WheelJointConf.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_WHEELJOINTCONF_HPP
23 #define PLAYRHO_DYNAMICS_JOINTS_WHEELJOINTCONF_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 WheelJoint;
33 
41 struct WheelJointConf : public JointBuilder<WheelJointConf>
42 {
44  using super = JointBuilder<WheelJointConf>;
45 
46  PLAYRHO_CONSTEXPR inline WheelJointConf() noexcept: super{JointType::Wheel} {}
47 
50  WheelJointConf(NonNull<Body*> bodyA, NonNull<Body*> bodyB, const Length2 anchor,
51  const UnitVec axis) noexcept;
52 
54  PLAYRHO_CONSTEXPR inline WheelJointConf& UseEnableMotor(bool v) noexcept;
55 
57  PLAYRHO_CONSTEXPR inline WheelJointConf& UseMaxMotorTorque(Torque v) noexcept;
58 
60  PLAYRHO_CONSTEXPR inline WheelJointConf& UseMotorSpeed(AngularVelocity v) noexcept;
61 
63  PLAYRHO_CONSTEXPR inline WheelJointConf& UseFrequency(Frequency v) noexcept;
64 
66  PLAYRHO_CONSTEXPR inline WheelJointConf& UseDampingRatio(Real v) noexcept;
67 
69  Length2 localAnchorA = Length2{};
70 
72  Length2 localAnchorB = Length2{};
73 
75  UnitVec localAxisA = UnitVec::GetRight();
76 
78  bool enableMotor = false;
79 
81  Torque maxMotorTorque = Torque{0};
82 
84  AngularVelocity motorSpeed = 0_rpm;
85 
87  Frequency frequency = 2_Hz;
88 
90  Real dampingRatio = 0.7f;
91 };
92 
93 PLAYRHO_CONSTEXPR inline WheelJointConf& WheelJointConf::UseEnableMotor(bool v) noexcept
94 {
95  enableMotor = v;
96  return *this;
97 }
98 
99 PLAYRHO_CONSTEXPR inline WheelJointConf& WheelJointConf::UseMaxMotorTorque(Torque v) noexcept
100 {
101  maxMotorTorque = v;
102  return *this;
103 }
104 
105 PLAYRHO_CONSTEXPR inline WheelJointConf& WheelJointConf::UseMotorSpeed(AngularVelocity v) noexcept
106 {
107  motorSpeed = v;
108  return *this;
109 }
110 
111 PLAYRHO_CONSTEXPR inline WheelJointConf& WheelJointConf::UseFrequency(Frequency v) noexcept
112 {
113  frequency = v;
114  return *this;
115 }
116 
117 PLAYRHO_CONSTEXPR inline WheelJointConf& WheelJointConf::UseDampingRatio(Real v) noexcept
118 {
119  dampingRatio = v;
120  return *this;
121 }
122 
125 WheelJointConf GetWheelJointConf(const WheelJoint& joint) noexcept;
126 
127 } // namespace d2
128 } // namespace playrho
129 
130 #endif // PLAYRHO_DYNAMICS_JOINTS_WHEELJOINTCONF_HPP