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
332
modules/juce_box2d/box2d/Dynamics/Joints/b2PulleyJoint.cpp
Normal file
332
modules/juce_box2d/box2d/Dynamics/Joints/b2PulleyJoint.cpp
Normal file
@ -0,0 +1,332 @@
|
||||
/*
|
||||
* Copyright (c) 2007 Erin Catto http://www.box2d.org
|
||||
*
|
||||
* This software is provided 'as-is', without any express or implied
|
||||
* warranty. In no event will the authors be held liable for any damages
|
||||
* arising from the use of this software.
|
||||
* Permission is granted to anyone to use this software for any purpose,
|
||||
* including commercial applications, and to alter it and redistribute it
|
||||
* freely, subject to the following restrictions:
|
||||
* 1. The origin of this software must not be misrepresented; you must not
|
||||
* claim that you wrote the original software. If you use this software
|
||||
* in a product, an acknowledgment in the product documentation would be
|
||||
* appreciated but is not required.
|
||||
* 2. Altered source versions must be plainly marked as such, and must not be
|
||||
* misrepresented as being the original software.
|
||||
* 3. This notice may not be removed or altered from any source distribution.
|
||||
*/
|
||||
|
||||
#include "b2PulleyJoint.h"
|
||||
#include "../b2Body.h"
|
||||
#include "../b2TimeStep.h"
|
||||
|
||||
// Pulley:
|
||||
// length1 = norm(p1 - s1)
|
||||
// length2 = norm(p2 - s2)
|
||||
// C0 = (length1 + ratio * length2)_initial
|
||||
// C = C0 - (length1 + ratio * length2)
|
||||
// u1 = (p1 - s1) / norm(p1 - s1)
|
||||
// u2 = (p2 - s2) / norm(p2 - s2)
|
||||
// Cdot = -dot(u1, v1 + cross(w1, r1)) - ratio * dot(u2, v2 + cross(w2, r2))
|
||||
// J = -[u1 cross(r1, u1) ratio * u2 ratio * cross(r2, u2)]
|
||||
// K = J * invM * JT
|
||||
// = invMass1 + invI1 * cross(r1, u1)^2 + ratio^2 * (invMass2 + invI2 * cross(r2, u2)^2)
|
||||
|
||||
void b2PulleyJointDef::Initialize(b2Body* bA, b2Body* bB,
|
||||
const b2Vec2& groundA, const b2Vec2& groundB,
|
||||
const b2Vec2& anchorA, const b2Vec2& anchorB,
|
||||
float32 r)
|
||||
{
|
||||
bodyA = bA;
|
||||
bodyB = bB;
|
||||
groundAnchorA = groundA;
|
||||
groundAnchorB = groundB;
|
||||
localAnchorA = bodyA->GetLocalPoint(anchorA);
|
||||
localAnchorB = bodyB->GetLocalPoint(anchorB);
|
||||
b2Vec2 dA = anchorA - groundA;
|
||||
lengthA = dA.Length();
|
||||
b2Vec2 dB = anchorB - groundB;
|
||||
lengthB = dB.Length();
|
||||
ratio = r;
|
||||
b2Assert(ratio > b2_epsilon);
|
||||
}
|
||||
|
||||
b2PulleyJoint::b2PulleyJoint(const b2PulleyJointDef* def)
