b2_motor_joint.h

// MIT License
 
// Copyright (c) 2019 Erin Catto
 
// Permission is hereby granted, free of charge, to any person obtaining a copy
// of this software and associated documentation files (the "Software"), to deal
// in the Software without restriction, including without limitation the rights
// to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
// copies of the Software, and to permit persons to whom the Software is
// furnished to do so, subject to the following conditions:
 
// The above copyright notice and this permission notice shall be included in all
// copies or substantial portions of the Software.
 
// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
// OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
// SOFTWARE.
 
#ifndef B2_MOTOR_JOINT_H
#define B2_MOTOR_JOINT_H
 
#include "b2_api.h"
#include "b2_joint.h"
 
struct B2_API b2MotorJointDef : public b2JointDef
{
    b2MotorJointDef()
    {
        type = e_motorJoint;
        linearOffset.SetZero();
        angularOffset = 0.0f;
        maxForce = 1.0f;
        maxTorque = 1.0f;
        correctionFactor = 0.3f;
    }
 
    void Initialize(b2Body* bodyA, b2Body* bodyB);
 
    b2Vec2 linearOffset;
 
    float angularOffset;
 
    float maxForce;
 
    float maxTorque;
 
    float correctionFactor;
};
 
class B2_API b2MotorJoint : public b2Joint
{
public:
    b2Vec2 GetAnchorA() const override;
    b2Vec2 GetAnchorB() const override;
 
    b2Vec2 GetReactionForce(float inv_dt) const override;
    float GetReactionTorque(float inv_dt) const override;
 
    void SetLinearOffset(const b2Vec2& linearOffset);
    const b2Vec2& GetLinearOffset() const;
 
    void SetAngularOffset(float angularOffset);
    float GetAngularOffset() const;
 
    void SetMaxForce(float force);
 
    float GetMaxForce() const;
 
    void SetMaxTorque(float torque);
 
    float GetMaxTorque() const;
 
    void SetCorrectionFactor(float factor);
 
    float GetCorrectionFactor() const;
 
    void Dump() override;
 
protected:
 
    friend class b2Joint;
 
    b2MotorJoint(const b2MotorJointDef* def);
 
    void InitVelocityConstraints(const b2SolverData& data) override;
    void SolveVelocityConstraints(const b2SolverData& data) override;
    bool SolvePositionConstraints(const b2SolverData& data) override;
 
    // Solver shared
    b2Vec2 m_linearOffset;
    float m_angularOffset;
    b2Vec2 m_linearImpulse;
    float m_angularImpulse;
    float m_maxForce;
    float m_maxTorque;
    float 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;
    float m_angularError;
    float m_invMassA;
    float m_invMassB;
    float m_invIA;
    float m_invIB;
    b2Mat22 m_linearMass;
    float m_angularMass;
};
 
#endif