1/**
2 * Copyright (c) 2006-2023 LOVE Development Team
3 *
4 * This software is provided 'as-is', without any express or implied
5 * warranty. In no event will the authors be held liable for any damages
6 * arising from the use of this software.
7 *
8 * Permission is granted to anyone to use this software for any purpose,
9 * including commercial applications, and to alter it and redistribute it
10 * freely, subject to the following restrictions:
11 *
12 * 1. The origin of this software must not be misrepresented; you must not
13 * claim that you wrote the original software. If you use this software
14 * in a product, an acknowledgment in the product documentation would be
15 * appreciated but is not required.
16 * 2. Altered source versions must be plainly marked as such, and must not be
17 * misrepresented as being the original software.
18 * 3. This notice may not be removed or altered from any source distribution.
19 **/
20
21#include "RevoluteJoint.h"
22
23#include "common/math.h"
24
25// Module
26#include "Body.h"
27#include "World.h"
28#include "Physics.h"
29
30namespace love
31{
32namespace physics
33{
34namespace box2d
35{
36
37love::Type RevoluteJoint::type("RevoluteJoint", &Joint::type);
38
39RevoluteJoint::RevoluteJoint(Body *body1, Body *body2, float xA, float yA, float xB, float yB, bool collideConnected)
40 : Joint(body1, body2)
41 , joint(NULL)
42{
43 b2RevoluteJointDef def;
44 init(def, body1, body2, xA, yA, xB, yB, collideConnected);
45 joint = (b2RevoluteJoint *)createJoint(&def);
46}
47
48RevoluteJoint::RevoluteJoint(Body *body1, Body *body2, float xA, float yA, float xB, float yB, bool collideConnected, float referenceAngle)
49 : Joint(body1, body2)
50 , joint(NULL)
51{
52 b2RevoluteJointDef def;
53 init(def, body1, body2, xA, yA, xB, yB, collideConnected);
54 def.referenceAngle = referenceAngle;
55 joint = (b2RevoluteJoint *)createJoint(&def);
56}
57
58RevoluteJoint::~RevoluteJoint()
59{
60}
61
62void RevoluteJoint::init(b2RevoluteJointDef &def, Body *body1, Body *body2, float xA, float yA, float xB, float yB, bool collideConnected)
63{
64 def.Initialize(body1->body, body2->body, Physics::scaleDown(b2Vec2(xA,yA)));
65 def.localAnchorB = body2->body->GetLocalPoint(Physics::scaleDown(b2Vec2(xB, yB)));
66 def.collideConnected = collideConnected;
67}
68
69float RevoluteJoint::getJointAngle() const
70{
71 return joint->GetJointAngle();
72}
73
74float RevoluteJoint::getJointSpeed() const
75{
76 return joint->GetJointSpeed();
77}
78
79void RevoluteJoint::setMotorEnabled(bool enable)
80{
81 return joint->EnableMotor(enable);
82}
83
84bool RevoluteJoint::isMotorEnabled() const
85{
86 return joint->IsMotorEnabled();
87}
88
89void RevoluteJoint::setMaxMotorTorque(float torque)
90{
91 joint->SetMaxMotorTorque(Physics::scaleDown(Physics::scaleDown(torque)));
92}
93
94void RevoluteJoint::setMotorSpeed(float speed)
95{
96 joint->SetMotorSpeed(speed);
97}
98
99float RevoluteJoint::getMotorSpeed() const
100{
101 return joint->GetMotorSpeed();
102}
103
104float RevoluteJoint::getMotorTorque(float inv_dt) const
105{
106 return Physics::scaleUp(Physics::scaleUp(joint->GetMotorTorque(inv_dt)));
107}
108
109float RevoluteJoint::getMaxMotorTorque() const
110{
111 return Physics::scaleUp(Physics::scaleUp(joint->GetMaxMotorTorque()));
112}
113
114void RevoluteJoint::setLimitsEnabled(bool enable)
115{
116 joint->EnableLimit(enable);
117}
118
119bool RevoluteJoint::areLimitsEnabled() const
120{
121 return joint->IsLimitEnabled();
122}
123
124void RevoluteJoint::setUpperLimit(float limit)
125{
126 joint->SetLimits(joint->GetLowerLimit(), limit);
127}
128
129void RevoluteJoint::setLowerLimit(float limit)
130{
131 joint->SetLimits(limit, joint->GetUpperLimit());
132}
133
134void RevoluteJoint::setLimits(float lower, float upper)
135{
136 joint->SetLimits(lower, upper);
137}
138
139float RevoluteJoint::getLowerLimit() const
140{
141 return joint->GetLowerLimit();
142}
143
144float RevoluteJoint::getUpperLimit() const
145{
146 return joint->GetUpperLimit();
147}
148
149int RevoluteJoint::getLimits(lua_State *L)
150{
151 lua_pushnumber(L, joint->GetLowerLimit());
152 lua_pushnumber(L, joint->GetUpperLimit());
153 return 2;
154}
155
156float RevoluteJoint::getReferenceAngle() const
157{
158 return joint->GetReferenceAngle();
159}
160
161} // box2d
162} // physics
163} // love
164