|
||||
: b2Joint(def)
|
||||
{
|
||||
m_groundAnchorA = def->groundAnchorA;
|
||||
m_groundAnchorB = def->groundAnchorB;
|
||||
m_localAnchorA = def->localAnchorA;
|
||||
m_localAnchorB = def->localAnchorB;
|
||||
|
||||
m_lengthA = def->lengthA;
|
||||
m_lengthB = def->lengthB;
|
||||
|
||||
b2Assert(def->ratio != 0.0f);
|
||||
m_ratio = def->ratio;
|
||||
|
||||
m_constant = def->lengthA + m_ratio * def->lengthB;
|
||||
|
||||
m_impulse = 0.0f;
|
||||
}
|
||||
|
||||
void b2PulleyJoint::InitVelocityConstraints(const b2SolverData& data)
|
||||
{
|
||||
m_indexA = m_bodyA->m_islandIndex;
|
||||
m_indexB = m_bodyB->m_islandIndex;
|
||||
m_localCenterA = m_bodyA->m_sweep.localCenter;
|
||||
m_localCenterB = m_bodyB->m_sweep.localCenter;
|
||||
m_invMassA = m_bodyA->m_invMass;
|
||||
m_invMassB = m_bodyB->m_invMass;
|
||||
m_invIA = m_bodyA->m_invI;
|
||||
m_invIB = m_bodyB->m_invI;
|
||||
|
||||
b2Vec2 cA = data.positions[m_indexA].c;
|
||||
float32 aA = data.positions[m_indexA].a;
|
||||
b2Vec2 vA = data.velocities[m_indexA].v;
|
||||
float32 wA = data.velocities[m_indexA].w;
|
||||
|
||||
b2Vec2 cB = data.positions[m_indexB].c;
|
||||
float32 aB = data.positions[m_indexB].a;
|
||||
b2Vec2 vB = data.velocities[m_indexB].v;
|
||||
float32 wB = data.velocities[m_indexB].w;
|
||||
|
||||
b2Rot qA(aA), qB(aB);
|
||||
|
||||
m_rA = b2Mul(qA, m_localAnchorA - m_localCenterA);
|
||||
m_rB = b2Mul(qB, m_localAnchorB - m_localCenterB);
|
||||
|
||||
// Get the pulley axes.
|
||||
m_uA = cA + m_rA - m_groundAnchorA;
|
||||
m_uB = cB + m_rB - m_groundAnchorB;
|
||||
|
||||
float32 lengthA = m_uA.Length();
|
||||
float32 lengthB = m_uB.Length();
|
||||
|
||||
if (lengthA > 10.0f * b2_linearSlop)
|
||||
{
|
||||
m_uA *= 1.0f / lengthA;
|
||||
}
|
||||
else
|
||||
{
|
||||
m_uA.SetZero();
|
||||
}
|
||||
|
||||
if (lengthB > 10.0f * b2_linearSlop)
|
||||
{
|
||||
m_uB *= 1.0f / lengthB;
|
||||
}
|
||||
else
|
||||
{
|
||||
m_uB.SetZero();
|
||||
}
|
||||
|
||||
// Compute effective mass.
|
||||
float32 ruA = b2Cross(m_rA, m_uA);
|
||||
float32 ruB = b2Cross(m_rB, m_uB);
|
||||
|
||||
float32 mA = m_invMassA + m_invIA * ruA * ruA;
|
||||
float32 mB = m_invMassB + m_invIB * ruB * ruB;
|
||||
|
||||
m_mass = mA + m_ratio * m_ratio * mB;
|
||||
|
||||
if (m_mass > 0.0f)
|
||||
{
|
||||
m_mass = 1.0f / m_mass;
|
||||
}
|
||||
|
||||
if (data.step.warmStarting)
|
||||
{
|
||||
// Scale impulses to support variable time steps.
|
||||
m_impulse *= data.step.dtRatio;
|
||||
|
||||
// Warm starting.
