DistanceJoint.hpp

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/*
 * Original work Copyright (c) 2006-2007 Erin Catto http://www.box2d.org
 * Modified work Copyright (c) 2017 Louis Langholtz https://github.com/louis-langholtz/PlayRho
 *
 * 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 PLAYRHO_DYNAMICS_JOINTS_DISTANCEJOINT_HPP
#define PLAYRHO_DYNAMICS_JOINTS_DISTANCEJOINT_HPP
 
#include <PlayRho/Dynamics/Joints/Joint.hpp>
#include <PlayRho/Dynamics/Joints/DistanceJointConf.hpp>
 
namespace playrho {
namespace d2 {
 
class DistanceJoint : public Joint
{
public:
    
    static bool IsOkay(const DistanceJointConf& data) noexcept;
 
    DistanceJoint(const DistanceJointConf& data);
 
    void Accept(JointVisitor& visitor) const override;
    void Accept(JointVisitor& visitor) override;
    Length2 GetAnchorA() const override;
    Length2 GetAnchorB() const override;
    Momentum2 GetLinearReaction() const override;
    AngularMomentum GetAngularReaction() const override;
 
    Length2 GetLocalAnchorA() const noexcept { return m_localAnchorA; }
 
    Length2 GetLocalAnchorB() const noexcept { return m_localAnchorB; }
 
    void SetLength(Length length) noexcept;
    
    Length GetLength() const noexcept;
 
    void SetFrequency(NonNegative<Frequency> frequency) noexcept;
 
    NonNegative<Frequency> GetFrequency() const noexcept;
 
    void SetDampingRatio(Real ratio) noexcept;
 
    Real GetDampingRatio() const noexcept;
 
private:
 
    void InitVelocityConstraints(BodyConstraintsMap& bodies, const playrho::StepConf& step,
                                 const ConstraintSolverConf&) override;
    bool SolveVelocityConstraints(BodyConstraintsMap& bodies, const playrho::StepConf& step) override;
    bool SolvePositionConstraints(BodyConstraintsMap& bodies,
                                  const ConstraintSolverConf& conf) const override;
 
    Length2 m_localAnchorA; 
    Length2 m_localAnchorB; 
    Length m_length; 
    NonNegative<Frequency> m_frequency = NonNegative<Frequency>{0_Hz}; 
    Real m_dampingRatio; 
 
    // Solver shared
    Momentum m_impulse = 0_Ns; 
 
    // Solver temp
    InvMass m_invGamma; 
    LinearVelocity m_bias; 
    Mass m_mass; 
    UnitVec m_u; 
    Length2 m_rA; 
    Length2 m_rB; 
};
 
inline void DistanceJoint::SetLength(Length length) noexcept
{
    m_length = length;
}
 
inline Length DistanceJoint::GetLength() const noexcept
{
    return m_length;
}
 
inline void DistanceJoint::SetFrequency(NonNegative<Frequency> hz) noexcept
{
    m_frequency = hz;
}
 
inline NonNegative<Frequency> DistanceJoint::GetFrequency() const noexcept
{
    return m_frequency;
}
 
inline void DistanceJoint::SetDampingRatio(Real ratio) noexcept
{
    m_dampingRatio = ratio;
}
 
inline Real DistanceJoint::GetDampingRatio() const noexcept
{
    return m_dampingRatio;
}
 
} // namespace d2
} // namespace playrho
 
#endif // PLAYRHO_DYNAMICS_JOINTS_DISTANCEJOINT_HPP