fix macOS build (following Projucer changes made in Windows, which removed /Applications/JUCE/modules from its headers). move JUCE headers under source control, so that Windows and macOS can both build against same version of JUCE. remove AUv3 target (I think it's an iOS thing, so it will never work with this macOS fluidsynth dylib).
This commit is contained in:
Alex Birch
260
modules/juce_box2d/box2d/Dynamics/Joints/b2DistanceJoint.cpp
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260
modules/juce_box2d/box2d/Dynamics/Joints/b2DistanceJoint.cpp
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/*
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* Copyright (c) 2006-2011 Erin Catto http://www.box2d.org
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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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* 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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* 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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#include "b2DistanceJoint.h"
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#include "../b2Body.h"
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#include "../b2TimeStep.h"
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// 1-D constrained system
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// m (v2 - v1) = lambda
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// v2 + (beta/h) * x1 + gamma * lambda = 0, gamma has units of inverse mass.
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// x2 = x1 + h * v2
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// 1-D mass-damper-spring system
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// m (v2 - v1) + h * d * v2 + h * k *
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// C = norm(p2 - p1) - L
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// u = (p2 - p1) / norm(p2 - p1)
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// Cdot = dot(u, v2 + cross(w2, r2) - v1 - cross(w1, r1))
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// J = [-u -cross(r1, u) u cross(r2, u)]
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// K = J * invM * JT
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// = invMass1 + invI1 * cross(r1, u)^2 + invMass2 + invI2 * cross(r2, u)^2
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void b2DistanceJointDef::Initialize(b2Body* b1, b2Body* b2,
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const b2Vec2& anchor1, const b2Vec2& anchor2)
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{
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bodyA = b1;
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bodyB = b2;
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localAnchorA = bodyA->GetLocalPoint(anchor1);
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localAnchorB = bodyB->GetLocalPoint(anchor2);
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b2Vec2 d = anchor2 - anchor1;
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length = d.Length();
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}
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b2DistanceJoint::b2DistanceJoint(const b2DistanceJointDef* def)
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: b2Joint(def)
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{
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m_localAnchorA = def->localAnchorA;
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m_localAnchorB = def->localAnchorB;
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m_length = def->length;
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m_frequencyHz = def->frequencyHz;
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m_dampingRatio = def->dampingRatio;
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m_impulse = 0.0f;
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m_gamma = 0.0f;
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m_bias = 0.0f;
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}
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void b2DistanceJoint::InitVelocityConstraints(const b2SolverData& data)
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{
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m_indexA = m_bodyA->m_islandIndex;
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m_indexB = m_bodyB->m_islandIndex;
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m_localCenterA = m_bodyA->m_sweep.localCenter;
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m_localCenterB = m_bodyB->m_sweep.localCenter;
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m_invMassA = m_bodyA->m_invMass;
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m_invMassB = m_bodyB->m_invMass;
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m_invIA = m_bodyA->m_invI;
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m_invIB = m_bodyB->m_invI;
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b2Vec2 cA = data.positions[m_indexA].c;
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float32 aA = data.positions[m_indexA].a;
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b2Vec2 vA = data.velocities[m_indexA].v;
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float32 wA = data.velocities[m_indexA].w;
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b2Vec2 cB = data.positions[m_indexB].c;
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float32 aB = data.positions[m_indexB].a;
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b2Vec2 vB = data.velocities[m_indexB].v;
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float32 wB = data.velocities[m_indexB].w;
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b2Rot qA(aA), qB(aB);
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m_rA = b2Mul(qA, m_localAnchorA - m_localCenterA);
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m_rB = b2Mul(qB, m_localAnchorB - m_localCenterB);
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m_u = cB + m_rB - cA - m_rA;
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// Handle singularity.
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float32 length = m_u.Length();
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if (length > b2_linearSlop)
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{
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m_u *= 1.0f / length;
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}
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else
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{
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m_u.Set(0.0f, 0.0f);
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}
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float32 crAu = b2Cross(m_rA, m_u);
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float32 crBu = b2Cross(m_rB, m_u);
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float32 invMass = m_invMassA + m_invIA * crAu * crAu + m_invMassB + m_invIB * crBu * crBu;
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// Compute the effective mass matrix.
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m_mass = invMass != 0.0f ? 1.0f / invMass : 0.0f;
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if (m_frequencyHz > 0.0f)
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{
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float32 C = length - m_length;
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// Frequency
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float32 omega = 2.0f * b2_pi * m_frequencyHz;
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// Damping coefficient
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float32 d = 2.0f * m_mass * m_dampingRatio * omega;
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// Spring stiffness
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float32 k = m_mass * omega * omega;
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// magic formulas
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float32 h = data.step.dt;
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m_gamma = h * (d + h * k);
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m_gamma = m_gamma != 0.0f ? 1.0f / m_gamma : 0.0f;
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m_bias = C * h * k * m_gamma;
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invMass += m_gamma;
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m_mass = invMass != 0.0f ? 1.0f / invMass : 0.0f;
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}
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else
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{
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m_gamma = 0.0f;
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m_bias = 0.0f;
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}
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if (data.step.warmStarting)
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{
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// Scale the impulse to support a variable time step.
