PrismaticJointConf.cpp
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1 /*
2  * Original work Copyright (c) 2006-2011 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 
25 
26 namespace playrho {
27 namespace d2 {
28 
30  const UnitVec axis) noexcept:
31  super{super{JointType::Prismatic}.UseBodyA(bA).UseBodyB(bB)},
32  localAnchorA{GetLocalPoint(*bA, anchor)},
33  localAnchorB{GetLocalPoint(*bB, anchor)},
34  localAxisA{GetLocalVector(*bA, axis)},
35  referenceAngle{bB->GetAngle() - bA->GetAngle()}
36 {
37  // Intentionally empty.
38 }
39 
41 {
42  auto def = PrismaticJointConf{};
43 
44  Set(def, joint);
45 
46  def.localAnchorA = joint.GetLocalAnchorA();
47  def.localAnchorB = joint.GetLocalAnchorB();
48  def.localAxisA = joint.GetLocalAxisA();
49  def.referenceAngle = joint.GetReferenceAngle();
50  def.enableLimit = joint.IsLimitEnabled();
51  def.lowerTranslation = joint.GetLowerLimit();
52  def.upperTranslation = joint.GetUpperLimit();
53  def.enableMotor = joint.IsMotorEnabled();
54  def.motorSpeed = joint.GetMotorSpeed();
55  def.maxMotorForce = joint.GetMaxMotorForce();
56 
57  return def;
58 }
59 
60 } // namespace d2
61 } // namespace playrho