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Diffstat (limited to 'Source/3rdParty/Box2D/Dynamics/Joints/b2DistanceJoint.h')
| -rw-r--r-- | Source/3rdParty/Box2D/Dynamics/Joints/b2DistanceJoint.h | 169 |
1 files changed, 0 insertions, 169 deletions
diff --git a/Source/3rdParty/Box2D/Dynamics/Joints/b2DistanceJoint.h b/Source/3rdParty/Box2D/Dynamics/Joints/b2DistanceJoint.h deleted file mode 100644 index ba59210..0000000 --- a/Source/3rdParty/Box2D/Dynamics/Joints/b2DistanceJoint.h +++ /dev/null @@ -1,169 +0,0 @@ -/* -* Copyright (c) 2006-2007 Erin Catto http://www.box2d.org -* -* This software is provided 'as-is', without any express or implied -* warranty. In no event will the authors be held liable for any damages -* arising from the use of this software. -* Permission is granted to anyone to use this software for any purpose, -* including commercial applications, and to alter it and redistribute it -* freely, subject to the following restrictions: -* 1. The origin of this software must not be misrepresented; you must not -* claim that you wrote the original software. If you use this software -* in a product, an acknowledgment in the product documentation would be -* appreciated but is not required. -* 2. Altered source versions must be plainly marked as such, and must not be -* misrepresented as being the original software. -* 3. This notice may not be removed or altered from any source distribution. -*/ - -#ifndef B2_DISTANCE_JOINT_H -#define B2_DISTANCE_JOINT_H - -#include "Box2D/Dynamics/Joints/b2Joint.h" - -/// Distance joint definition. This requires defining an -/// anchor point on both bodies and the non-zero length of the -/// distance joint. The definition uses local anchor points -/// so that the initial configuration can violate the constraint -/// slightly. This helps when saving and loading a game. -/// @warning Do not use a zero or short length. -struct b2DistanceJointDef : public b2JointDef -{ - b2DistanceJointDef() - { - type = e_distanceJoint; - localAnchorA.Set(0.0f, 0.0f); - localAnchorB.Set(0.0f, 0.0f); - length = 1.0f; - frequencyHz = 0.0f; - dampingRatio = 0.0f; - } - - /// Initialize the bodies, anchors, and length using the world - /// anchors. - void Initialize(b2Body* bodyA, b2Body* bodyB, - const b2Vec2& anchorA, const b2Vec2& anchorB); - - /// The local anchor point relative to bodyA's origin. - b2Vec2 localAnchorA; - - /// The local anchor point relative to bodyB's origin. - b2Vec2 localAnchorB; - - /// The natural length between the anchor points. - float32 length; - - /// The mass-spring-damper frequency in Hertz. A value of 0 - /// disables softness. - float32 frequencyHz; - - /// The damping ratio. 0 = no damping, 1 = critical damping. - float32 dampingRatio; -}; - -/// A distance joint constrains two points on two bodies -/// to remain at a fixed distance from each other. You can view -/// this as a massless, rigid rod. -class b2DistanceJoint : public b2Joint -{ -public: - - b2Vec2 GetAnchorA() const override; - b2Vec2 GetAnchorB() const override; - - /// Get the reaction force given the inverse time step. - /// Unit is N. - b2Vec2 GetReactionForce(float32 inv_dt) const override; - - /// Get the reaction torque given the inverse time step. - /// Unit is N*m. This is always zero for a distance joint. - float32 GetReactionTorque(float32 inv_dt) const override; - - /// The local anchor point relative to bodyA's origin. - const b2Vec2& GetLocalAnchorA() const { return m_localAnchorA; } - - /// The local anchor point relative to bodyB's origin. - const b2Vec2& GetLocalAnchorB() const { return m_localAnchorB; } - - /// Set/get the natural length. - /// Manipulating the length can lead to non-physical behavior when the frequency is zero. - void SetLength(float32 length); - float32 GetLength() const; - - /// Set/get frequency in Hz. - void SetFrequency(float32 hz); - float32 GetFrequency() const; - - /// Set/get damping ratio. - void SetDampingRatio(float32 ratio); - float32 GetDampingRatio() const; - - /// Dump joint to dmLog - void Dump() override; - -protected: - - friend class b2Joint; - b2DistanceJoint(const b2DistanceJointDef* data); - - void InitVelocityConstraints(const b2SolverData& data) override; - void SolveVelocityConstraints(const b2SolverData& data) override; - bool SolvePositionConstraints(const b2SolverData& data) override; - - float32 m_frequencyHz; - float32 m_dampingRatio; - float32 m_bias; - - // Solver shared - b2Vec2 m_localAnchorA; - b2Vec2 m_localAnchorB; - float32 m_gamma; - float32 m_impulse; - float32 m_length; - - // Solver temp - int32 m_indexA; - int32 m_indexB; - b2Vec2 m_u; - b2Vec2 m_rA; - b2Vec2 m_rB; - b2Vec2 m_localCenterA; - b2Vec2 m_localCenterB; - float32 m_invMassA; - float32 m_invMassB; - float32 m_invIA; - float32 m_invIB; - float32 m_mass; -}; - -inline void b2DistanceJoint::SetLength(float32 length) -{ - m_length = length; -} - -inline float32 b2DistanceJoint::GetLength() const -{ - return m_length; -} - -inline void b2DistanceJoint::SetFrequency(float32 hz) -{ - m_frequencyHz = hz; -} - -inline float32 b2DistanceJoint::GetFrequency() const -{ - return m_frequencyHz; -} - -inline void b2DistanceJoint::SetDampingRatio(float32 ratio) -{ - m_dampingRatio = ratio; -} - -inline float32 b2DistanceJoint::GetDampingRatio() const -{ - return m_dampingRatio; -} - -#endif |