|
||||
b2Vec2 PA = -(m_impulse) * m_uA;
|
||||
b2Vec2 PB = (-m_ratio * m_impulse) * m_uB;
|
||||
|
||||
vA += m_invMassA * PA;
|
||||
wA += m_invIA * b2Cross(m_rA, PA);
|
||||
vB += m_invMassB * PB;
|
||||
wB += m_invIB * b2Cross(m_rB, PB);
|
||||
}
|
||||
else
|
||||
{
|
||||
m_impulse = 0.0f;
|
||||
}
|
||||
|
||||
data.velocities[m_indexA].v = vA;
|
||||
data.velocities[m_indexA].w = wA;
|
||||
data.velocities[m_indexB].v = vB;
|
||||
data.velocities[m_indexB].w = wB;
|
||||
}
|
||||
|
||||
void b2PulleyJoint::SolveVelocityConstraints(const b2SolverData& data)
|
||||
{
|
||||
b2Vec2 vA = data.velocities[m_indexA].v;
|
||||
float32 wA = data.velocities[m_indexA].w;
|
||||
b2Vec2 vB = data.velocities[m_indexB].v;
|
||||
float32 wB = data.velocities[m_indexB].w;
|
||||
|
||||
b2Vec2 vpA = vA + b2Cross(wA, m_rA);
|
||||
b2Vec2 vpB = vB + b2Cross(wB, m_rB);
|
||||
|
||||
float32 Cdot = -b2Dot(m_uA, vpA) - m_ratio * b2Dot(m_uB, vpB);
|
||||
float32 impulse = -m_mass * Cdot;
|
||||
m_impulse += impulse;
|
||||
|
||||
b2Vec2 PA = -impulse * m_uA;
|
||||
b2Vec2 PB = -m_ratio * impulse * m_uB;
|
||||
vA += m_invMassA * PA;
|
||||
wA += m_invIA * b2Cross(m_rA, PA);
|
||||
vB += m_invMassB * PB;
|
||||
wB += m_invIB * b2Cross(m_rB, PB);
|
||||
|
||||
data.velocities[m_indexA].v = vA;
|
||||
data.velocities[m_indexA].w = wA;
|
||||
data.velocities[m_indexB].v = vB;
|
||||
data.velocities[m_indexB].w = wB;
|
||||
}
|
||||
|
||||
bool b2PulleyJoint::SolvePositionConstraints(const b2SolverData& data)
|
||||
{
|
||||
b2Vec2 cA = data.positions[m_indexA].c;
|
||||
float32 aA = data.positions[m_indexA].a;
|
||||
b2Vec2 cB = data.positions[m_indexB].c;
|
||||
float32 aB = data.positions[m_indexB].a;
|
||||
|
||||
b2Rot qA(aA), qB(aB);
|
||||
|
||||
b2Vec2 rA = b2Mul(qA, m_localAnchorA - m_localCenterA);
|
||||
b2Vec2 rB = b2Mul(qB, m_localAnchorB - m_localCenterB);
|
||||
|
||||
// Get the pulley axes.
|
||||
b2Vec2 uA = cA + rA - m_groundAnchorA;
|
||||
b2Vec2 uB = cB + rB - m_groundAnchorB;
|
||||
|
||||
float32 lengthA = uA.Length();
|
||||
float32 lengthB = uB.Length();
|
||||
|
||||
if (lengthA > 10.0f * b2_linearSlop)
|
||||
{
|
||||
uA *= 1.0f / lengthA;
|
||||
}
|
||||
else
|
||||
{
|
||||
uA.SetZero();
|
||||
}
|
||||
|
||||
if (lengthB > 10.0f * b2_linearSlop)
|
||||
{
|
||||
uB *= 1.0f / lengthB;
|
||||
}
|
||||
else
|
||||
{
|
||||
uB.SetZero();
|
||||
}
|
||||
|
||||
// Compute effective mass.
