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WheelJointConf.hpp
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/*
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* Original work Copyright (c) 2006-2011 Erin Catto http://www.box2d.org
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* Modified work Copyright (c) 2017 Louis Langholtz https://github.com/louis-langholtz/PlayRho
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*
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* This software is provided 'as-is', without any express or implied
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* warranty. In no event will the authors be held liable for any damages
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* arising from the use of this software.
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*
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* Permission is granted to anyone to use this software for any purpose,
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* including commercial applications, and to alter it and redistribute it
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* freely, subject to the following restrictions:
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*
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* 1. The origin of this software must not be misrepresented; you must not
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* claim that you wrote the original software. If you use this software
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* in a product, an acknowledgment in the product documentation would be
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* appreciated but is not required.
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* 2. Altered source versions must be plainly marked as such, and must not be
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* misrepresented as being the original software.
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* 3. This notice may not be removed or altered from any source distribution.
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*/
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#ifndef PLAYRHO_DYNAMICS_JOINTS_WHEELJOINTCONF_HPP
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#define PLAYRHO_DYNAMICS_JOINTS_WHEELJOINTCONF_HPP
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#include <
PlayRho/Dynamics/Joints/JointConf.hpp
>
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#include <
PlayRho/Common/BoundedValue.hpp
>
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#include <
PlayRho/Common/Math.hpp
>
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namespace
playrho
{
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namespace
d2 {
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class
WheelJoint;
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struct
WheelJointConf
:
public
JointBuilder
<WheelJointConf>
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{
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using
super
=
JointBuilder<WheelJointConf>
;
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PLAYRHO_CONSTEXPR
inline
WheelJointConf
() noexcept:
super
{
JointType::Wheel
} {}
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WheelJointConf
(
NonNull<Body*>
bodyA
,
NonNull<Body*>
bodyB
,
const
Length2
anchor,
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const
UnitVec axis) noexcept;
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PLAYRHO_CONSTEXPR
inline
WheelJointConf
&
UseEnableMotor
(
bool
v) noexcept;
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PLAYRHO_CONSTEXPR
inline
WheelJointConf
&
UseMaxMotorTorque
(
Torque
v) noexcept;
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PLAYRHO_CONSTEXPR
inline
WheelJointConf
&
UseMotorSpeed
(
AngularVelocity
v) noexcept;
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PLAYRHO_CONSTEXPR
inline
WheelJointConf
&
UseFrequency
(
Frequency
v) noexcept;
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PLAYRHO_CONSTEXPR
inline
WheelJointConf
&
UseDampingRatio
(
Real
v) noexcept;
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Length2
localAnchorA
=
Length2
{};
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Length2
localAnchorB
=
Length2
{};
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UnitVec
localAxisA
=
UnitVec::GetRight
();
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bool
enableMotor
=
false
;
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Torque
maxMotorTorque
=
Torque
{0};
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AngularVelocity
motorSpeed
= 0_rpm;
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Frequency
frequency
= 2_Hz;
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Real
dampingRatio
= 0.7f;
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};
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PLAYRHO_CONSTEXPR
inline
WheelJointConf
&
WheelJointConf::UseEnableMotor
(
bool
v) noexcept
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{
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enableMotor = v;
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return
*
this
;
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}
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PLAYRHO_CONSTEXPR
inline
WheelJointConf
&
WheelJointConf::UseMaxMotorTorque
(
Torque
v) noexcept
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{
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maxMotorTorque = v;
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return
*
this
;
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}
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PLAYRHO_CONSTEXPR
inline
WheelJointConf
&
WheelJointConf::UseMotorSpeed
(
AngularVelocity
v) noexcept
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{
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motorSpeed = v;
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return
*
this
;
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}
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PLAYRHO_CONSTEXPR
inline
WheelJointConf
&
WheelJointConf::UseFrequency
(
Frequency
v) noexcept
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{
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frequency = v;
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return
*
this
;
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}
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PLAYRHO_CONSTEXPR
inline
WheelJointConf
&
WheelJointConf::UseDampingRatio
(
Real
v) noexcept
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{
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dampingRatio = v;
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return
*
this
;
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}
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WheelJointConf
GetWheelJointConf
(
const
WheelJoint
& joint) noexcept;
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}
// namespace d2
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}
// namespace playrho
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#endif // PLAYRHO_DYNAMICS_JOINTS_WHEELJOINTCONF_HPP