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- #ifndef B2_MOTOR_JOINT_H
- #define B2_MOTOR_JOINT_H
- #include <Box2D/Dynamics/Joints/b2Joint.h>
- struct b2MotorJointDef : public b2JointDef
- {
- b2MotorJointDef()
- {
- type = e_motorJoint;
- linearOffset.SetZero();
- angularOffset = 0.0f;
- maxForce = 1.0f;
- maxTorque = 1.0f;
- correctionFactor = 0.3f;
- }
-
- void Initialize(b2Body* bodyA, b2Body* bodyB);
-
- b2Vec2 linearOffset;
-
- float32 angularOffset;
-
-
- float32 maxForce;
-
- float32 maxTorque;
-
- float32 correctionFactor;
- };
- class b2MotorJoint : public b2Joint
- {
- public:
- b2Vec2 GetAnchorA() const;
- b2Vec2 GetAnchorB() const;
- b2Vec2 GetReactionForce(float32 inv_dt) const;
- float32 GetReactionTorque(float32 inv_dt) const;
-
- void SetLinearOffset(const b2Vec2& linearOffset);
- const b2Vec2& GetLinearOffset() const;
-
- void SetAngularOffset(float32 angularOffset);
- float32 GetAngularOffset() const;
-
- void SetMaxForce(float32 force);
-
- float32 GetMaxForce() const;
-
- void SetMaxTorque(float32 torque);
-
- float32 GetMaxTorque() const;
-
- void SetCorrectionFactor(float32 factor);
-
- float32 GetCorrectionFactor() const;
-
- void Dump();
- protected:
- friend class b2Joint;
- b2MotorJoint(const b2MotorJointDef* def);
- void InitVelocityConstraints(const b2SolverData& data);
- void SolveVelocityConstraints(const b2SolverData& data);
- bool SolvePositionConstraints(const b2SolverData& data);
-
- b2Vec2 m_linearOffset;
- float32 m_angularOffset;
- b2Vec2 m_linearImpulse;
- float32 m_angularImpulse;
- float32 m_maxForce;
- float32 m_maxTorque;
- float32 m_correctionFactor;
-
- int32 m_indexA;
- int32 m_indexB;
- b2Vec2 m_rA;
- b2Vec2 m_rB;
- b2Vec2 m_localCenterA;
- b2Vec2 m_localCenterB;
- b2Vec2 m_linearError;
- float32 m_angularError;
- float32 m_invMassA;
- float32 m_invMassB;
- float32 m_invIA;
- float32 m_invIB;
- b2Mat22 m_linearMass;
- float32 m_angularMass;
- };
- #endif
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