1 files changed, 0 insertions, 419 deletions

diff --git a/Source/3rdParty/Box2D/Dynamics/Joints/b2GearJoint.cpp b/Source/3rdParty/Box2D/Dynamics/Joints/b2GearJoint.cpp
deleted file mode 100644
index 1ce575b..0000000
--- a/Source/3rdParty/Box2D/Dynamics/Joints/b2GearJoint.cpp
+++ /dev/null
@@ -1,419 +0,0 @@
-/*
-* Copyright (c) 2007-2011 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.
-*/
-
-#include "Box2D/Dynamics/Joints/b2GearJoint.h"
-#include "Box2D/Dynamics/Joints/b2RevoluteJoint.h"
-#include "Box2D/Dynamics/Joints/b2PrismaticJoint.h"
-#include "Box2D/Dynamics/b2Body.h"
-#include "Box2D/Dynamics/b2TimeStep.h"
-
-// Gear Joint:
-// C0 = (coordinate1 + ratio * coordinate2)_initial
-// C = (coordinate1 + ratio * coordinate2) - C0 = 0
-// J = [J1 ratio * J2]
-// K = J * invM * JT
-//   = J1 * invM1 * J1T + ratio * ratio * J2 * invM2 * J2T
-//
-// Revolute:
-// coordinate = rotation
-// Cdot = angularVelocity
-// J = [0 0 1]
-// K = J * invM * JT = invI
-//
-// Prismatic:
-// coordinate = dot(p - pg, ug)
-// Cdot = dot(v + cross(w, r), ug)
-// J = [ug cross(r, ug)]
-// K = J * invM * JT = invMass + invI * cross(r, ug)^2
-
-b2GearJoint::b2GearJoint(const b2GearJointDef* def)
-: b2Joint(def)
-{
-	m_joint1 = def->joint1;
-	m_joint2 = def->joint2;
-
-	m_typeA = m_joint1->GetType();
-	m_typeB = m_joint2->GetType();
-
-	b2Assert(m_typeA == e_revoluteJoint || m_typeA == e_prismaticJoint);
-	b2Assert(m_typeB == e_revoluteJoint || m_typeB == e_prismaticJoint);
-
-	float32 coordinateA, coordinateB;
-
-	// TODO_ERIN there might be some problem with the joint edges in b2Joint.
-
-	m_bodyC = m_joint1->GetBodyA();
-	m_bodyA = m_joint1->GetBodyB();
-
-	// Get geometry of joint1
-	b2Transform xfA = m_bodyA->m_xf;
-	float32 aA = m_bodyA->m_sweep.a;
-	b2Transform xfC = m_bodyC->m_xf;
-	float32 aC = m_bodyC->m_sweep.a;
-
-	if (m_typeA == e_revoluteJoint)
-	{
-		b2RevoluteJoint* revolute = (b2RevoluteJoint*)def->joint1;
-		m_localAnchorC = revolute->m_localAnchorA;
-		m_localAnchorA = revolute->m_localAnchorB;
-		m_referenceAngleA = revolute->m_referenceAngle;
-		m_localAxisC.SetZero();
-
-		coordinateA = aA - aC - m_referenceAngleA;
-	}
-	else
-	{
-		b2PrismaticJoint* prismatic = (b2PrismaticJoint*)def->joint1;
-		m_localAnchorC = prismatic->m_localAnchorA;
-		m_localAnchorA = prismatic->m_localAnchorB;
-		m_referenceAngleA = prismatic->m_referenceAngle;
-		m_localAxisC = prismatic->m_localXAxisA;
-
-		b2Vec2 pC = m_localAnchorC;
-		b2Vec2 pA = b2MulT(xfC.q, b2Mul(xfA.q, m_localAnchorA) + (xfA.p - xfC.p));
-		coordinateA = b2Dot(pA - pC, m_localAxisC);
-	}
-
-	m_bodyD = m_joint2->GetBodyA();
-	m_bodyB = m_joint2->GetBodyB();
-
-	// Get geometry of joint2
-	b2Transform xfB = m_bodyB->m_xf;
-	float32 aB = m_bodyB->m_sweep.a;
-	b2Transform xfD = m_bodyD->m_xf;
-	float32 aD = m_bodyD->m_sweep.a;
-
-	if (m_typeB == e_revoluteJoint)
-	{
-		b2RevoluteJoint* revolute = (b2RevoluteJoint*)def->joint2;
