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/*
* The MIT License (MIT)
*
* FXGL - JavaFX Game Library
*
* Copyright (c) 2015-2017 AlmasB ([email protected])
*
* Permission is hereby granted, free of charge, to any person obtaining a copy
* of this software and associated documentation files (the "Software"), to deal
* in the Software without restriction, including without limitation the rights
* to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
* copies of the Software, and to permit persons to whom the Software is
* furnished to do so, subject to the following conditions:
*
* The above copyright notice and this permission notice shall be included in
* all copies or substantial portions of the Software.
*
* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
* FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
* AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
* LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
* OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
* SOFTWARE.
*/
package org.jbox2d.dynamics.joints;
import com.almasb.fxgl.core.math.Vec2;
import org.jbox2d.dynamics.Body;
/**
* Motor joint definition.
*
* @author dmurph
*/
public class MotorJointDef extends JointDef {
/**
* Position of bodyB minus the position of bodyA, in bodyA's frame, in meters.
*/
public final Vec2 linearOffset = new Vec2();
/**
* The bodyB angle minus bodyA angle in radians.
*/
public float angularOffset;
/**
* The maximum motor force in N.
*/
public float maxForce;
/**
* The maximum motor torque in N-m.
*/
public float maxTorque;
/**
* Position correction factor in the range [0,1].
*/
public float correctionFactor;
public MotorJointDef() {
super(JointType.MOTOR);
angularOffset = 0;
maxForce = 1;
maxTorque = 1;
correctionFactor = 0.3f;
}
public void initialize(Body bA, Body bB) {
bodyA = bA;
bodyB = bB;
Vec2 xB = bodyB.getPosition();
bodyA.getLocalPointToOut(xB, linearOffset);
float angleA = bodyA.getAngle();
float angleB = bodyB.getAngle();
angularOffset = angleB - angleA;
}
}