b2MotorJoint.h

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/*
* Copyright (c) 2006-2012 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_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);

        // Solver shared
        b2Vec2 m_linearOffset;
        float32 m_angularOffset;
        b2Vec2 m_linearImpulse;
        float32 m_angularImpulse;
        float32 m_maxForce;
        float32 m_maxTorque;
        float32 m_correctionFactor;

        // Solver temp
        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