-		m_localAnchorD = revolute->m_localAnchorA;
-		m_localAnchorB = revolute->m_localAnchorB;
-		m_referenceAngleB = revolute->m_referenceAngle;
-		m_localAxisD.SetZero();
-
-		coordinateB = aB - aD - m_referenceAngleB;
-	}
-	else
-	{
-		b2PrismaticJoint* prismatic = (b2PrismaticJoint*)def->joint2;
-		m_localAnchorD = prismatic->m_localAnchorA;
-		m_localAnchorB = prismatic->m_localAnchorB;
-		m_referenceAngleB = prismatic->m_referenceAngle;
-		m_localAxisD = prismatic->m_localXAxisA;
-
-		b2Vec2 pD = m_localAnchorD;
-		b2Vec2 pB = b2MulT(xfD.q, b2Mul(xfB.q, m_localAnchorB) + (xfB.p - xfD.p));
-		coordinateB = b2Dot(pB - pD, m_localAxisD);
-	}
-
-	m_ratio = def->ratio;
-
-	m_constant = coordinateA + m_ratio * coordinateB;
-
-	m_impulse = 0.0f;
-}
-
-void b2GearJoint::InitVelocityConstraints(const b2SolverData& data)
-{
-	m_indexA = m_bodyA->m_islandIndex;
-	m_indexB = m_bodyB->m_islandIndex;
-	m_indexC = m_bodyC->m_islandIndex;
-	m_indexD = m_bodyD->m_islandIndex;
-	m_lcA = m_bodyA->m_sweep.localCenter;
-	m_lcB = m_bodyB->m_sweep.localCenter;
-	m_lcC = m_bodyC->m_sweep.localCenter;
-	m_lcD = m_bodyD->m_sweep.localCenter;
-	m_mA = m_bodyA->m_invMass;
-	m_mB = m_bodyB->m_invMass;
-	m_mC = m_bodyC->m_invMass;
-	m_mD = m_bodyD->m_invMass;
-	m_iA = m_bodyA->m_invI;
-	m_iB = m_bodyB->m_invI;
-	m_iC = m_bodyC->m_invI;
-	m_iD = m_bodyD->m_invI;
-
-	float32 aA = data.positions[m_indexA].a;
-	b2Vec2 vA = data.velocities[m_indexA].v;
-	float32 wA = data.velocities[m_indexA].w;
-
-	float32 aB = data.positions[m_indexB].a;
-	b2Vec2 vB = data.velocities[m_indexB].v;
-	float32 wB = data.velocities[m_indexB].w;
-
-	float32 aC = data.positions[m_indexC].a;
-	b2Vec2 vC = data.velocities[m_indexC].v;
-	float32 wC = data.velocities[m_indexC].w;
-
-	float32 aD = data.positions[m_indexD].a;
-	b2Vec2 vD = data.velocities[m_indexD].v;
-	float32 wD = data.velocities[m_indexD].w;
-
-	b2Rot qA(aA), qB(aB), qC(aC), qD(aD);
-
-	m_mass = 0.0f;
-
-	if (m_typeA == e_revoluteJoint)
-	{
-		m_JvAC.SetZero();
-		m_JwA = 1.0f;
-		m_JwC = 1.0f;
-		m_mass += m_iA + m_iC;
-	}
-	else
-	{
-		b2Vec2 u = b2Mul(qC, m_localAxisC);
-		b2Vec2 rC = b2Mul(qC, m_localAnchorC - m_lcC);
-		b2Vec2 rA = b2Mul(qA, m_localAnchorA - m_lcA);
-		m_JvAC = u;
-		m_JwC = b2Cross(rC, u);
-		m_JwA = b2Cross(rA, u);
-		m_mass += m_mC + m_mA + m_iC * m_JwC * m_JwC + m_iA * m_JwA * m_JwA;
-	}
-
-	if (m_typeB == e_revoluteJoint)
-	{
-		m_JvBD.SetZero();
-		m_JwB = m_ratio;
-		m_JwD = m_ratio;
-		m_mass += m_ratio * m_ratio * (m_iB + m_iD);
-	}
-	else
-	{
-		b2Vec2 u = b2Mul(qD, m_localAxisD);
-		b2Vec2 rD = b2Mul(qD, m_localAnchorD - m_lcD);
-		b2Vec2 rB = b2Mul(qB, m_localAnchorB - m_lcB);
-		m_JvBD = m_ratio * u;
-		m_JwD = m_ratio * b2Cross(rD, u);
-		m_JwB = m_ratio * b2Cross(rB, u);
-		m_mass += m_ratio * m_ratio * (m_mD + m_mB) + m_iD * m_JwD * m_JwD + m_iB * m_JwB * m_JwB;
-	}
-
-	// Compute effective mass.
