C++ cpConstraintInit函数代码示例

cpPulleyJoint *
cpPulleyJointInit(cpPulleyJoint *joint,
				  cpBody* a, cpBody* b, cpBody* c,
				  cpVect anchor1, cpVect anchor2,
				  cpVect anchor3a, cpVect anchor3b,
				  cpFloat ratio)
{
	cpConstraintInit((cpConstraint *)joint, &klass, a, b);
	
	joint->c = c;
	joint->anchr3a = anchor3a;
	joint->anchr3b = anchor3b;
	joint->anchr1 = anchor1;
	joint->anchr2 = anchor2;
	cpVect d1 = cpvsub(cpBodyLocal2World(a, anchor1), cpBodyLocal2World(c, anchor3a));
	cpVect d2 = cpvsub(cpBodyLocal2World(b, anchor2), cpBodyLocal2World(c, anchor3b));
	joint->dist1 = cpvlength(d1);
	joint->dist2 = cpvlength(d2);
	joint->ratio = ratio;
	
	cpAssert(ratio != 0.0f, "Pulley Ratio is Zero");
	
	// Calculate max and constant
	joint->constant = joint->dist1 + ratio * joint->dist2;
	joint->max1 = joint->constant - ratio * cp_min_pulley_len;
	joint->max2 = (joint->constant - cp_min_pulley_len) / joint->ratio;
	
	// Initialize
	joint->jnAcc = 0.0f;
	joint->jnAccLim1 = 0.0f;
	joint->jnAccLim2 = 0.0f;
	
	return joint;
}

cpSimpleMotor *
cpSimpleMotorInit(cpSimpleMotor *joint, cpBody *a, cpBody *b, cpFloat rate)
{
	cpConstraintInit((cpConstraint *)joint, &klass, a, b);
	
	joint->rate = rate;
	
	joint->jAcc = 0.0f;
	
	return joint;
}

cpDampedRotarySpring *
cpDampedRotarySpringInit(cpDampedRotarySpring *spring, cpBody *a, cpBody *b, cpFloat restAngle, cpFloat stiffness, cpFloat damping)
{
	cpConstraintInit((cpConstraint *)spring, &cpDampedRotarySpringClass, a, b);
	
	spring->restAngle = restAngle;
	spring->stiffness = stiffness;
	spring->damping = damping;
	
	return spring;
}

cpRotaryLimitJoint *
cpRotaryLimitJointInit(cpRotaryLimitJoint *joint, cpBody *a, cpBody *b, cpFloat min, cpFloat max)
{
	cpConstraintInit((cpConstraint *)joint, &klass, a, b);
	
	joint->min = min;
	joint->max  = max;
	
	joint->jAcc = 0.0f;
	
	return joint;
}

cpPivotJoint *
cpPivotJointInit(cpPivotJoint *joint, cpBody *a, cpBody *b, cpVect anchr1, cpVect anchr2)
{
	cpConstraintInit((cpConstraint *)joint, &klass, a, b);
	
	joint->anchr1 = anchr1;
	joint->anchr2 = anchr2;
	
	joint->jAcc = cpvzero;
	
	return joint;
}

cpDampedRotarySpring *
cpDampedRotarySpringInit(cpDampedRotarySpring *spring, cpBody *a, cpBody *b, cpFloat restAngle, cpFloat stiffness, cpFloat damping)
{
	cpConstraintInit((cpConstraint *)spring, &klass, a, b);
	
	spring->restAngle = restAngle;
	spring->stiffness = stiffness;
	spring->damping = damping;
	spring->springTorqueFunc = (cpDampedRotarySpringTorqueFunc)defaultSpringTorque;
	
	return spring;
}

cpPivotJoint *
cpPivotJointInit(cpPivotJoint *joint, cpBody *a, cpBody *b, cpVect anchorA, cpVect anchorB)
{
	cpConstraintInit((cpConstraint *)joint, &klass, a, b);
	
	joint->anchorA = anchorA;
	joint->anchorB = anchorB;
	
	joint->jAcc = cpvzero;
	
