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b2GearJoint.h

    00001 /*
    00002 * Copyright (c) 2006-2011 Erin Catto http://www.box2d.org
    00003 *
    00004 * This software is provided 'as-is', without any express or implied
    00005 * warranty.  In no event will the authors be held liable for any damages
    00006 * arising from the use of this software.
    00007 * Permission is granted to anyone to use this software for any purpose,
    00008 * including commercial applications, and to alter it and redistribute it
    00009 * freely, subject to the following restrictions:
    00010 * 1. The origin of this software must not be misrepresented; you must not
    00011 * claim that you wrote the original software. If you use this software
    00012 * in a product, an acknowledgment in the product documentation would be
    00013 * appreciated but is not required.
    00014 * 2. Altered source versions must be plainly marked as such, and must not be
    00015 * misrepresented as being the original software.
    00016 * 3. This notice may not be removed or altered from any source distribution.
    00017 */
    00018
    00019 #ifndef B2_GEAR_JOINT_H
    00020 #define B2_GEAR_JOINT_H
    00021
    00022 #include <Box2D/Dynamics/Joints/b2Joint.h>
    00023
    00026 struct b2GearJointDef : public b2JointDef
    00027 {
    00028         b2GearJointDef()
    00029         {
    00030                 type = e_gearJoint;
    00031                 joint1 = NULL;
    00032                 joint2 = NULL;
    00033                 ratio = 1.0f;
    00034         }
    00035
    00037         b2Joint* joint1;
    00038
    00040         b2Joint* joint2;
    00041
    00044         float32 ratio;
    00045 };
    00046
    00056 class b2GearJoint : public b2Joint
    00057 {
    00058 public:
    00059         b2Vec2 GetAnchorA() const;
    00060         b2Vec2 GetAnchorB() const;
    00061
    00062         b2Vec2 GetReactionForce(float32 inv_dt) const;
    00063         float32 GetReactionTorque(float32 inv_dt) const;
    00064
    00066         b2Joint* GetJoint1() { return m_joint1; }
    00067
    00069         b2Joint* GetJoint2() { return m_joint2; }
    00070
    00072         void SetRatio(float32 ratio);
    00073         float32 GetRatio() const;
    00074
    00076         void Dump();
    00077
    00078 protected:
    00079
    00080         friend class b2Joint;
    00081         b2GearJoint(const b2GearJointDef* data);
    00082
    00083         void InitVelocityConstraints(const b2SolverData& data);
    00084         void SolveVelocityConstraints(const b2SolverData& data);
    00085         bool SolvePositionConstraints(const b2SolverData& data);
    00086
    00087         b2Joint* m_joint1;
    00088         b2Joint* m_joint2;
    00089
    00090         b2JointType m_typeA;
    00091         b2JointType m_typeB;
    00092
    00093         // Body A is connected to body C
    00094         // Body B is connected to body D
    00095         b2Body* m_bodyC;
    00096         b2Body* m_bodyD;
    00097
    00098         // Solver shared
    00099         b2Vec2 m_localAnchorA;
    00100         b2Vec2 m_localAnchorB;
    00101         b2Vec2 m_localAnchorC;
    00102         b2Vec2 m_localAnchorD;
    00103
    00104         b2Vec2 m_localAxisC;
    00105         b2Vec2 m_localAxisD;
    00106
    00107         float32 m_referenceAngleA;
    00108         float32 m_referenceAngleB;
    00109
    00110         float32 m_constant;
    00111         float32 m_ratio;
    00112
    00113         float32 m_impulse;
    00114
    00115         // Solver temp
    00116         int32 m_indexA, m_indexB, m_indexC, m_indexD;
    00117         b2Vec2 m_lcA, m_lcB, m_lcC, m_lcD;
    00118         float32 m_mA, m_mB, m_mC, m_mD;
    00119         float32 m_iA, m_iB, m_iC, m_iD;
    00120         b2Vec2 m_JvAC, m_JvBD;
    00121         float32 m_JwA, m_JwB, m_JwC, m_JwD;
    00122         float32 m_mass;
    00123 };
    00124
    00125 #endif

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