b2_revolute_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_REVOLUTE_JOINT_H
#define B2_REVOLUTE_JOINT_H
 
#include "b2_api.h"
#include "b2_joint.h"
 
struct B2_API 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;
    }
 
    void Initialize(b2Body* bodyA, b2Body* bodyB, const b2Vec2& anchor);
 
    b2Vec2 localAnchorA;
 
    b2Vec2 localAnchorB;
 
    float referenceAngle;
 
    bool enableLimit;
 
    float lowerAngle;
 
    float upperAngle;
 
    bool enableMotor;
 
    float motorSpeed;
 
    float maxMotorTorque;
};
 
class B2_API b2RevoluteJoint : public b2Joint
{
public:
    b2Vec2 GetAnchorA() const override;
    b2Vec2 GetAnchorB() const override;
 
    const b2Vec2& GetLocalAnchorA() const { return m_localAnchorA; }
 
    const b2Vec2& GetLocalAnchorB() const  { return m_localAnchorB; }
 
    float GetReferenceAngle() const { return m_referenceAngle; }
 
    float GetJointAngle() const;
 
    float GetJointSpeed() const;
 
    bool IsLimitEnabled() const;
 
    void EnableLimit(bool flag);
 
    float GetLowerLimit() const;
 
    float GetUpperLimit() const;
 
    void SetLimits(float lower, float upper);
 
    bool IsMotorEnabled() const;
 
    void EnableMotor(bool flag);
 
    void SetMotorSpeed(float speed);
 
    float GetMotorSpeed() const;
 
    void SetMaxMotorTorque(float torque);
    float GetMaxMotorTorque() const { return m_maxMotorTorque; }
 
    b2Vec2 GetReactionForce(float inv_dt) const override;
 
    float GetReactionTorque(float inv_dt) const override;
 
    float GetMotorTorque(float inv_dt) const;
 
    void Dump() override;
 
    void Draw(b2Draw* draw) const override;
 
protected:
 
    friend class b2Joint;
    friend class b2GearJoint;
 
    b2RevoluteJoint(const b2RevoluteJointDef* def);
 
    void InitVelocityConstraints(const b2SolverData& data) override;
    void SolveVelocityConstraints(const b2SolverData& data) override;
    bool SolvePositionConstraints(const b2SolverData& data) override;
 
    // Solver shared
    b2Vec2 m_localAnchorA;
    b2Vec2 m_localAnchorB;
    b2Vec2 m_impulse;
    float m_motorImpulse;
    float m_lowerImpulse;
    float m_upperImpulse;
    bool m_enableMotor;
    float m_maxMotorTorque;
    float m_motorSpeed;
    bool m_enableLimit;
    float m_referenceAngle;
    float m_lowerAngle;
    float m_upperAngle;
 
    // Solver temp
    int32 m_indexA;
    int32 m_indexB;
    b2Vec2 m_rA;
    b2Vec2 m_rB;
    b2Vec2 m_localCenterA;
    b2Vec2 m_localCenterB;
    float m_invMassA;
    float m_invMassB;
    float m_invIA;
    float m_invIB;
    b2Mat22 m_K;
    float m_angle;
    float m_axialMass;
};
 
inline float b2RevoluteJoint::GetMotorSpeed() const
{
    return m_motorSpeed;
}
 
#endif