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b2WeldJoint.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_WELD_JOINT_H
    00020 #define B2_WELD_JOINT_H
    00021
    00022 #include <Box2D/Dynamics/Joints/b2Joint.h>
    00023
    00027 struct b2WeldJointDef : public b2JointDef
    00028 {
    00029         b2WeldJointDef()
    00030         {
    00031                 type = e_weldJoint;
    00032                 localAnchorA.Set(0.0f, 0.0f);
    00033                 localAnchorB.Set(0.0f, 0.0f);
    00034                 referenceAngle = 0.0f;
    00035                 frequencyHz = 0.0f;
    00036                 dampingRatio = 0.0f;
    00037         }
    00038
    00041         void Initialize(b2Body* bodyA, b2Body* bodyB, const b2Vec2& anchor);
    00042
    00044         b2Vec2 localAnchorA;
    00045
    00047         b2Vec2 localAnchorB;
    00048
    00050         float32 referenceAngle;
    00051
    00054         float32 frequencyHz;
    00055
    00057         float32 dampingRatio;
    00058 };
    00059
    00062 class b2WeldJoint : public b2Joint
    00063 {
    00064 public:
    00065         b2Vec2 GetAnchorA() const;
    00066         b2Vec2 GetAnchorB() const;
    00067
    00068         b2Vec2 GetReactionForce(float32 inv_dt) const;
    00069         float32 GetReactionTorque(float32 inv_dt) const;
    00070
    00072         const b2Vec2& GetLocalAnchorA() const { return m_localAnchorA; }
    00073
    00075         const b2Vec2& GetLocalAnchorB() const  { return m_localAnchorB; }
    00076
    00078         float32 GetReferenceAngle() const { return m_referenceAngle; }
    00079
    00081         void SetFrequency(float32 hz) { m_frequencyHz = hz; }
    00082         float32 GetFrequency() const { return m_frequencyHz; }
    00083
    00085         void SetDampingRatio(float32 ratio) { m_dampingRatio = ratio; }
    00086         float32 GetDampingRatio() const { return m_dampingRatio; }
    00087
    00089         void Dump();
    00090
    00091 protected:
    00092
    00093         friend class b2Joint;
    00094
    00095         b2WeldJoint(const b2WeldJointDef* def);
    00096
    00097         void InitVelocityConstraints(const b2SolverData& data);
    00098         void SolveVelocityConstraints(const b2SolverData& data);
    00099         bool SolvePositionConstraints(const b2SolverData& data);
    00100
    00101         float32 m_frequencyHz;
    00102         float32 m_dampingRatio;
    00103         float32 m_bias;
    00104
    00105         // Solver shared
    00106         b2Vec2 m_localAnchorA;
    00107         b2Vec2 m_localAnchorB;
    00108         float32 m_referenceAngle;
    00109         float32 m_gamma;
    00110         b2Vec3 m_impulse;
    00111
    00112         // Solver temp
    00113         int32 m_indexA;
    00114         int32 m_indexB;
    00115         b2Vec2 m_rA;
    00116         b2Vec2 m_rB;
    00117         b2Vec2 m_localCenterA;
    00118         b2Vec2 m_localCenterB;
    00119         float32 m_invMassA;
    00120         float32 m_invMassB;
    00121         float32 m_invIA;
    00122         float32 m_invIB;
    00123         b2Mat33 m_mass;
    00124 };
    00125
    00126 #endif

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