RevoluteJointConf.hpp
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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 
22 #ifndef PLAYRHO_DYNAMICS_JOINTS_REVOLUTEJOINTCONF_HPP
23 #define PLAYRHO_DYNAMICS_JOINTS_REVOLUTEJOINTCONF_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 RevoluteJoint;
33 
46 struct RevoluteJointConf : public JointBuilder<RevoluteJointConf>
47 {
49  using super = JointBuilder<RevoluteJointConf>;
50 
51  PLAYRHO_CONSTEXPR inline RevoluteJointConf() noexcept: super{JointType::Revolute} {}
52 
54  RevoluteJointConf(NonNull<Body*> bodyA, NonNull<Body*> bodyB, const Length2 anchor) noexcept;
55 
57  PLAYRHO_CONSTEXPR inline RevoluteJointConf& UseEnableLimit(bool v) noexcept;
58 
60  PLAYRHO_CONSTEXPR inline RevoluteJointConf& UseLowerAngle(Angle v) noexcept;
61 
63  PLAYRHO_CONSTEXPR inline RevoluteJointConf& UseUpperAngle(Angle v) noexcept;
64 
66  PLAYRHO_CONSTEXPR inline RevoluteJointConf& UseEnableMotor(bool v) noexcept;
67 
69  Length2 localAnchorA = Length2{};
70 
72  Length2 localAnchorB = Length2{};
73 
76  Angle referenceAngle = 0_deg;
77 
79  bool enableLimit = false;
80 
82  Angle lowerAngle = 0_deg;
83 
85  Angle upperAngle = 0_deg;
86 
88  bool enableMotor = false;
89 
91  AngularVelocity motorSpeed = 0_rpm;
92 
94  Torque maxMotorTorque = 0;
95 };
96 
97 PLAYRHO_CONSTEXPR inline RevoluteJointConf& RevoluteJointConf::UseEnableLimit(bool v) noexcept
98 {
99  enableLimit = v;
100  return *this;
101 }
102 
103 PLAYRHO_CONSTEXPR inline RevoluteJointConf& RevoluteJointConf::UseLowerAngle(Angle v) noexcept
104 {
105  lowerAngle = v;
106  return *this;
107 }
108 
109 PLAYRHO_CONSTEXPR inline RevoluteJointConf& RevoluteJointConf::UseUpperAngle(Angle v) noexcept
110 {
111  upperAngle = v;
112  return *this;
113 }
114 
115 PLAYRHO_CONSTEXPR inline RevoluteJointConf& RevoluteJointConf::UseEnableMotor(bool v) noexcept
116 {
117  enableMotor = v;
118  return *this;
119 }
120 
123 RevoluteJointConf GetRevoluteJointConf(const RevoluteJoint& joint) noexcept;
124 
125 } // namespace d2
126 } // namespace playrho
127 
128 #endif // PLAYRHO_DYNAMICS_JOINTS_REVOLUTEJOINTCONF_HPP