-	m_mass = m_mass > 0.0f ? 1.0f / m_mass : 0.0f;
-
-	if (data.step.warmStarting)
-	{
-		vA += (m_mA * m_impulse) * m_JvAC;
-		wA += m_iA * m_impulse * m_JwA;
-		vB += (m_mB * m_impulse) * m_JvBD;
-		wB += m_iB * m_impulse * m_JwB;
-		vC -= (m_mC * m_impulse) * m_JvAC;
-		wC -= m_iC * m_impulse * m_JwC;
-		vD -= (m_mD * m_impulse) * m_JvBD;
-		wD -= m_iD * m_impulse * m_JwD;
-	}
-	else
-	{
-		m_impulse = 0.0f;
-	}
-
-	data.velocities[m_indexA].v = vA;
-	data.velocities[m_indexA].w = wA;
-	data.velocities[m_indexB].v = vB;
-	data.velocities[m_indexB].w = wB;
-	data.velocities[m_indexC].v = vC;
-	data.velocities[m_indexC].w = wC;
-	data.velocities[m_indexD].v = vD;
-	data.velocities[m_indexD].w = wD;
-}
-
-void b2GearJoint::SolveVelocityConstraints(const b2SolverData& data)
-{
-	b2Vec2 vA = data.velocities[m_indexA].v;
-	float32 wA = data.velocities[m_indexA].w;
-	b2Vec2 vB = data.velocities[m_indexB].v;
-	float32 wB = data.velocities[m_indexB].w;
-	b2Vec2 vC = data.velocities[m_indexC].v;
-	float32 wC = data.velocities[m_indexC].w;
-	b2Vec2 vD = data.velocities[m_indexD].v;
-	float32 wD = data.velocities[m_indexD].w;
-
-	float32 Cdot = b2Dot(m_JvAC, vA - vC) + b2Dot(m_JvBD, vB - vD);
-	Cdot += (m_JwA * wA - m_JwC * wC) + (m_JwB * wB - m_JwD * wD);
-
-	float32 impulse = -m_mass * Cdot;
-	m_impulse += impulse;
-
-	vA += (m_mA * impulse) * m_JvAC;
-	wA += m_iA * impulse * m_JwA;
-	vB += (m_mB * impulse) * m_JvBD;
-	wB += m_iB * impulse * m_JwB;
-	vC -= (m_mC * impulse) * m_JvAC;
-	wC -= m_iC * impulse * m_JwC;
-	vD -= (m_mD * impulse) * m_JvBD;
-	wD -= m_iD * impulse * m_JwD;
-
-	data.velocities[m_indexA].v = vA;
-	data.velocities[m_indexA].w = wA;
-	data.velocities[m_indexB].v = vB;
-	data.velocities[m_indexB].w = wB;
-	data.velocities[m_indexC].v = vC;
-	data.velocities[m_indexC].w = wC;
-	data.velocities[m_indexD].v = vD;
-	data.velocities[m_indexD].w = wD;
-}
-
-bool b2GearJoint::SolvePositionConstraints(const b2SolverData& data)
-{
-	b2Vec2 cA = data.positions[m_indexA].c;
-	float32 aA = data.positions[m_indexA].a;
-	b2Vec2 cB = data.positions[m_indexB].c;
-	float32 aB = data.positions[m_indexB].a;
-	b2Vec2 cC = data.positions[m_indexC].c;
-	float32 aC = data.positions[m_indexC].a;
-	b2Vec2 cD = data.positions[m_indexD].c;
-	float32 aD = data.positions[m_indexD].a;
-
-	b2Rot qA(aA), qB(aB), qC(aC), qD(aD);
-
-	float32 linearError = 0.0f;
-
-	float32 coordinateA, coordinateB;
-
-	b2Vec2 JvAC, JvBD;
-	float32 JwA, JwB, JwC, JwD;
-	float32 mass = 0.0f;
-
-	if (m_typeA == e_revoluteJoint)
-	{
-		JvAC.SetZero();
-		JwA = 1.0f;
-		JwC = 1.0f;
-		mass += m_iA + m_iC;
-
-		coordinateA = aA - aC - m_referenceAngleA;
-	}
-	else
-	{
-		b2Vec2 u = b2Mul(qC, m_localAxisC);
-		b2Vec2 rC = b2Mul(qC, m_localAnchorC - m_lcC);
-		b2Vec2 rA = b2Mul(qA, m_localAnchorA - m_lcA);
-		JvAC = u;
-		JwC = b2Cross(rC, u);
