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Diffstat (limited to 'Source/3rdParty/Box2D/Dynamics/Joints/b2MotorJoint.h')
| -rw-r--r-- | Source/3rdParty/Box2D/Dynamics/Joints/b2MotorJoint.h | 133 |
1 files changed, 0 insertions, 133 deletions
diff --git a/Source/3rdParty/Box2D/Dynamics/Joints/b2MotorJoint.h b/Source/3rdParty/Box2D/Dynamics/Joints/b2MotorJoint.h deleted file mode 100644 index f384f41..0000000 --- a/Source/3rdParty/Box2D/Dynamics/Joints/b2MotorJoint.h +++ /dev/null @@ -1,133 +0,0 @@ -/* -* Copyright (c) 2006-2012 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_MOTOR_JOINT_H -#define B2_MOTOR_JOINT_H - -#include "Box2D/Dynamics/Joints/b2Joint.h" - -/// Motor joint definition. -struct b2MotorJointDef : public b2JointDef -{ - b2MotorJointDef() - { - type = e_motorJoint; - linearOffset.SetZero(); - angularOffset = 0.0f; - maxForce = 1.0f; - maxTorque = 1.0f; - correctionFactor = 0.3f; - } - - /// Initialize the bodies and offsets using the current transforms. - void Initialize(b2Body* bodyA, b2Body* bodyB); - - /// Position of bodyB minus the position of bodyA, in bodyA's frame, in meters. - b2Vec2 linearOffset; - - /// The bodyB angle minus bodyA angle in radians. - float32 angularOffset; - - /// The maximum motor force in N. - float32 maxForce; - - /// The maximum motor torque in N-m. - float32 maxTorque; - - /// Position correction factor in the range [0,1]. - float32 correctionFactor; -}; - -/// A motor joint is used to control the relative motion -/// between two bodies. A typical usage is to control the movement -/// of a dynamic body with respect to the ground. -class b2MotorJoint : public b2Joint -{ -public: - b2Vec2 GetAnchorA() const override; - b2Vec2 GetAnchorB() const override; - - b2Vec2 GetReactionForce(float32 inv_dt) const override; - float32 GetReactionTorque(float32 inv_dt) const override; - - /// Set/get the target linear offset, in frame A, in meters. - void SetLinearOffset(const b2Vec2& linearOffset); - const b2Vec2& GetLinearOffset() const; - - /// Set/get the target angular offset, in radians. - void SetAngularOffset(float32 angularOffset); - float32 GetAngularOffset() const; - - /// Set the maximum friction force in N. - void SetMaxForce(float32 force); - - /// Get the maximum friction force in N. - float32 GetMaxForce() const; - - /// Set the maximum friction torque in N*m. - void SetMaxTorque(float32 torque); - - /// Get the maximum friction torque in N*m. - float32 GetMaxTorque() const; - - /// Set the position correction factor in the range [0,1]. - void SetCorrectionFactor(float32 factor); - - /// Get the position correction factor in the range [0,1]. - float32 GetCorrectionFactor() const; - - /// Dump to b2Log - void Dump() override; - -protected: - - friend class b2Joint; - - b2MotorJoint(const b2MotorJointDef* def); - - void InitVelocityConstraints(const b2SolverData& data) override; - void SolveVelocityConstraints(const b2SolverData& data) override; - bool SolvePositionConstraints(const b2SolverData& data) override; - - // Solver shared - b2Vec2 m_linearOffset; - float32 m_angularOffset; - b2Vec2 m_linearImpulse; - float32 m_angularImpulse; - float32 m_maxForce; - float32 m_maxTorque; - float32 m_correctionFactor; - - // Solver temp - int32 m_indexA; - int32 m_indexB; - b2Vec2 m_rA; - b2Vec2 m_rB; - b2Vec2 m_localCenterA; - b2Vec2 m_localCenterB; - b2Vec2 m_linearError; - float32 m_angularError; - float32 m_invMassA; - float32 m_invMassB; - float32 m_invIA; - float32 m_invIB; - b2Mat22 m_linearMass; - float32 m_angularMass; -}; - -#endif |