b2MouseJoint.h

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/*
* 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>

struct b2MouseJointDef : public b2JointDef
{
        b2MouseJointDef()
        {
                type = e_mouseJoint;
                target.Set(0.0f, 0.0f);
                maxForce = 0.0f;
                frequencyHz = 5.0f;
                dampingRatio = 0.7f;
        }

        b2Vec2 target;

        float32 maxForce;

        float32 frequencyHz;

        float32 dampingRatio;
};

class b2MouseJoint : public b2Joint
{
public:

        b2Vec2 GetAnchorA() const;

        b2Vec2 GetAnchorB() const;

        b2Vec2 GetReactionForce(float32 inv_dt) const;

        float32 GetReactionTorque(float32 inv_dt) const;

        void SetTarget(const b2Vec2& target);
        const b2Vec2& GetTarget() const;

        void SetMaxForce(float32 force);
        float32 GetMaxForce() const;

        void SetFrequency(float32 hz);
        float32 GetFrequency() const;

        void SetDampingRatio(float32 ratio);
        float32 GetDampingRatio() const;

        void Dump() { b2Log("Mouse joint dumping is not supported.\n"); }

        void ShiftOrigin(const b2Vec2& newOrigin);

protected:
        friend class b2Joint;

        b2MouseJoint(const b2MouseJointDef* def);

        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