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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/b2PulleyJoint.h
Regular → Executable
+32 -42
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
@@ -24,8 +24,7 @@
const float32 b2_minPulleyLength = 2.0f;
/// Pulley joint definition. This requires two ground anchors,
/// two dynamic body anchor points, max lengths for each side,
/// and a pulley ratio.
/// two dynamic body anchor points, and a pulley ratio.
struct b2PulleyJointDef : public b2JointDef
{
b2PulleyJointDef()
@@ -36,9 +35,7 @@ struct b2PulleyJointDef : public b2JointDef
localAnchorA.Set(-1.0f, 0.0f);
localAnchorB.Set(1.0f, 0.0f);
lengthA = 0.0f;
maxLengthA = 0.0f;
lengthB = 0.0f;
maxLengthB = 0.0f;
ratio = 1.0f;
collideConnected = true;
}
@@ -64,15 +61,9 @@ struct b2PulleyJointDef : public b2JointDef
/// The a reference length for the segment attached to bodyA.
float32 lengthA;
/// The maximum length of the segment attached to bodyA.
float32 maxLengthA;
/// The a reference length for the segment attached to bodyB.
float32 lengthB;
/// The maximum length of the segment attached to bodyB.
float32 maxLengthB;
/// The pulley ratio, used to simulate a block-and-tackle.
float32 ratio;
};
@@ -81,8 +72,10 @@ struct b2PulleyJointDef : public b2JointDef
/// The pulley supports a ratio such that:
/// length1 + ratio * length2 <= constant
/// Yes, the force transmitted is scaled by the ratio.
/// The pulley also enforces a maximum length limit on both sides. This is
/// useful to prevent one side of the pulley hitting the top.
/// Warning: the pulley joint can get a bit squirrelly by itself. They often
/// work better when combined with prismatic joints. You should also cover the
/// the anchor points with static shapes to prevent one side from going to
/// zero length.
class b2PulleyJoint : public b2Joint
{
public:
@@ -98,11 +91,11 @@ public:
/// Get the second ground anchor.
b2Vec2 GetGroundAnchorB() const;
/// Get the current length of the segment attached to body1.
float32 GetLength1() const;
/// Get the current length of the segment attached to bodyA.
float32 GetLengthA() const;
/// Get the current length of the segment attached to body2.
float32 GetLength2() const;
/// Get the current length of the segment attached to bodyB.
float32 GetLengthB() const;
/// Get the pulley ratio.
float32 GetRatio() const;
@@ -112,37 +105,34 @@ protected:
friend class b2Joint;
b2PulleyJoint(const b2PulleyJointDef* data);
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_groundAnchor1;
b2Vec2 m_groundAnchor2;
b2Vec2 m_localAnchor1;
b2Vec2 m_localAnchor2;
b2Vec2 m_u1;
b2Vec2 m_u2;
b2Vec2 m_groundAnchorA;
b2Vec2 m_groundAnchorB;
// Solver shared
b2Vec2 m_localAnchorA;
b2Vec2 m_localAnchorB;
float32 m_constant;
float32 m_ratio;
float32 m_maxLength1;
float32 m_maxLength2;
// Effective masses
float32 m_pulleyMass;
float32 m_limitMass1;
float32 m_limitMass2;
// Impulses for accumulation/warm starting.
float32 m_impulse;
float32 m_limitImpulse1;
float32 m_limitImpulse2;
b2LimitState m_state;
b2LimitState m_limitState1;
b2LimitState m_limitState2;
// Solver temp
int32 m_indexA;
int32 m_indexB;
b2Vec2 m_uA;
b2Vec2 m_uB;
b2Vec2 m_rA;
b2Vec2 m_rB;
b2Vec2 m_localCenterA;
b2Vec2 m_localCenterB;
float32 m_invMassA;
float32 m_invMassB;
float32 m_invIA;
float32 m_invIB;
float32 m_mass;
};
#endif