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
251
modules/juce_box2d/box2d/Dynamics/Joints/b2FrictionJoint.cpp
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251
modules/juce_box2d/box2d/Dynamics/Joints/b2FrictionJoint.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 "b2FrictionJoint.h"
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#include "../b2Body.h"
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#include "../b2TimeStep.h"
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// Point-to-point constraint
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// Cdot = v2 - v1
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// = v2 + cross(w2, r2) - v1 - cross(w1, r1)
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// J = [-I -r1_skew I r2_skew ]
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// Identity used:
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// w k % (rx i + ry j) = w * (-ry i + rx j)
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// Angle constraint
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// Cdot = w2 - w1
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// J = [0 0 -1 0 0 1]
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// K = invI1 + invI2
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void b2FrictionJointDef::Initialize(b2Body* bA, b2Body* bB, const b2Vec2& anchor)
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{
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bodyA = bA;
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bodyB = bB;
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localAnchorA = bodyA->GetLocalPoint(anchor);
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localAnchorB = bodyB->GetLocalPoint(anchor);
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}
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b2FrictionJoint::b2FrictionJoint(const b2FrictionJointDef* 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_linearImpulse.SetZero();
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m_angularImpulse = 0.0f;
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m_maxForce = def->maxForce;
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m_maxTorque = def->maxTorque;
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}
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void b2FrictionJoint::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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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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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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// Compute the effective mass matrix.
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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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// J = [-I -r1_skew I r2_skew]
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// [ 0 -1 0 1]
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// r_skew = [-ry; rx]
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// Matlab
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// K = [ mA+r1y^2*iA+mB+r2y^2*iB, -r1y*iA*r1x-r2y*iB*r2x, -r1y*iA-r2y*iB]
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// [ -r1y*iA*r1x-r2y*iB*r2x, mA+r1x^2*iA+mB+r2x^2*iB, r1x*iA+r2x*iB]
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// [ -r1y*iA-r2y*iB, r1x*iA+r2x*iB, iA+iB]
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float32 mA = m_invMassA, mB = m_invMassB;
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float32 iA = m_invIA, iB = m_invIB;
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b2Mat22 K;
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K.ex.x = mA + mB + iA * m_rA.y * m_rA.y + iB * m_rB.y * m_rB.y;
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K.ex.y = -iA * m_rA.x * m_rA.y - iB * m_rB.x * m_rB.y;
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K.ey.x = K.ex.y;
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K.ey.y = mA + mB + iA * m_rA.x * m_rA.x + iB * m_rB.x * m_rB.x;
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m_linearMass = K.GetInverse();
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m_angularMass = iA + iB;
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if (m_angularMass > 0.0f)
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{
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m_angularMass = 1.0f / m_angularMass;
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}
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if (data.step.warmStarting)
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{
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// Scale impulses to support a variable time step.
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m_linearImpulse *= data.step.dtRatio;
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m_angularImpulse *= data.step.dtRatio;
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b2Vec2 P(m_linearImpulse.x, m_linearImpulse.y);
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vA -= mA * P;
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wA -= iA * (b2Cross(m_rA, P) + m_angularImpulse);
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vB += mB * P;
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wB += iB * (b2Cross(m_rB, P) + m_angularImpulse);
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}
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else
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{
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m_linearImpulse.SetZero();
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m_angularImpulse = 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 b2FrictionJoint::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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float32 mA = m_invMassA, mB = m_invMassB;
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float32 iA = m_invIA, iB = m_invIB;
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float32 h = data.step.dt;
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// Solve angular friction
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{
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float32 Cdot = wB - wA;
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float32 impulse = -m_angularMass * Cdot;
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float32 oldImpulse = m_angularImpulse;
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float32 maxImpulse = h * m_maxTorque;
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m_angularImpulse = b2Clamp(m_angularImpulse + impulse, -maxImpulse, maxImpulse);
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impulse = m_angularImpulse - oldImpulse;
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wA -= iA * impulse;
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wB += iB * impulse;
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}
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// Solve linear friction
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{
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b2Vec2 Cdot = vB + b2Cross(wB, m_rB) - vA - b2Cross(wA, m_rA);
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b2Vec2 impulse = -b2Mul(m_linearMass, Cdot);
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b2Vec2 oldImpulse = m_linearImpulse;
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m_linearImpulse += impulse;
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float32 maxImpulse = h * m_maxForce;
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if (m_linearImpulse.LengthSquared() > maxImpulse * maxImpulse)
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{
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m_linearImpulse.Normalize();
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m_linearImpulse *= maxImpulse;
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}
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impulse = m_linearImpulse - oldImpulse;
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vA -= mA * impulse;
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wA -= iA * b2Cross(m_rA, impulse);
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vB += mB * impulse;
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wB += iB * b2Cross(m_rB, impulse);
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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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bool b2FrictionJoint::SolvePositionConstraints(const b2SolverData& data)
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{
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B2_NOT_USED(data);
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return true;
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}
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b2Vec2 b2FrictionJoint::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 b2FrictionJoint::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 b2FrictionJoint::GetReactionForce(float32 inv_dt) const
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{
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return inv_dt * m_linearImpulse;
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}
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float32 b2FrictionJoint::GetReactionTorque(float32 inv_dt) const
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{
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return inv_dt * m_angularImpulse;
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}
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void b2FrictionJoint::SetMaxForce(float32 force)
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{
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b2Assert(b2IsValid(force) && force >= 0.0f);
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m_maxForce = force;
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}
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float32 b2FrictionJoint::GetMaxForce() const
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{
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return m_maxForce;
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}
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void b2FrictionJoint::SetMaxTorque(float32 torque)
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{
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b2Assert(b2IsValid(torque) && torque >= 0.0f);
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m_maxTorque = torque;
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}
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float32 b2FrictionJoint::GetMaxTorque() const
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{
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return m_maxTorque;
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}
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void b2FrictionJoint::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(" b2FrictionJointDef 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.maxForce = %.15lef;\n", m_maxForce);
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b2Log(" jd.maxTorque = %.15lef;\n", m_maxTorque);
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b2Log(" joints[%d] = m_world->CreateJoint(&jd);\n", m_index);
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}
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