1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
|
/*
* 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
* 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_GEAR_JOINT_H
#define B2_GEAR_JOINT_H
#include <Box2D/Dynamics/Joints/b2Joint.h>
/// Gear joint definition. This definition requires two existing
/// revolute or prismatic joints (any combination will work).
// emscripten - b2GearJointDef: add functions to set/get base class members
struct b2GearJointDef : public b2JointDef
{
b2GearJointDef()
{
type = e_gearJoint;
joint1 = NULL;
joint2 = NULL;
ratio = 1.0f;
}
/// The first revolute/prismatic joint attached to the gear joint.
b2Joint* joint1;
/// The second revolute/prismatic joint attached to the gear joint.
b2Joint* joint2;
/// The gear ratio.
/// @see b2GearJoint for explanation.
float32 ratio;
// 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 gear joint is used to connect two joints together. Either joint
/// can be a revolute or prismatic joint. You specify a gear ratio
/// to bind the motions together:
/// coordinate1 + ratio * coordinate2 = constant
/// The ratio can be negative or positive. If one joint is a revolute joint
/// and the other joint is a prismatic joint, then the ratio will have units
/// of length or units of 1/length.
/// @warning You have to manually destroy the gear joint if joint1 or joint2
/// is destroyed.
// emscripten - b2GearJoint: make constructor public
class b2GearJoint : public b2Joint
{
public:
b2Vec2 GetAnchorA() const;
b2Vec2 GetAnchorB() const;
b2Vec2 GetReactionForce(float32 inv_dt) const;
float32 GetReactionTorque(float32 inv_dt) const;
/// Get the first joint.
b2Joint* GetJoint1() { return m_joint1; }
/// Get the second joint.
b2Joint* GetJoint2() { return m_joint2; }
/// Set/Get the gear ratio.
void SetRatio(float32 ratio);
float32 GetRatio() const;
/// Dump joint to dmLog
void Dump();
b2GearJoint(const b2GearJointDef* data);
protected:
friend class b2Joint;
void InitVelocityConstraints(const b2SolverData& data);
void SolveVelocityConstraints(const b2SolverData& data);
bool SolvePositionConstraints(const b2SolverData& data);
b2Joint* m_joint1;
b2Joint* m_joint2;
b2JointType m_typeA;
b2JointType m_typeB;
// Body A is connected to body C
// Body B is connected to body D
b2Body* m_bodyC;
b2Body* m_bodyD;
// Solver shared
b2Vec2 m_localAnchorA;
b2Vec2 m_localAnchorB;
b2Vec2 m_localAnchorC;
b2Vec2 m_localAnchorD;
b2Vec2 m_localAxisC;
b2Vec2 m_localAxisD;
float32 m_referenceAngleA;
float32 m_referenceAngleB;
float32 m_constant;
float32 m_ratio;
float32 m_impulse;
// Solver temp
int32 m_indexA, m_indexB, m_indexC, m_indexD;
b2Vec2 m_lcA, m_lcB, m_lcC, m_lcD;
float32 m_mA, m_mB, m_mC, m_mD;
float32 m_iA, m_iB, m_iC, m_iD;
b2Vec2 m_JvAC, m_JvBD;
float32 m_JwA, m_JwB, m_JwC, m_JwD;
float32 m_mass;
};
#endif
|
