MotorJointConf.hpp
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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