	return joint;
}

cpGearJoint *
cpGearJointInit(cpGearJoint *joint, cpBody *a, cpBody *b, cpFloat phase, cpFloat ratio)
{
	cpConstraintInit((cpConstraint *)joint, &klass, a, b);
	
	joint->phase = phase;
	joint->ratio = ratio;
	joint->ratio_inv = 1.0f/ratio;
	
	joint->jAcc = 0.0f;
	
	return joint;
}

cpOscillatingMotor *
cpOscillatingMotorInit(cpOscillatingMotor *joint, cpBody *a, cpBody *b, cpFloat frequency, cpFloat amplitude, cpFloat phaseShift)
{
	cpConstraintInit((cpConstraint *)joint, &klass, a, b);
	
	joint->frequency = frequency;
	joint->amplitude = amplitude;
	joint->phaseShift = phaseShift;
	joint->t = 0.0f;
	joint->jAcc = 0.0f;
	
	return joint;
}

cpRatchetJoint *
cpRatchetJointInit(cpRatchetJoint *joint, cpBody *a, cpBody *b, cpFloat phase, cpFloat ratchet)
{
	cpConstraintInit((cpConstraint *)joint, &klass, a, b);
	
	joint->angle = 0.0f;
	joint->phase = phase;
	joint->ratchet = ratchet;
	
	joint->angle = b->a - a->a;
	
	return joint;
}

cpSlideJoint *
cpSlideJointInit(cpSlideJoint *joint, cpBody *a, cpBody *b, cpVect anchr1, cpVect anchr2, cpFloat min, cpFloat max)
{
	cpConstraintInit((cpConstraint *)joint, &klass, a, b);
	
	joint->anchr1 = anchr1;
	joint->anchr2 = anchr2;
	joint->min = min;
	joint->max = max;
	
	joint->jnAcc = 0.0f;
	
	return joint;
}

cpPivotJoint *
cpPivotJointInit(cpPivotJoint *joint, cpBody *a, cpBody *b, cpVect anchr1, cpVect anchr2)
{
	cpConstraintInit((cpConstraint *)joint, &klass, a, b);
	
//	joint->anchr1 = cpvunrotate(cpvsub(pivot, a->p), a->rot);
//	joint->anchr2 = cpvunrotate(cpvsub(pivot, b->p), b->rot);
	joint->anchr1 = anchr1;
	joint->anchr2 = anchr2;
	
	joint->jAcc = cpvzero;
	
	return joint;
}

cpRatchetJoint *
cpRatchetJointInit(cpRatchetJoint *joint, cpBody *a, cpBody *b, cpFloat phase, cpFloat ratchet)
{
	cpConstraintInit((cpConstraint *)joint, &klass, a, b);
	
	joint->angle = 0.0f;
	joint->phase = phase;
	joint->ratchet = ratchet;
	
	// STATIC_BODY_CHECK
	joint->angle = (b ? b->a : 0.0f) - (a ? a->a : 0.0f);
	
	return joint;
}

cpGrooveJoint *
cpGrooveJointInit(cpGrooveJoint *joint, cpBody *a, cpBody *b, cpVect groove_a, cpVect groove_b, cpVect anchorB)
{
	cpConstraintInit((cpConstraint *)joint, &klass, a, b);
	
	joint->grv_a = groove_a;
	joint->grv_b = groove_b;
	joint->grv_n = cpvperp(cpvnormalize(cpvsub(groove_b, groove_a)));
	joint->anchorB = anchorB;
	
	joint->jAcc = cpvzero;
	
	return joint;
}

cpDampedSpring *
cpDampedSpringInit(cpDampedSpring *spring, cpBody *a, cpBody *b, cpVect anchr1, cpVect anchr2, cpFloat restLength, cpFloat stiffness, cpFloat damping)
{
	cpConstraintInit((cpConstraint *)spring, cpDampedSpringGetClass(), a, b);
	
	spring->anchr1 = anchr1;
	spring->anchr2 = anchr2;
	
	spring->restLength = restLength;
	spring->stiffness = stiffness;
	spring->damping = damping;
	spring->springForceFunc = (cpDampedSpringForceFunc)defaultSpringForce;
	
	return spring;
}