WheelJointConf.cpp

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/*
 * Original work Copyright (c) 2006-2007 Erin Catto http://www.box2d.org
 * Modified work Copyright (c) 2017 Louis Langholtz https://github.com/louis-langholtz/PlayRho
 *
 * This software is provided 'as-is', without any express or implied
 * warranty. In no event will the authors be held liable for any damages
 * arising from the use of this software.
 *
 * Permission is granted to anyone to use this software for any purpose,
 * including commercial applications, and to alter it and redistribute it
 * freely, subject to the following restrictions:
 *
 * 1. The origin of this software must not be misrepresented; you must not
 *    claim that you wrote the original software. If you use this software
 *    in a product, an acknowledgment in the product documentation would be
 *    appreciated but is not required.
 * 2. Altered source versions must be plainly marked as such, and must not be
 *    misrepresented as being the original software.
 * 3. This notice may not be removed or altered from any source distribution.
 */
 
#include <PlayRho/Dynamics/Joints/WheelJointConf.hpp>
#include <PlayRho/Dynamics/Joints/WheelJoint.hpp>
#include <PlayRho/Dynamics/Body.hpp>
 
namespace playrho {
namespace d2 {
 
WheelJointConf::WheelJointConf(NonNull<Body*> bA, NonNull<Body*> bB, const Length2 anchor,
                             const UnitVec axis) noexcept:
    super{super{JointType::Wheel}.UseBodyA(bA).UseBodyB(bB)},
    localAnchorA{GetLocalPoint(*bA, anchor)},
    localAnchorB{GetLocalPoint(*bB, anchor)},
    localAxisA{GetLocalVector(*bA, axis)}
{
    // Intentionally empty.
}
 
WheelJointConf GetWheelJointConf(const WheelJoint& joint) noexcept
{
    auto def = WheelJointConf{};
    
    Set(def, joint);
    
    def.localAnchorA = joint.GetLocalAnchorA();
    def.localAnchorB = joint.GetLocalAnchorB();
    def.localAxisA = joint.GetLocalAxisA();
    def.enableMotor = joint.IsMotorEnabled();
    def.maxMotorTorque = joint.GetMaxMotorTorque();
    def.motorSpeed = joint.GetMotorSpeed();
    def.frequency = joint.GetSpringFrequency();
    def.dampingRatio = joint.GetSpringDampingRatio();
    
    return def;
}
 
} // namespace d2
} // namespace playrho