Box2D
2.4.1
A 2D physics engine for games
b2_gear_joint.h
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// MIT License
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// Copyright (c) 2019 Erin Catto
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// Permission is hereby granted, free of charge, to any person obtaining a copy
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// of this software and associated documentation files (the "Software"), to deal
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// in the Software without restriction, including without limitation the rights
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// to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
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// copies of the Software, and to permit persons to whom the Software is
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// furnished to do so, subject to the following conditions:
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// The above copyright notice and this permission notice shall be included in all
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// copies or substantial portions of the Software.
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// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
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// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
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// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
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// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
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// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
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// OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
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// SOFTWARE.
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#ifndef B2_GEAR_JOINT_H
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#define B2_GEAR_JOINT_H
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#include "b2_joint.h"
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struct
B2_API
b2GearJointDef
:
public
b2JointDef
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{
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b2GearJointDef
()
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{
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type = e_gearJoint;
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joint1 =
nullptr
;
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joint2 =
nullptr
;
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ratio = 1.0f;
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}
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b2Joint
*
joint1
;
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b2Joint
*
joint2
;
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float
ratio
;
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};
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class
B2_API
b2GearJoint
:
public
b2Joint
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{
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public
:
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b2Vec2
GetAnchorA
()
const override
;
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b2Vec2
GetAnchorB
()
const override
;
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b2Vec2
GetReactionForce
(
float
inv_dt)
const override
;
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float
GetReactionTorque
(
float
inv_dt)
const override
;
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b2Joint
*
GetJoint1
() {
return
m_joint1; }
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b2Joint
*
GetJoint2
() {
return
m_joint2; }
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void
SetRatio(
float
ratio);
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float
GetRatio()
const
;
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void
Dump
()
override
;
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protected
:
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friend
class
b2Joint
;
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b2GearJoint
(
const
b2GearJointDef
* data);
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void
InitVelocityConstraints(
const
b2SolverData
& data)
override
;
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void
SolveVelocityConstraints(
const
b2SolverData
& data)
override
;
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bool
SolvePositionConstraints(
const
b2SolverData
& data)
override
;
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b2Joint
* m_joint1;
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b2Joint
* m_joint2;
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b2JointType m_typeA;
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b2JointType m_typeB;
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// Body A is connected to body C
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// Body B is connected to body D
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b2Body
* m_bodyC;
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b2Body
* m_bodyD;
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// Solver shared
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b2Vec2
m_localAnchorA;
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b2Vec2
m_localAnchorB;
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b2Vec2
m_localAnchorC;
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b2Vec2
m_localAnchorD;
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b2Vec2
m_localAxisC;
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b2Vec2
m_localAxisD;
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float
m_referenceAngleA;
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float
m_referenceAngleB;
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float
m_constant;
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float
m_ratio;
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float
m_impulse;
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// Solver temp
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int32 m_indexA, m_indexB, m_indexC, m_indexD;
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b2Vec2
m_lcA, m_lcB, m_lcC, m_lcD;
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float
m_mA, m_mB, m_mC, m_mD;
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float
m_iA, m_iB, m_iC, m_iD;
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b2Vec2
m_JvAC, m_JvBD;
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float
m_JwA, m_JwB, m_JwC, m_JwD;
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float
m_mass;
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};
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#endif
b2Vec2
A 2D column vector.
Definition:
b2_math.h:41
b2Body
A rigid body. These are created via b2World::CreateBody.
Definition:
b2_body.h:128
b2Joint::GetReactionForce
virtual b2Vec2 GetReactionForce(float inv_dt) const =0
Get the reaction force on bodyB at the joint anchor in Newtons.
b2GearJointDef
Definition:
b2_gear_joint.h:31
b2Joint::GetAnchorA
virtual b2Vec2 GetAnchorA() const =0
Get the anchor point on bodyA in world coordinates.
b2JointDef
Joint definitions are used to construct joints.
Definition:
b2_joint.h:72
b2GearJointDef::joint2
b2Joint * joint2
The second revolute/prismatic joint attached to the gear joint.
Definition:
b2_gear_joint.h:45
b2GearJoint::GetJoint1
b2Joint * GetJoint1()
Get the first joint.
Definition:
b2_gear_joint.h:71
b2GearJoint::GetJoint2
b2Joint * GetJoint2()
Get the second joint.
Definition:
b2_gear_joint.h:74
b2Joint::Dump
virtual void Dump()
Dump this joint to the log file.
Definition:
b2_joint.h:151
b2GearJointDef::joint1
b2Joint * joint1
The first revolute/prismatic joint attached to the gear joint.
Definition:
b2_gear_joint.h:42
b2GearJoint
Definition:
b2_gear_joint.h:61
b2SolverData
Solver Data.
Definition:
b2_time_step.h:67
b2Joint::GetAnchorB
virtual b2Vec2 GetAnchorB() const =0
Get the anchor point on bodyB in world coordinates.
b2Joint
Definition:
b2_joint.h:110
b2Joint::GetReactionTorque
virtual float GetReactionTorque(float inv_dt) const =0
Get the reaction torque on bodyB in N*m.
b2GearJointDef::ratio
float ratio
Definition:
b2_gear_joint.h:49
include
box2d
b2_gear_joint.h
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