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b2Joint.h
1 /*
2 * Copyright (c) 2006-2007 Erin Catto http://www.box2d.org
3 *
4 * This software is provided 'as-is', without any express or implied
5 * warranty. In no event will the authors be held liable for any damages
6 * arising from the use of this software.
7 * Permission is granted to anyone to use this software for any purpose,
8 * including commercial applications, and to alter it and redistribute it
9 * freely, subject to the following restrictions:
10 * 1. The origin of this software must not be misrepresented; you must not
11 * claim that you wrote the original software. If you use this software
12 * in a product, an acknowledgment in the product documentation would be
13 * appreciated but is not required.
14 * 2. Altered source versions must be plainly marked as such, and must not be
15 * misrepresented as being the original software.
16 * 3. This notice may not be removed or altered from any source distribution.
17 */
18 
19 #ifndef B2_JOINT_H
20 #define B2_JOINT_H
21 
22 #include <Box2D/Common/b2Math.h>
23 
24 class b2Body;
25 class b2Joint;
26 struct b2SolverData;
27 class b2BlockAllocator;
28 
29 enum b2JointType
30 {
31  e_unknownJoint,
32  e_revoluteJoint,
33  e_prismaticJoint,
34  e_distanceJoint,
35  e_pulleyJoint,
36  e_mouseJoint,
37  e_gearJoint,
38  e_wheelJoint,
39  e_weldJoint,
40  e_frictionJoint,
41  e_ropeJoint,
42  e_motorJoint
43 };
44 
45 enum b2LimitState
46 {
47  e_inactiveLimit,
48  e_atLowerLimit,
49  e_atUpperLimit,
50  e_equalLimits
51 };
52 
53 struct b2Jacobian
54 {
55  b2Vec2 linear;
56  float32 angularA;
57  float32 angularB;
58 };
59 
66 {
71 };
72 
74 struct b2JointDef
75 {
76  b2JointDef()
77  {
78  type = e_unknownJoint;
79  userData = NULL;
80  bodyA = NULL;
81  bodyB = NULL;
82  collideConnected = false;
83  }
84 
86  b2JointType type;
87 
89  void* userData;
90 
93 
96 
99 };
100 
103 class b2Joint
104 {
105 public:
106 
108  b2JointType GetType() const;
109 
111  b2Body* GetBodyA();
112 
114  b2Body* GetBodyB();
115 
117  virtual b2Vec2 GetAnchorA() const = 0;
118 
120  virtual b2Vec2 GetAnchorB() const = 0;
121 
123  virtual b2Vec2 GetReactionForce(float32 inv_dt) const = 0;
124 
126  virtual float32 GetReactionTorque(float32 inv_dt) const = 0;
127 
129  b2Joint* GetNext();
130  const b2Joint* GetNext() const;
131 
133  void* GetUserData() const;
134 
136  void SetUserData(void* data);
137 
139  bool IsActive() const;
140 
144  bool GetCollideConnected() const;
145 
147  virtual void Dump() { b2Log("// Dump is not supported for this joint type.\n"); }
148 
150  virtual void ShiftOrigin(const b2Vec2& newOrigin) { B2_NOT_USED(newOrigin); }
151 
152 protected:
153  friend class b2World;
154  friend class b2Body;
155  friend class b2Island;
156  friend class b2GearJoint;
157 
158  static b2Joint* Create(const b2JointDef* def, b2BlockAllocator* allocator);
159  static void Destroy(b2Joint* joint, b2BlockAllocator* allocator);
160 
161  b2Joint(const b2JointDef* def);
162  virtual ~b2Joint() {}
163 
164  virtual void InitVelocityConstraints(const b2SolverData& data) = 0;
165  virtual void SolveVelocityConstraints(const b2SolverData& data) = 0;
166 
167  // This returns true if the position errors are within tolerance.
