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Updated to Box2D 2.2, added new joints, some other updates to match the API changes (still plenty more to go though)

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--HG--
branch : box2d-update
This commit is contained in:
Bill Meltsner
2011-09-03 15:39:32 -04:00
parent b3434997bf
commit 915e3e9d86
126 changed files with 8581 additions and 3772 deletions
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src/modules/physics/box2d/Box2D/Dynamics/Joints/b2PrismaticJoint.h
Regular → Executable
+30 -25
View File
@@ -1,5 +1,5 @@
/*
* Copyright (c) 2006-2007 Erin Catto http://www.gphysics.com
* Copyright (c) 2006-2011 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
@@ -27,7 +27,6 @@
/// can violate the constraint slightly. The joint translation is zero
/// when the local anchor points coincide in world space. Using local
/// anchors and a local axis helps when saving and loading a game.
/// @warning at least one body should by dynamic with a non-fixed rotation.
struct b2PrismaticJointDef : public b2JointDef
{
b2PrismaticJointDef()
@@ -35,7 +34,7 @@ struct b2PrismaticJointDef : public b2JointDef
type = e_prismaticJoint;
localAnchorA.SetZero();
localAnchorB.SetZero();
localAxis1.Set(1.0f, 0.0f);
localAxisA.Set(1.0f, 0.0f);
referenceAngle = 0.0f;
enableLimit = false;
lowerTranslation = 0.0f;
@@ -56,9 +55,9 @@ struct b2PrismaticJointDef : public b2JointDef
b2Vec2 localAnchorB;
/// The local translation axis in body1.
b2Vec2 localAxis1;
b2Vec2 localAxisA;
/// The constrained angle between the bodies: body2_angle - body1_angle.
/// The constrained angle between the bodies: bodyB_angle - bodyA_angle.
float32 referenceAngle;
/// Enable/disable the joint limit.
@@ -81,7 +80,7 @@ struct b2PrismaticJointDef : public b2JointDef
};
/// A prismatic joint. This joint provides one degree of freedom: translation
/// along an axis fixed in body1. Relative rotation is prevented. You can
/// along an axis fixed in bodyA. Relative rotation is prevented. You can
/// use a joint limit to restrict the range of motion and a joint motor to
/// drive the motion or to model joint friction.
class b2PrismaticJoint : public b2Joint
@@ -129,42 +128,48 @@ public:
/// Set the maximum motor force, usually in N.
void SetMaxMotorForce(float32 force);
/// Get the current motor force, usually in N.
float32 GetMotorForce() const;
/// Get the current motor force given the inverse time step, usually in N.
float32 GetMotorForce(float32 inv_dt) const;
protected:
friend class b2Joint;
friend class b2GearJoint;
b2PrismaticJoint(const b2PrismaticJointDef* def);
void InitVelocityConstraints(const b2TimeStep& step);
void SolveVelocityConstraints(const b2TimeStep& step);
bool SolvePositionConstraints(float32 baumgarte);
void InitVelocityConstraints(const b2SolverData& data);
void SolveVelocityConstraints(const b2SolverData& data);
bool SolvePositionConstraints(const b2SolverData& data);
b2Vec2 m_localAnchor1;
b2Vec2 m_localAnchor2;
b2Vec2 m_localXAxis1;
b2Vec2 m_localYAxis1;
// Solver shared
b2Vec2 m_localAnchorA;
b2Vec2 m_localAnchorB;
b2Vec2 m_localXAxisA;
b2Vec2 m_localYAxisA;
float32 m_refAngle;
b2Vec2 m_axis, m_perp;
float32 m_s1, m_s2;
float32 m_a1, m_a2;
b2Mat33 m_K;
b2Vec3 m_impulse;
float32 m_motorMass; // effective mass for motor/limit translational constraint.
float32 m_motorImpulse;
float32 m_lowerTranslation;
float32 m_upperTranslation;
float32 m_maxMotorForce;
float32 m_motorSpeed;
bool m_enableLimit;
bool m_enableMotor;
b2LimitState m_limitState;
// Solver temp
int32 m_indexA;
int32 m_indexB;
b2Vec2 m_localCenterA;
b2Vec2 m_localCenterB;
float32 m_invMassA;
float32 m_invMassB;
float32 m_invIA;
float32 m_invIB;
b2Vec2 m_axis, m_perp;
float32 m_s1, m_s2;
float32 m_a1, m_a2;
b2Mat33 m_K;
float32 m_motorMass;
};
inline float32 b2PrismaticJoint::GetMotorSpeed() const