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b2RopeJoint.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_ROPE_JOINT_H
    00020 #define B2_ROPE_JOINT_H
    00021
    00022 #include <Box2D/Dynamics/Joints/b2Joint.h>
    00023
    00028 struct b2RopeJointDef : public b2JointDef
    00029 {
    00030         b2RopeJointDef()
    00031         {
    00032                 type = e_ropeJoint;
    00033                 localAnchorA.Set(-1.0f, 0.0f);
    00034                 localAnchorB.Set(1.0f, 0.0f);
    00035                 maxLength = 0.0f;
    00036         }
    00037
    00039         b2Vec2 localAnchorA;
    00040
    00042         b2Vec2 localAnchorB;
    00043
    00047         float32 maxLength;
    00048 };
    00049
    00058 class b2RopeJoint : public b2Joint
    00059 {
    00060 public:
    00061         b2Vec2 GetAnchorA() const;
    00062         b2Vec2 GetAnchorB() const;
    00063
    00064         b2Vec2 GetReactionForce(float32 inv_dt) const;
    00065         float32 GetReactionTorque(float32 inv_dt) const;
    00066
    00068         const b2Vec2& GetLocalAnchorA() const { return m_localAnchorA; }
    00069
    00071         const b2Vec2& GetLocalAnchorB() const  { return m_localAnchorB; }
    00072
    00074         void SetMaxLength(float32 length) { m_maxLength = length; }
    00075         float32 GetMaxLength() const;
    00076
    00077         b2LimitState GetLimitState() const;
    00078
    00080         void Dump();
    00081
    00082 protected:
    00083
    00084         friend class b2Joint;
    00085         b2RopeJoint(const b2RopeJointDef* data);
    00086
    00087         void InitVelocityConstraints(const b2SolverData& data);
    00088         void SolveVelocityConstraints(const b2SolverData& data);
    00089         bool SolvePositionConstraints(const b2SolverData& data);
    00090
    00091         // Solver shared
    00092         b2Vec2 m_localAnchorA;
    00093         b2Vec2 m_localAnchorB;
    00094         float32 m_maxLength;
    00095         float32 m_length;
    00096         float32 m_impulse;
    00097
    00098         // Solver temp
    00099         int32 m_indexA;
    00100         int32 m_indexB;
    00101         b2Vec2 m_u;
    00102         b2Vec2 m_rA;
    00103         b2Vec2 m_rB;
    00104         b2Vec2 m_localCenterA;
    00105         b2Vec2 m_localCenterB;
    00106         float32 m_invMassA;
    00107         float32 m_invMassB;
    00108         float32 m_invIA;
    00109         float32 m_invIB;
    00110         float32 m_mass;
    00111         b2LimitState m_state;
    00112 };
    00113
    00114 #endif

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