168  virtual bool SolvePositionConstraints(const b2SolverData& data) = 0;
169 
170  b2JointType m_type;
171  b2Joint* m_prev;
172  b2Joint* m_next;
173  b2JointEdge m_edgeA;
174  b2JointEdge m_edgeB;
175  b2Body* m_bodyA;
176  b2Body* m_bodyB;
177 
178  int32 m_index;
179 
180  bool m_islandFlag;
181  bool m_collideConnected;
182 
183  void* m_userData;
184 };
185 
186 inline b2JointType b2Joint::GetType() const
187 {
188  return m_type;
189 }
190 
192 {
193  return m_bodyA;
194 }
195 
197 {
198  return m_bodyB;
199 }
200 
202 {
203  return m_next;
204 }
205 
206 inline const b2Joint* b2Joint::GetNext() const
207 {
208  return m_next;
209 }
210 
211 inline void* b2Joint::GetUserData() const
212 {
213  return m_userData;
214 }
215 
216 inline void b2Joint::SetUserData(void* data)
217 {
218  m_userData = data;
219 }
220 
221 inline bool b2Joint::GetCollideConnected() const
222 {
223  return m_collideConnected;
224 }
225 
226 #endif
b2Joint * joint
the joint
Definition: b2Joint.h:68
b2Body * bodyA
The first attached body.
Definition: b2Joint.h:92
void SetUserData(void *data)
Set the user data pointer.
Definition: b2Joint.h:216
void b2Log(const char *string,...)
Logging function.
Definition: b2Settings.cpp:116
b2Body * other
provides quick access to the other body attached.
Definition: b2Joint.h:67
virtual b2Vec2 GetReactionForce(float32 inv_dt) const =0
Get the reaction force on bodyB at the joint anchor in Newtons.
b2Body * GetBodyA()
Get the first body attached to this joint.
Definition: b2Joint.h:191
b2Body * bodyB
The second attached body.
Definition: b2Joint.h:95
virtual float32 GetReactionTorque(float32 inv_dt) const =0
Get the reaction torque on bodyB in N*m.
Definition: b2World.h:44
void * userData
Use this to attach application specific data to your joints.
Definition: b2Joint.h:89
virtual void ShiftOrigin(const b2Vec2 &newOrigin)
Shift the origin for any points stored in world coordinates.
Definition: b2Joint.h:150
void * GetUserData() const
Get the user data pointer.
Definition: b2Joint.h:211
Definition: b2BlockAllocator.h:36
Definition: b2Joint.h:103
Definition: b2Joint.h:53
virtual b2Vec2 GetAnchorA() const =0
Get the anchor point on bodyA in world coordinates.
virtual b2Vec2 GetAnchorB() const =0
Get the anchor point on bodyB in world coordinates.
bool IsActive() const
Short-cut function to determine if either body is inactive.
Definition: b2Joint.cpp:208
bool GetCollideConnected() const
Definition: b2Joint.h:221
Definition: b2GearJoint.h:56
b2JointType GetType() const
Get the type of the concrete joint.
Definition: b2Joint.h:186
b2JointType type
The joint type is set automatically for concrete joint types.
Definition: b2Joint.h:86
bool collideConnected
Set this flag to true if the attached bodies should collide.
Definition: b2Joint.h:98
Solver Data.
Definition: b2TimeStep.h:65
Joint definitions are used to construct joints.
Definition: b2Joint.h:74
Definition: b2Joint.h:65
A rigid body. These are created via b2World::CreateBody.
Definition: b2Body.h:132
This is an internal class.
Definition: b2Island.h:34
b2Body * GetBodyB()
Get the second body attached to this joint.
Definition: b2Joint.h:196
virtual void Dump()
Dump this joint to the log file.
Definition: b2Joint.h:147
b2JointEdge * prev
the previous joint edge in the body's joint list
Definition: b2Joint.h:69
A 2D column vector.
Definition: b2Math.h:56
b2JointEdge * next
the next joint edge in the body's joint list
Definition: b2Joint.h:70
b2Joint * GetNext()
Get the next joint the world joint list.
Definition: b2Joint.h:201