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m_impulse *= data.step.dtRatio;
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b2Vec2 P = m_impulse * m_u;
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vA -= m_invMassA * P;
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wA -= m_invIA * b2Cross(m_rA, P);
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vB += m_invMassB * P;
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wB += m_invIB * b2Cross(m_rB, P);
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}
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else
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{
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m_impulse = 0.0f;
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}
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data.velocities[m_indexA].v = vA;
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data.velocities[m_indexA].w = wA;
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data.velocities[m_indexB].v = vB;
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data.velocities[m_indexB].w = wB;
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}
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void b2DistanceJoint::SolveVelocityConstraints(const b2SolverData& data)
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{
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b2Vec2 vA = data.velocities[m_indexA].v;
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float32 wA = data.velocities[m_indexA].w;
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b2Vec2 vB = data.velocities[m_indexB].v;
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float32 wB = data.velocities[m_indexB].w;
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// Cdot = dot(u, v + cross(w, r))
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b2Vec2 vpA = vA + b2Cross(wA, m_rA);
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b2Vec2 vpB = vB + b2Cross(wB, m_rB);
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float32 Cdot = b2Dot(m_u, vpB - vpA);
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float32 impulse = -m_mass * (Cdot + m_bias + m_gamma * m_impulse);
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m_impulse += impulse;
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b2Vec2 P = impulse * m_u;
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vA -= m_invMassA * P;
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wA -= m_invIA * b2Cross(m_rA, P);
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vB += m_invMassB * P;
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wB += m_invIB * b2Cross(m_rB, P);
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data.velocities[m_indexA].v = vA;
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data.velocities[m_indexA].w = wA;
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data.velocities[m_indexB].v = vB;
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data.velocities[m_indexB].w = wB;
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}
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bool b2DistanceJoint::SolvePositionConstraints(const b2SolverData& data)
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{
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if (m_frequencyHz > 0.0f)
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{
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// There is no position correction for soft distance constraints.
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return true;
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}
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b2Vec2 cA = data.positions[m_indexA].c;
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float32 aA = data.positions[m_indexA].a;
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b2Vec2 cB = data.positions[m_indexB].c;
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float32 aB = data.positions[m_indexB].a;
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b2Rot qA(aA), qB(aB);
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b2Vec2 rA = b2Mul(qA, m_localAnchorA - m_localCenterA);
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b2Vec2 rB = b2Mul(qB, m_localAnchorB - m_localCenterB);
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b2Vec2 u = cB + rB - cA - rA;
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float32 length = u.Normalize();
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float32 C = length - m_length;
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C = b2Clamp(C, -b2_maxLinearCorrection, b2_maxLinearCorrection);
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float32 impulse = -m_mass * C;
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b2Vec2 P = impulse * u;
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cA -= m_invMassA * P;
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aA -= m_invIA * b2Cross(rA, P);
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cB += m_invMassB * P;
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aB += m_invIB * b2Cross(rB, P);
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data.positions[m_indexA].c = cA;
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data.positions[m_indexA].a = aA;
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data.positions[m_indexB].c = cB;
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data.positions[m_indexB].a = aB;
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return b2Abs(C) < b2_linearSlop;
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}
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b2Vec2 b2DistanceJoint::GetAnchorA() const
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{
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return m_bodyA->GetWorldPoint(m_localAnchorA);
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}
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b2Vec2 b2DistanceJoint::GetAnchorB() const
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{
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return m_bodyB->GetWorldPoint(m_localAnchorB);
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}
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b2Vec2 b2DistanceJoint::GetReactionForce(float32 inv_dt) const
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{
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b2Vec2 F = (inv_dt * m_impulse) * m_u;
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return F;
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}
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float32 b2DistanceJoint::GetReactionTorque(float32 inv_dt) const
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{
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B2_NOT_USED(inv_dt);
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return 0.0f;
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}
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void b2DistanceJoint::Dump()
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{
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int32 indexA = m_bodyA->m_islandIndex;
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int32 indexB = m_bodyB->m_islandIndex;
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b2Log(" b2DistanceJointDef jd;\n");
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b2Log(" jd.bodyA = bodies[%d];\n", indexA);
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b2Log(" jd.bodyB = bodies[%d];\n", indexB);
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b2Log(" jd.collideConnected = bool(%d);\n", m_collideConnected);
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b2Log(" jd.localAnchorA.Set(%.15lef, %.15lef);\n", m_localAnchorA.x, m_localAnchorA.y);
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b2Log(" jd.localAnchorB.Set(%.15lef, %.15lef);\n", m_localAnchorB.x, m_localAnchorB.y);
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b2Log(" jd.length = %.15lef;\n", m_length);
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b2Log(" jd.frequencyHz = %.15lef;\n", m_frequencyHz);
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b2Log(" jd.dampingRatio = %.15lef;\n", m_dampingRatio);
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b2Log(" joints[%d] = m_world->CreateJoint(&jd);\n", m_index);
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}
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