Toggle navigation
PlayRho
0.9.0
GitHub
Main Page
Modules
Classes
Files
Examples
File List
File Members
Dynamics
Joints
MotorJointConf.hpp
Go to the documentation of this file.
1
/*
2
* Original work Copyright (c) 2006-2012 Erin Catto http://www.box2d.org
3
* Modified work Copyright (c) 2017 Louis Langholtz https://github.com/louis-langholtz/PlayRho
4
*
5
* This software is provided 'as-is', without any express or implied
6
* warranty. In no event will the authors be held liable for any damages
7
* arising from the use of this software.
8
*
9
* Permission is granted to anyone to use this software for any purpose,
10
* including commercial applications, and to alter it and redistribute it
11
* freely, subject to the following restrictions:
12
*
13
* 1. The origin of this software must not be misrepresented; you must not
14
* claim that you wrote the original software. If you use this software
15
* in a product, an acknowledgment in the product documentation would be
16
* appreciated but is not required.
17
* 2. Altered source versions must be plainly marked as such, and must not be
18
* misrepresented as being the original software.
19
* 3. This notice may not be removed or altered from any source distribution.
20
*/
21
22
#ifndef PLAYRHO_DYNAMICS_JOINTS_MOTORJOINTCONF_HPP
23
#define PLAYRHO_DYNAMICS_JOINTS_MOTORJOINTCONF_HPP
24
25
#include <
PlayRho/Dynamics/Joints/JointConf.hpp
>
26
#include <
PlayRho/Common/BoundedValue.hpp
>
27
#include <
PlayRho/Common/Math.hpp
>
28
29
namespace
playrho
{
30
namespace
d2 {
31
32
class
Body;
33
class
MotorJoint;
34
36
struct
MotorJointConf
:
public
JointBuilder
<MotorJointConf>
37
{
39
using
super
=
JointBuilder<MotorJointConf>
;
40
41
PLAYRHO_CONSTEXPR
inline
MotorJointConf
() noexcept:
super
{
JointType::Motor
} {}
42
44
MotorJointConf
(
NonNull<Body*>
bodyA
,
NonNull<Body*>
bodyB
) noexcept;
45
47
MotorJointConf
&
UseLinearOffset
(
Length2
v) noexcept;
48
50
MotorJointConf
&
UseAngularOffset
(
Angle
v) noexcept;
51
53
MotorJointConf
&
UseMaxForce
(
NonNegative<Force>
v) noexcept;
54
56
MotorJointConf
&
UseMaxTorque
(
NonNegative<Torque>
v) noexcept;
57
59
MotorJointConf
&
UseCorrectionFactor
(
Real
v) noexcept;
60
62
Length2
linearOffset
=
Length2
{};
63
65
Angle
angularOffset
= 0_deg;
66
68
NonNegative<Force>
maxForce
=
NonNegative<Force>
(1_N);
69
71
NonNegative<Torque>
maxTorque
=
NonNegative<Torque>
(1_Nm);
72
74
Real
correctionFactor
=
Real
(0.3);
75
};
76
77
inline
MotorJointConf
&
MotorJointConf::UseLinearOffset
(
Length2
v) noexcept
78
{
79
linearOffset = v;
80
return
*
this
;
81
}
82
83
inline
MotorJointConf
&
MotorJointConf::UseAngularOffset
(
Angle
v) noexcept
84
{
85
angularOffset = v;
86
return
*
this
;
87
}
88
89
inline
MotorJointConf
&
MotorJointConf::UseMaxForce
(
NonNegative<Force>
v) noexcept
90
{
91
maxForce = v;
92
return
*
this
;
93
}
94
95
inline
MotorJointConf
&
MotorJointConf::UseMaxTorque
(
NonNegative<Torque>
v) noexcept
96
{
97
maxTorque = v;
98
return
*
this
;
99
}
100
101
inline
MotorJointConf
&
MotorJointConf::UseCorrectionFactor
(
Real
v) noexcept
102
{
103
correctionFactor = v;
104
return
*
this
;
105
}
106
109
MotorJointConf
GetMotorJointConf
(
const
MotorJoint
& joint) noexcept;
110
111
}
// namespace d2
112
}
// namespace playrho
113
114
#endif // PLAYRHO_DYNAMICS_JOINTS_MOTORJOINTCONF_HPP