Box2D
2.4.1
A 2D physics engine for games
b2_motor_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_MOTOR_JOINT_H
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#define B2_MOTOR_JOINT_H
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#include "b2_api.h"
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#include "b2_joint.h"
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struct
B2_API
b2MotorJointDef
:
public
b2JointDef
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{
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b2MotorJointDef
()
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{
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type = e_motorJoint;
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linearOffset.SetZero();
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angularOffset = 0.0f;
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maxForce = 1.0f;
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maxTorque = 1.0f;
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correctionFactor = 0.3f;
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}
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void
Initialize(
b2Body
* bodyA,
b2Body
* bodyB);
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b2Vec2
linearOffset
;
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float
angularOffset
;
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float
maxForce
;
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float
maxTorque
;
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float
correctionFactor
;
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};
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class
B2_API
b2MotorJoint
:
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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void
SetLinearOffset(
const
b2Vec2
& linearOffset);
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const
b2Vec2
& GetLinearOffset()
const
;
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void
SetAngularOffset(
float
angularOffset);
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float
GetAngularOffset()
const
;
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void
SetMaxForce(
float
force);
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float
GetMaxForce()
const
;
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void
SetMaxTorque(
float
torque);
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float
GetMaxTorque()
const
;
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void
SetCorrectionFactor(
float
factor);
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float
GetCorrectionFactor()
const
;
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void
Dump
()
override
;
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protected
:
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friend
class
b2Joint
;
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b2MotorJoint
(
const
b2MotorJointDef
* def);
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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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// Solver shared
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b2Vec2
m_linearOffset;
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float
m_angularOffset;
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b2Vec2
m_linearImpulse;
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float
m_angularImpulse;
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float
m_maxForce;
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float
m_maxTorque;
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float
m_correctionFactor;
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// Solver temp
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int32 m_indexA;
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int32 m_indexB;
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b2Vec2
m_rA;
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b2Vec2
m_rB;
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b2Vec2
m_localCenterA;
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b2Vec2
m_localCenterB;
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b2Vec2
m_linearError;
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float
m_angularError;
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float
m_invMassA;
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float
m_invMassB;
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float
m_invIA;
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float
m_invIB;
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b2Mat22
m_linearMass;
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float
m_angularMass;
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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.
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
b2MotorJointDef
Motor joint definition.
Definition:
b2_motor_joint.h:30
b2Joint::Dump
virtual void Dump()
Dump this joint to the log file.
Definition:
b2_joint.h:151
b2MotorJointDef::angularOffset
float angularOffset
The bodyB angle minus bodyA angle in radians.
Definition:
b2_motor_joint.h:49
b2MotorJoint
Definition:
b2_motor_joint.h:64
b2MotorJointDef::linearOffset
b2Vec2 linearOffset
Position of bodyB minus the position of bodyA, in bodyA's frame, in meters.
Definition:
b2_motor_joint.h:46
b2MotorJointDef::correctionFactor
float correctionFactor
Position correction factor in the range [0,1].
Definition:
b2_motor_joint.h:58
b2Mat22
A 2-by-2 matrix. Stored in column-major order.
Definition:
b2_math.h:171
b2MotorJointDef::maxForce
float maxForce
The maximum motor force in N.
Definition:
b2_motor_joint.h:52
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.
b2MotorJointDef::maxTorque
float maxTorque
The maximum motor torque in N-m.
Definition:
b2_motor_joint.h:55
include
box2d
b2_motor_joint.h
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