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- #ifndef B2_ROPE_H
- #define B2_ROPE_H
- #include <Box2D/Common/b2Math.h>
- class b2Draw;
- struct b2RopeDef
- {
- b2RopeDef()
- {
- vertices = NULL;
- count = 0;
- masses = NULL;
- gravity.SetZero();
- damping = 0.1f;
- k2 = 0.9f;
- k3 = 0.1f;
- }
-
- b2Vec2* vertices;
-
- int32 count;
-
- float32* masses;
-
- b2Vec2 gravity;
-
- float32 damping;
-
- float32 k2;
-
- float32 k3;
- };
- class b2Rope
- {
- public:
- b2Rope();
- ~b2Rope();
-
- void Initialize(const b2RopeDef* def);
-
- void Step(float32 timeStep, int32 iterations);
-
- int32 GetVertexCount() const
- {
- return m_count;
- }
-
- const b2Vec2* GetVertices() const
- {
- return m_ps;
- }
-
- void Draw(b2Draw* draw) const;
-
- void SetAngle(float32 angle);
- private:
- void SolveC2();
- void SolveC3();
- int32 m_count;
- b2Vec2* m_ps;
- b2Vec2* m_p0s;
- b2Vec2* m_vs;
- float32* m_ims;
- float32* m_Ls;
- float32* m_as;
- b2Vec2 m_gravity;
- float32 m_damping;
- float32 m_k2;
- float32 m_k3;
- };
- #endif
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