WeldJoint.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_WELDJOINT_HPP
23 #define PLAYRHO_DYNAMICS_JOINTS_WELDJOINT_HPP
24 
25 #include <PlayRho/Dynamics/Joints/Joint.hpp>
26 #include <PlayRho/Dynamics/Joints/WeldJointConf.hpp>
27 
28 namespace playrho {
29 namespace d2 {
30 
38 class WeldJoint : public Joint
39 {
40 public:
41 
46  WeldJoint(const WeldJointConf& def);
47 
48  void Accept(JointVisitor& visitor) const override;
49  void Accept(JointVisitor& visitor) override;
50 
51  Length2 GetAnchorA() const override;
52  Length2 GetAnchorB() const override;
53 
54  Momentum2 GetLinearReaction() const override;
55  AngularMomentum GetAngularReaction() const override;
56 
58  Length2 GetLocalAnchorA() const { return m_localAnchorA; }
59 
61  Length2 GetLocalAnchorB() const { return m_localAnchorB; }
62 
64  Angle GetReferenceAngle() const { return m_referenceAngle; }
65 
67  void SetFrequency(Frequency frequency) { m_frequency = frequency; }
68 
70  Frequency GetFrequency() const { return m_frequency; }
71 
73  void SetDampingRatio(Real ratio) { m_dampingRatio = ratio; }
74 
76  Real GetDampingRatio() const { return m_dampingRatio; }
77 
78 private:
79 
80  void InitVelocityConstraints(BodyConstraintsMap& bodies, const StepConf& step,
81  const ConstraintSolverConf&) override;
82  bool SolveVelocityConstraints(BodyConstraintsMap& bodies, const StepConf& step) override;
83  bool SolvePositionConstraints(BodyConstraintsMap& bodies,
84  const ConstraintSolverConf& conf) const override;
85 
86  Length2 m_localAnchorA;
87  Length2 m_localAnchorB;
88  Angle m_referenceAngle;
89  Frequency m_frequency;
90  Real m_dampingRatio;
91 
92  // Solver shared
93  Vec3 m_impulse = Vec3{};
94 
95  // Solver temp
96  InvRotInertia m_gamma;
97  AngularVelocity m_bias;
98  Length2 m_rA;
99  Length2 m_rB;
100  Mat33 m_mass;
101 };
102 
103 } // namespace d2
104 } // namespace playrho
105 
106 #endif // PLAYRHO_DYNAMICS_JOINTS_WELDJOINT_HPP