|
||||
float32 ruA = b2Cross(rA, uA);
|
||||
float32 ruB = b2Cross(rB, uB);
|
||||
|
||||
float32 mA = m_invMassA + m_invIA * ruA * ruA;
|
||||
float32 mB = m_invMassB + m_invIB * ruB * ruB;
|
||||
|
||||
float32 mass = mA + m_ratio * m_ratio * mB;
|
||||
|
||||
if (mass > 0.0f)
|
||||
{
|
||||
mass = 1.0f / mass;
|
||||
}
|
||||
|
||||
float32 C = m_constant - lengthA - m_ratio * lengthB;
|
||||
float32 linearError = b2Abs(C);
|
||||
|
||||
float32 impulse = -mass * C;
|
||||
|
||||
b2Vec2 PA = -impulse * uA;
|
||||
b2Vec2 PB = -m_ratio * impulse * uB;
|
||||
|
||||
cA += m_invMassA * PA;
|
||||
aA += m_invIA * b2Cross(rA, PA);
|
||||
cB += m_invMassB * PB;
|
||||
aB += m_invIB * b2Cross(rB, PB);
|
||||
|
||||
data.positions[m_indexA].c = cA;
|
||||
data.positions[m_indexA].a = aA;
|
||||
data.positions[m_indexB].c = cB;
|
||||
data.positions[m_indexB].a = aB;
|
||||
|
||||
return linearError < b2_linearSlop;
|
||||
}
|
||||
|
||||
b2Vec2 b2PulleyJoint::GetAnchorA() const
|
||||
{
|
||||
return m_bodyA->GetWorldPoint(m_localAnchorA);
|
||||
}
|
||||
|
||||
b2Vec2 b2PulleyJoint::GetAnchorB() const
|
||||
{
|
||||
return m_bodyB->GetWorldPoint(m_localAnchorB);
|
||||
}
|
||||
|
||||
b2Vec2 b2PulleyJoint::GetReactionForce(float32 inv_dt) const
|
||||
{
|
||||
b2Vec2 P = m_impulse * m_uB;
|
||||
return inv_dt * P;
|
||||
}
|
||||
|
||||
float32 b2PulleyJoint::GetReactionTorque(float32 inv_dt) const
|
||||
{
|
||||
B2_NOT_USED(inv_dt);
|
||||
return 0.0f;
|
||||
}
|
||||
|
||||
b2Vec2 b2PulleyJoint::GetGroundAnchorA() const
|
||||
{
|
||||
return m_groundAnchorA;
|
||||
}
|
||||
|
||||
b2Vec2 b2PulleyJoint::GetGroundAnchorB() const
|
||||
{
|
||||
return m_groundAnchorB;
|
||||
}
|
||||
|
||||
float32 b2PulleyJoint::GetLengthA() const
|
||||
{
|
||||
b2Vec2 p = m_bodyA->GetWorldPoint(m_localAnchorA);
|
||||
b2Vec2 s = m_groundAnchorA;
|
||||
b2Vec2 d = p - s;
|
||||
return d.Length();
|
||||
}
|
||||
|
||||
float32 b2PulleyJoint::GetLengthB() const
|
||||
{
|
||||
b2Vec2 p = m_bodyB->GetWorldPoint(m_localAnchorB);
|
||||
b2Vec2 s = m_groundAnchorB;
|
||||
b2Vec2 d = p - s;
|
||||
return d.Length();
|
||||
}
|
||||
|
||||
float32 b2PulleyJoint::GetRatio() const
|
||||
{
|
||||
return m_ratio;
|
||||
}
|
||||
|
||||
void b2PulleyJoint::Dump()
|
||||
{
|
||||
int32 indexA = m_bodyA->m_islandIndex;
|
||||
int32 indexB = m_bodyB->m_islandIndex;
|
||||
|
||||
b2Log(" b2PulleyJointDef jd;\n");
|
||||
b2Log(" jd.bodyA = bodies[%d];\n", indexA);
|
||||
b2Log(" jd.bodyB = bodies[%d];\n", indexB);
|
||||
b2Log(" jd.collideConnected = bool(%d);\n", m_collideConnected);
|
||||
b2Log(" jd.groundAnchorA.Set(%.15lef, %.15lef);\n", m_groundAnchorA.x, m_groundAnchorA.y);
|
||||
b2Log(" jd.groundAnchorB.Set(%.15lef, %.15lef);\n", m_groundAnchorB.x, m_groundAnchorB.y);
|
||||
b2Log(" jd.localAnchorA.Set(%.15lef, %.15lef);\n", m_localAnchorA.x, m_localAnchorA.y);
|
||||
b2Log(" jd.localAnchorB.Set(%.15lef, %.15lef);\n", m_localAnchorB.x, m_localAnchorB.y);
|
||||
b2Log(" jd.lengthA = %.15lef;\n", m_lengthA);
|
||||
b2Log(" jd.lengthB = %.15lef;\n", m_lengthB);
|
||||
b2Log(" jd.ratio = %.15lef;\n", m_ratio);
|
||||
b2Log(" joints[%d] = m_world->CreateJoint(&jd);\n", m_index);
|
||||
}
|
||||
Reference in New Issue
Block a user