Box2D: Box2D/Box2D/Dynamics/Joints/b2WeldJoint.h Source File

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# Box2D/Box2D/Dynamics/Joints/b2WeldJoint.h

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    00001 /*
    00002 * Copyright (c) 2006-2009 Erin Catto http://www.gphysics.com
    00003 *
    00004 * This software is provided 'as-is', without any express or implied
    00005 * warranty.  In no event will the authors be held liable for any damages
    00006 * arising from the use of this software.
    00007 * Permission is granted to anyone to use this software for any purpose,
    00008 * including commercial applications, and to alter it and redistribute it
    00009 * freely, subject to the following restrictions:
    00010 * 1. The origin of this software must not be misrepresented; you must not
    00011 * claim that you wrote the original software. If you use this software
    00012 * in a product, an acknowledgment in the product documentation would be
    00013 * appreciated but is not required.
    00014 * 2. Altered source versions must be plainly marked as such, and must not be
    00015 * misrepresented as being the original software.
    00016 * 3. This notice may not be removed or altered from any source distribution.
    00017 */
    00018
    00019 #ifndef B2_WELD_JOINT_H
    00020 #define B2_WELD_JOINT_H
    00021
    00022 #include <Box2D/Dynamics/Joints/b2Joint.h>
    00023
    00027 struct b2WeldJointDef : public b2JointDef
    00028 {
    00029         b2WeldJointDef()
    00030         {
    00031                 type = e_weldJoint;
    00032                 localAnchorA.Set(0.0f, 0.0f);
    00033                 localAnchorB.Set(0.0f, 0.0f);
    00034                 referenceAngle = 0.0f;
    00035         }
    00036
    00039         void Initialize(b2Body* body1, b2Body* body2, const b2Vec2& anchor);
    00040
    00042         b2Vec2 localAnchorA;
    00043
    00045         b2Vec2 localAnchorB;
    00046
    00048         float32 referenceAngle;
    00049 };
    00050
    00053 class b2WeldJoint : public b2Joint
    00054 {
    00055 public:
    00056         b2Vec2 GetAnchorA() const;
    00057         b2Vec2 GetAnchorB() const;
    00058
    00059         b2Vec2 GetReactionForce(float32 inv_dt) const;
    00060         float32 GetReactionTorque(float32 inv_dt) const;
    00061
    00062 protected:
    00063
    00064         friend class b2Joint;
    00065
    00066         b2WeldJoint(const b2WeldJointDef* def);
    00067
    00068         void InitVelocityConstraints(const b2TimeStep& step);
    00069         void SolveVelocityConstraints(const b2TimeStep& step);
    00070
    00071         bool SolvePositionConstraints(float32 baumgarte);
    00072
    00073         b2Vec2 m_localAnchorA;
    00074         b2Vec2 m_localAnchorB;
    00075         float32 m_referenceAngle;
    00076
    00077         b2Vec3 m_impulse;
    00078
    00079         b2Mat33 m_mass;
    00080 };
    00081
    00082 #endif