake(true);
+	m_bodyB->SetAwake(true);
+	m_motorSpeed = speed;
+}
+
+void b2WheelJoint::SetMaxMotorTorque(float32 torque)
+{
+	m_bodyA->SetAwake(true);
+	m_bodyB->SetAwake(true);
+	m_maxMotorTorque = torque;
+}
+
+float32 b2WheelJoint::GetMotorTorque(float32 inv_dt) const
+{
+	return inv_dt * m_motorImpulse;
+}
+
+void b2WheelJoint::Dump()
+{
+	int32 indexA = m_bodyA->m_islandIndex;
+	int32 indexB = m_bodyB->m_islandIndex;
+
+	b2Log("  b2WheelJointDef 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.enableMotor = bool(%d);\n", m_enableMotor);
+	b2Log("  jd.motorSpeed = %.15lef;\n", m_motorSpeed);
+	b2Log("  jd.maxMotorTorque = %.15lef;\n", m_maxMotorTorque);
+	b2Log("  jd.frequencyHz = %.15lef;\n", m_frequencyHz);
+	b2Log("  jd.dampingRatio = %.15lef;\n", m_dampingRatio);
+	b2Log("  joints[%d] = m_world->CreateJoint(&jd);\n", m_index);
+}