joint_types.h

// SPDX-FileCopyrightText: 2023 Erin Catto
// SPDX-License-Identifier: MIT
 
#pragma once
 
#include "box2d/types.h"
 
typedef struct b2DistanceJointDef
{
    b2BodyId bodyIdA;
 
    b2BodyId bodyIdB;
 
    b2Vec2 localAnchorA;
 
    b2Vec2 localAnchorB;
 
    float length;
 
    float minLength;
 
    float maxLength;
 
    float hertz;
 
    float dampingRatio;
 
    bool collideConnected;
 
} b2DistanceJointDef;
 
static inline b2DistanceJointDef b2DefaultDistanceJointDef(void)
{
    b2DistanceJointDef def = B2_ZERO_INIT;
    def.bodyIdA = b2_nullBodyId;
    def.bodyIdB = b2_nullBodyId;
    def.localAnchorA = B2_LITERAL(b2Vec2){0.0f, 0.0f};
    def.localAnchorB = B2_LITERAL(b2Vec2){0.0f, 0.0f};
    def.length = 1.0f;
    def.minLength = 0.0f;
    def.maxLength = b2_huge;
    def.hertz = 0.0f;
    def.dampingRatio = 0.0f;
    def.collideConnected = false;
    return def;
}
 
typedef struct b2MotorJointDef
{
    b2BodyId bodyIdA;
 
    b2BodyId bodyIdB;
 
    b2Vec2 linearOffset;
 
    float angularOffset;
 
    float maxForce;
 
    float maxTorque;
 
    float correctionFactor;
} b2MotorJointDef;
 
static inline b2MotorJointDef b2DefaultMotorJointDef(void)
{
    b2MotorJointDef def = B2_ZERO_INIT;
    def.bodyIdA = b2_nullBodyId;
    def.bodyIdB = b2_nullBodyId;
    def.linearOffset = B2_LITERAL(b2Vec2){0.0f, 0.0f};
    def.angularOffset = 0.0f;
    def.maxForce = 1.0f;
    def.maxTorque = 1.0f;
    def.correctionFactor = 0.3f;
    return def;
}
 
typedef struct b2MouseJointDef
{
    b2BodyId bodyIdA;
 
    b2BodyId bodyIdB;
 
    b2Vec2 target;
 
    float maxForce;
 
    float stiffness;
 
    float damping;
} b2MouseJointDef;
 
static inline b2MouseJointDef b2DefaultMouseJointDef(void)
{
    b2MouseJointDef def = B2_ZERO_INIT;
    def.bodyIdA = b2_nullBodyId;
    def.bodyIdB = b2_nullBodyId;
    def.target = B2_LITERAL(b2Vec2){0.0f, 0.0f};
    def.maxForce = 0.0f;
    def.stiffness = 0.0f;
    def.damping = 0.0f;
    return def;
}
 
typedef struct b2PrismaticJointDef
{
    b2BodyId bodyIdA;
 
    b2BodyId bodyIdB;
 
    b2Vec2 localAnchorA;
 
    b2Vec2 localAnchorB;
 
    b2Vec2 localAxisA;
 
    float referenceAngle;
 
    bool enableLimit;
 
    float lowerTranslation;
 
    float upperTranslation;
 
    bool enableMotor;
 
    float maxMotorForce;
 
    float motorSpeed;
 
    bool collideConnected;
} b2PrismaticJointDef;
 
static inline b2PrismaticJointDef b2DefaultPrismaticJointDef(void)
{
    b2PrismaticJointDef def = B2_ZERO_INIT;
    def.bodyIdA = b2_nullBodyId;
    def.bodyIdB = b2_nullBodyId;
    def.localAnchorA = B2_LITERAL(b2Vec2){0.0f, 0.0f};
    def.localAnchorB = B2_LITERAL(b2Vec2){0.0f, 0.0f};
    def.localAxisA = B2_LITERAL(b2Vec2){1.0f, 0.0f};
    def.referenceAngle = 0.0f;
    def.enableLimit = false;
    def.lowerTranslation = 0.0f;
    def.upperTranslation = 0.0f;
    def.enableMotor = false;
    def.maxMotorForce = 0.0f;
    def.motorSpeed = 0.0f;
    def.collideConnected = false;
    return def;
}
 
