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Diffstat (limited to 'tests/box2d/Box2D/Dynamics/Joints/b2MouseJoint.h')
| -rwxr-xr-x | tests/box2d/Box2D/Dynamics/Joints/b2MouseJoint.h | 136 |
1 files changed, 136 insertions, 0 deletions
diff --git a/tests/box2d/Box2D/Dynamics/Joints/b2MouseJoint.h b/tests/box2d/Box2D/Dynamics/Joints/b2MouseJoint.h new file mode 100755 index 00000000..f6df2b31 --- /dev/null +++ b/tests/box2d/Box2D/Dynamics/Joints/b2MouseJoint.h @@ -0,0 +1,136 @@ +/*
+* Copyright (c) 2006-2007 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
+* arising from the use of this software.
+* Permission is granted to anyone to use this software for any purpose,
+* including commercial applications, and to alter it and redistribute it
+* freely, subject to the following restrictions:
+* 1. The origin of this software must not be misrepresented; you must not
+* claim that you wrote the original software. If you use this software
+* in a product, an acknowledgment in the product documentation would be
+* appreciated but is not required.
+* 2. Altered source versions must be plainly marked as such, and must not be
+* misrepresented as being the original software.
+* 3. This notice may not be removed or altered from any source distribution.
+*/
+
+#ifndef B2_MOUSE_JOINT_H
+#define B2_MOUSE_JOINT_H
+
+#include <Box2D/Dynamics/Joints/b2Joint.h>
+
+/// Mouse joint definition. This requires a world target point,
+/// tuning parameters, and the time step.
+// emscripten - b2MouseJointDef: add functions to set/get base class members
+struct b2MouseJointDef : public b2JointDef
+{
+ b2MouseJointDef()
+ {
+ type = e_mouseJoint;
+ target.Set(0.0f, 0.0f);
+ maxForce = 0.0f;
+ frequencyHz = 5.0f;
+ dampingRatio = 0.7f;
+ }
+
+ /// The initial world target point. This is assumed
+ /// to coincide with the body anchor initially.
+ b2Vec2 target;
+
+ /// The maximum constraint force that can be exerted
+ /// to move the candidate body. Usually you will express
+ /// as some multiple of the weight (multiplier * mass * gravity).
+ float32 maxForce;
+
+ /// The response speed.
+ float32 frequencyHz;
+
+ /// The damping ratio. 0 = no damping, 1 = critical damping.
+ float32 dampingRatio;
+
+ // to generate javascript bindings
+ void set_bodyA(b2Body* b) { bodyA = b; }
+ void set_bodyB(b2Body* b) { bodyB = b; }
+ void set_collideConnected(bool b) { collideConnected = b; }
+ b2Body* get_bodyA(b2Body* b) { return bodyA; }
+ b2Body* get_bodyB(b2Body* b) { return bodyB; }
+ bool get_collideConnected(bool b) { return collideConnected; }
+};
+
+/// A mouse joint is used to make a point on a body track a
+/// specified world point. This a soft constraint with a maximum
+/// force. This allows the constraint to stretch and without
+/// applying huge forces.
+/// NOTE: this joint is not documented in the manual because it was
+/// developed to be used in the testbed. If you want to learn how to
+/// use the mouse joint, look at the testbed.
+// emscripten - b2MouseJoint: make constructor public
+class b2MouseJoint : public b2Joint
+{
+public:
+
+ /// Implements b2Joint.
+ b2Vec2 GetAnchorA() const;
+
+ /// Implements b2Joint.
+ b2Vec2 GetAnchorB() const;
+
+ /// Implements b2Joint.
+ b2Vec2 GetReactionForce(float32 inv_dt) const;
+
+ /// Implements b2Joint.
+ float32 GetReactionTorque(float32 inv_dt) const;
+
+ /// Use this to update the target point.
+ void SetTarget(const b2Vec2& target);
+ const b2Vec2& GetTarget() const;
+
+ /// Set/get the maximum force in Newtons.
+ void SetMaxForce(float32 force);
+ float32 GetMaxForce() const;
+
+ /// Set/get the frequency in Hertz.
+ void SetFrequency(float32 hz);
+ float32 GetFrequency() const;
+
+ /// Set/get the damping ratio (dimensionless).
+ void SetDampingRatio(float32 ratio);
+ float32 GetDampingRatio() const;
+
+ /// The mouse joint does not support dumping.
+ void Dump() { b2Log("Mouse joint dumping is not supported.\n"); }
+
+ b2MouseJoint(const b2MouseJointDef* def);
+
+protected:
+ friend class b2Joint;
+
+ void InitVelocityConstraints(const b2SolverData& data);
+ void SolveVelocityConstraints(const b2SolverData& data);
+ bool SolvePositionConstraints(const b2SolverData& data);
+
+ b2Vec2 m_localAnchorB;
+ b2Vec2 m_targetA;
+ float32 m_frequencyHz;
+ float32 m_dampingRatio;
+ float32 m_beta;
+
+ // Solver shared
+ b2Vec2 m_impulse;
+ float32 m_maxForce;
+ float32 m_gamma;
+
+ // Solver temp
+ int32 m_indexA;
+ int32 m_indexB;
+ b2Vec2 m_rB;
+ b2Vec2 m_localCenterB;
+ float32 m_invMassB;
+ float32 m_invIB;
+ b2Mat22 m_mass;
+ b2Vec2 m_C;
+};
+
+#endif
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