-		JwA = b2Cross(rA, u);
-		mass += m_mC + m_mA + m_iC * JwC * JwC + m_iA * JwA * JwA;
-
-		b2Vec2 pC = m_localAnchorC - m_lcC;
-		b2Vec2 pA = b2MulT(qC, rA + (cA - cC));
-		coordinateA = b2Dot(pA - pC, m_localAxisC);
-	}
-
-	if (m_typeB == e_revoluteJoint)
-	{
-		JvBD.SetZero();
-		JwB = m_ratio;
-		JwD = m_ratio;
-		mass += m_ratio * m_ratio * (m_iB + m_iD);
-
-		coordinateB = aB - aD - m_referenceAngleB;
-	}
-	else
-	{
-		b2Vec2 u = b2Mul(qD, m_localAxisD);
-		b2Vec2 rD = b2Mul(qD, m_localAnchorD - m_lcD);
-		b2Vec2 rB = b2Mul(qB, m_localAnchorB - m_lcB);
-		JvBD = m_ratio * u;
-		JwD = m_ratio * b2Cross(rD, u);
-		JwB = m_ratio * b2Cross(rB, u);
-		mass += m_ratio * m_ratio * (m_mD + m_mB) + m_iD * JwD * JwD + m_iB * JwB * JwB;
-
-		b2Vec2 pD = m_localAnchorD - m_lcD;
-		b2Vec2 pB = b2MulT(qD, rB + (cB - cD));
-		coordinateB = b2Dot(pB - pD, m_localAxisD);
-	}
-
-	float32 C = (coordinateA + m_ratio * coordinateB) - m_constant;
-
-	float32 impulse = 0.0f;
-	if (mass > 0.0f)
-	{
-		impulse = -C / mass;
-	}
-
-	cA += m_mA * impulse * JvAC;
-	aA += m_iA * impulse * JwA;
-	cB += m_mB * impulse * JvBD;
-	aB += m_iB * impulse * JwB;
-	cC -= m_mC * impulse * JvAC;
-	aC -= m_iC * impulse * JwC;
-	cD -= m_mD * impulse * JvBD;
-	aD -= m_iD * impulse * JwD;
-
-	data.positions[m_indexA].c = cA;
-	data.positions[m_indexA].a = aA;
-	data.positions[m_indexB].c = cB;
-	data.positions[m_indexB].a = aB;
-	data.positions[m_indexC].c = cC;
-	data.positions[m_indexC].a = aC;
-	data.positions[m_indexD].c = cD;
-	data.positions[m_indexD].a = aD;
-
-	// TODO_ERIN not implemented
-	return linearError < b2_linearSlop;
-}
-
-b2Vec2 b2GearJoint::GetAnchorA() const
-{
-	return m_bodyA->GetWorldPoint(m_localAnchorA);
-}
-
-b2Vec2 b2GearJoint::GetAnchorB() const
-{
-	return m_bodyB->GetWorldPoint(m_localAnchorB);
-}
-
-b2Vec2 b2GearJoint::GetReactionForce(float32 inv_dt) const
-{
-	b2Vec2 P = m_impulse * m_JvAC;
-	return inv_dt * P;
-}
-
-float32 b2GearJoint::GetReactionTorque(float32 inv_dt) const
-{
-	float32 L = m_impulse * m_JwA;
-	return inv_dt * L;
-}
-
-void b2GearJoint::SetRatio(float32 ratio)
-{
-	b2Assert(b2IsValid(ratio));
-	m_ratio = ratio;
-}
-
-float32 b2GearJoint::GetRatio() const
-{
-	return m_ratio;
-}
-
-void b2GearJoint::Dump()
-{
-	int32 indexA = m_bodyA->m_islandIndex;
-	int32 indexB = m_bodyB->m_islandIndex;
-
-	int32 index1 = m_joint1->m_index;
-	int32 index2 = m_joint2->m_index;
-
-	b2Log("  b2GearJointDef jd;\n");
-	b2Log("  jd.bodyA = bodies[%d];\n", indexA);
-	b2Log("  jd.bodyB = bodies[%d];\n", indexB);
-	b2Log("  jd.collideConnected = bool(%d);\n", m_collideConnected);
-	b2Log("  jd.joint1 = joints[%d];\n", index1);
-	b2Log("  jd.joint2 = joints[%d];\n", index2);
-	b2Log("  jd.ratio = %.15lef;\n", m_ratio);
-	b2Log("  joints[%d] = m_world->CreateJoint(&jd);\n", m_index);
-}