File indexing completed on 2024-04-21 14:43:26

 /*
  * box2drevolutejoint.cpp
  * Copyright (c) 2011 Joonas Erkinheimo <joonas.erkinheimo@nokia.com>
  * Copyright (c) 2011 Markus Kivioja <markus.kivioja@digia.com>
  *
  * This file is part of the Box2D QML plugin.
  *
  * 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 "box2dwheeljoint.h"
 
 #include "box2dworld.h"
 #include "box2dbody.h"
 
 Box2DWheelJoint::Box2DWheelJoint(QObject *parent)
     : Box2DJoint(WheelJoint, parent)
     , m_enableMotor(false)
     , m_maxMotorTorque(0.0f)
     , m_motorSpeed(0.0f)
     , m_frequencyHz(2.0f)
     , m_dampingRatio(0.7f)
     , m_defaultLocalAnchorA(true)
     , m_defaultLocalAnchorB(true)
     , m_defaultLocalAxisA(true)
 {
 }
 
 void Box2DWheelJoint::setLocalAnchorA(const QPointF &localAnchorA)
 {
     m_defaultLocalAnchorA = false;
 
     if (m_localAnchorA == localAnchorA)
         return;
 
     m_localAnchorA = localAnchorA;
     emit localAnchorAChanged();
 }
 
 void Box2DWheelJoint::setLocalAnchorB(const QPointF &localAnchorB)
 {
     m_defaultLocalAnchorB = false;
 
     if (m_localAnchorB == localAnchorB)
         return;
 
     m_localAnchorB = localAnchorB;
     emit localAnchorBChanged();
 }
 
 void Box2DWheelJoint::setLocalAxisA(const QPointF &localAxisA)
 {
     m_defaultLocalAxisA = false;
 
     if (m_localAxisA == localAxisA)
         return;
 
     m_localAxisA = localAxisA;
     emit localAxisAChanged();
 }
 
 void Box2DWheelJoint::setEnableMotor(bool enableMotor)
 {
     if (m_enableMotor == enableMotor)
         return;
 
     m_enableMotor = enableMotor;
     if (wheelJoint())
         wheelJoint()->EnableMotor(enableMotor);
     emit enableMotorChanged();
 }
 
 void Box2DWheelJoint::setMaxMotorTorque(float maxMotorTorque)
 {
     if (m_maxMotorTorque == maxMotorTorque)
         return;
 
     m_maxMotorTorque = maxMotorTorque;
     if (wheelJoint())
         wheelJoint()->SetMaxMotorTorque(maxMotorTorque);
     emit maxMotorTorqueChanged();
 }
 
 void Box2DWheelJoint::setMotorSpeed(float motorSpeed)
 {
     if (m_motorSpeed == motorSpeed)
         return;
 
     m_motorSpeed = motorSpeed;
     if (wheelJoint())
         wheelJoint()->SetMotorSpeed(toRadians(motorSpeed));
     emit motorSpeedChanged();
 }
 
 void Box2DWheelJoint::setFrequencyHz(float frequencyHz)
 {
     if (m_frequencyHz == frequencyHz)
         return;
 
     m_frequencyHz = frequencyHz;
     if (wheelJoint())
         wheelJoint()->SetSpringFrequencyHz(frequencyHz);
     emit frequencyHzChanged();
 }
 
 void Box2DWheelJoint::setDampingRatio(float dampingRatio)
 {
     if (m_dampingRatio == dampingRatio)
         return;
 
     m_dampingRatio = dampingRatio;
     if (wheelJoint())
         wheelJoint()->SetSpringDampingRatio(dampingRatio);
     emit dampingRatioChanged();
 }
 
 b2Joint *Box2DWheelJoint::createJoint()
 {
     b2WheelJointDef jointDef;
     initializeJointDef(jointDef);
 
     // Default localAnchorA to bodyA center
     if (m_defaultLocalAnchorA)
         jointDef.localAnchorA = jointDef.bodyA->GetLocalCenter();
     else
         jointDef.localAnchorA = world()->toMeters(m_localAnchorA);
 
     // Default localAnchorB to the same world position as localAnchorA
     if (m_defaultLocalAnchorB) {
         b2Vec2 anchorA = jointDef.bodyA->GetWorldPoint(jointDef.localAnchorA);
         jointDef.localAnchorB = jointDef.bodyB->GetLocalPoint(anchorA);
     } else {
         jointDef.localAnchorB = world()->toMeters(m_localAnchorB);
     }
 
     if (!m_defaultLocalAxisA) {
         jointDef.localAxisA = invertY(m_localAxisA);
         jointDef.localAxisA.Normalize();
     }
 
     jointDef.enableMotor = m_enableMotor;
     jointDef.maxMotorTorque = m_maxMotorTorque;
     jointDef.motorSpeed = toRadians(m_motorSpeed);
     jointDef.frequencyHz = m_frequencyHz;
     jointDef.dampingRatio = m_dampingRatio;
 
     return world()->world().CreateJoint(&jointDef);
 }
 
 float Box2DWheelJoint::getJointTranslation() const
 {
     if (wheelJoint())
         return world()->toPixels(wheelJoint()->GetJointTranslation());
     return 0;
 }
 
 float Box2DWheelJoint::getJointSpeed() const
 {
     if (wheelJoint())
         return wheelJoint()->GetJointSpeed();
     return 0;
 }
 
 QPointF Box2DWheelJoint::getReactionForce(float32 inv_dt) const
 {
     if (wheelJoint())
         return invertY(wheelJoint()->GetReactionForce(inv_dt));
     return QPointF();
 }
 
 float Box2DWheelJoint::getReactionTorque(float32 inv_dt) const
 {
     if (wheelJoint())
         return wheelJoint()->GetReactionTorque(inv_dt);
     return 0.0f;
 }