typedef struct b2RevoluteJointDef
{
    b2BodyId bodyIdA;
 
    b2BodyId bodyIdB;
 
    b2Vec2 localAnchorA;
 
    b2Vec2 localAnchorB;
 
    float referenceAngle;
 
    bool enableLimit;
 
    float lowerAngle;
 
    float upperAngle;
 
    bool enableMotor;
 
    float motorSpeed;
 
    float maxMotorTorque;
 
    float drawSize;
 
    bool collideConnected;
} b2RevoluteJointDef;
 
static inline b2RevoluteJointDef b2DefaultRevoluteJointDef(void)
{
    b2RevoluteJointDef def = B2_ZERO_INIT;
    def.bodyIdA = b2_nullBodyId;
    def.bodyIdB = b2_nullBodyId;
    def.localAnchorA = B2_LITERAL(b2Vec2){0.0f, 0.0f};
    def.localAnchorB = B2_LITERAL(b2Vec2){0.0f, 0.0f};
    def.referenceAngle = 0.0f;
    def.lowerAngle = 0.0f;
    def.upperAngle = 0.0f;
    def.maxMotorTorque = 0.0f;
    def.motorSpeed = 0.0f;
    def.enableLimit = false;
    def.enableMotor = false;
    def.drawSize = 0.25f;
    def.collideConnected = false;
    return def;
}
 
typedef struct b2WeldJointDef
{
    b2BodyId bodyIdA;
 
    b2BodyId bodyIdB;
 
    b2Vec2 localAnchorA;
 
    b2Vec2 localAnchorB;
 
    float referenceAngle;
 
    float linearHertz;
 
    float angularHertz;
 
    float linearDampingRatio;
 
    float angularDampingRatio;
 
    bool collideConnected;
} b2WeldJointDef;
 
static const b2WeldJointDef b2_defaultWeldJointDef = {
    {-1, -1, 0}, {-1, -1, 0}, {0.0f, 0.0f}, {0.0f, 0.0f}, 0.0f, 0.0f, 0.0f, 1.0f, 1.0f, false,
};
 
static inline b2WeldJointDef b2DefaultWeldJointDef(void)
{
    b2WeldJointDef def = B2_ZERO_INIT;
    def.bodyIdA = b2_nullBodyId;
    def.bodyIdB = b2_nullBodyId;
    def.localAnchorA = B2_LITERAL(b2Vec2){0.0f, 0.0f};
    def.localAnchorB = B2_LITERAL(b2Vec2){0.0f, 0.0f};
    def.referenceAngle = 0.0f;
    def.linearHertz = 0.0f;
    def.angularHertz = 0.0f;
    def.linearDampingRatio = 1.0f;
    def.angularDampingRatio = 1.0f;
    def.collideConnected = false;
    return def;
}
 
typedef struct b2WheelJointDef
{
    b2BodyId bodyIdA;
 
    b2BodyId bodyIdB;
 
    b2Vec2 localAnchorA;
 
    b2Vec2 localAnchorB;
 
    b2Vec2 localAxisA;
 
    bool enableLimit;
 
    float lowerTranslation;
 
    float upperTranslation;
 
    bool enableMotor;
 
    float maxMotorTorque;
 
    float motorSpeed;
 
    float stiffness;
 
    float damping;
 
    bool collideConnected;
} b2WheelJointDef;
 
static inline b2WheelJointDef b2DefaultWheelJointDef(void)
{
    b2WheelJointDef def = B2_ZERO_INIT;
    def.bodyIdA = b2_nullBodyId;
    def.bodyIdB = b2_nullBodyId;
    def.localAnchorA = B2_LITERAL(b2Vec2){0.0f, 0.0f};
    def.localAnchorB = B2_LITERAL(b2Vec2){0.0f, 0.0f};
    def.localAxisA = B2_LITERAL(b2Vec2){1.0f, 0.0f};
    def.enableLimit = false;
    def.lowerTranslation = 0.0f;
    def.upperTranslation = 0.0f;
    def.enableMotor = false;
    def.maxMotorTorque = 0.0f;
    def.motorSpeed = 0.0f;
    def.stiffness = 0.0f;
    def.damping = 0.0f;
    def.collideConnected = false;
    return def;
}