updating the Joints

--HG--
branch : box2d-update

src/modules/physics/box2d/DistanceJoint.cpp

@@ -46,32 +46,32 @@ namespace box2d
 
 	void DistanceJoint::setLength(float length)
 	{
-		joint->m_length = world->scaleDown(length);
+		joint->SetLength(world->scaleDown(length));
 	}
 
 	float DistanceJoint::getLength() const
 	{
-		return world->scaleUp(joint->m_length);
+		return world->scaleUp(joint->GetLength());
 	}
 
 	void DistanceJoint::setFrequency(float hz)
 	{
-		joint->m_frequencyHz = hz;
+		joint->SetFrequency(hz);
 	}
 
 	float DistanceJoint::getFrequency() const
 	{
-		return joint->m_frequencyHz;
+		return joint->GetFrequency();
 	}
 
 	void DistanceJoint::setDampingRatio(float d)
 	{
-		joint->m_dampingRatio = d;
+		joint->SetDampingRatio(d);
 	}
 
 	float DistanceJoint::getDampingRatio() const
 	{
-		return joint->m_dampingRatio;
+		return joint->GetDampingRatio();
 	}
 
 

src/modules/physics/box2d/GearJoint.cpp

@@ -36,8 +36,8 @@ namespace box2d
 		b2GearJointDef def;
 		def.joint1 = joint1->joint;
 		def.joint2 = joint2->joint;
-		def.body1 = joint1->body2->body;
-		def.body2 = joint2->body2->body;
+		def.bodyA = joint1->body2->body;
+		def.bodyB = joint2->body2->body;
 		def.ratio = ratio;
 		
 		joint = (b2GearJoint*)createJoint(&def);
@@ -51,12 +51,12 @@ namespace box2d
 	
 	void GearJoint::setRatio(float ratio)
 	{
-		joint->m_ratio = ratio;
+		joint->SetRatio(ratio);
 	}
 	
 	float GearJoint::getRatio() const
 	{
-		return joint->m_ratio;
+		return joint->GetRatio();
 	}
 
 } // box2d

src/modules/physics/box2d/Joint.cpp

@@ -79,34 +79,25 @@ namespace box2d
 
 	int Joint::getAnchors(lua_State * L)
 	{
-		lua_pushnumber(L, world->scaleUp(joint->GetAnchor1().x));
-		lua_pushnumber(L, world->scaleUp(joint->GetAnchor1().y));
-		lua_pushnumber(L, world->scaleUp(joint->GetAnchor2().x));
-		lua_pushnumber(L, world->scaleUp(joint->GetAnchor2().y));
+		lua_pushnumber(L, world->scaleUp(joint->GetAnchorA().x));
+		lua_pushnumber(L, world->scaleUp(joint->GetAnchorA().y));
+		lua_pushnumber(L, world->scaleUp(joint->GetAnchorB().x));
+		lua_pushnumber(L, world->scaleUp(joint->GetAnchorB().y));
 		return 4;
 	}
 
 	int Joint::getReactionForce(lua_State * L)
 	{
-		b2Vec2 v = joint->GetReactionForce();
+		float dt = (float)luaL_checknumber(L, 2);
+		b2Vec2 v = joint->GetReactionForce(dt);
 		lua_pushnumber(L, v.x);
 		lua_pushnumber(L, v.y);
 		return 2;
 	}
 
-	float Joint::getReactionTorque()
+	float Joint::getReactionTorque(float dt)
 	{
-		return joint->GetReactionTorque();
-	}
-
-	void Joint::setCollideConnected(bool collide)
-	{
-		joint->m_collideConnected = collide;
-	}
-
-	bool Joint::getCollideConnected() const
-	{
-		return joint->m_collideConnected;
+		return joint->GetReactionTorque(dt);
 	}
 
 	b2Joint * Joint::createJoint(b2JointDef * def)

src/modules/physics/box2d/Joint.h

@@ -97,19 +97,7 @@ namespace box2d
 		/**
 		* Gets the reaction torque on body2.
 		**/
-		float getReactionTorque();
-
-		/**
-		* Sets whether connected bodies should collide
-		* or not. Default is false.
-		**/
-		void setCollideConnected(bool collide);
-
-		/**
-		* Gets whether connected bodies should collide
-		* or not.
-		**/
-		bool getCollideConnected() const;
+		float getReactionTorque(float dt);
 
 	protected:
 

src/modules/physics/box2d/MouseJoint.cpp

@@ -35,8 +35,8 @@ namespace box2d
 	{
 		b2MouseJointDef def;
 		
-		def.body1 = body1->world->world->GetGroundBody();
-		def.body2 = body1->body;
+		def.bodyA = body1->world->getGroundBody();
+		def.bodyB = body1->body;
 		def.maxForce = 1000.0f * body1->body->GetMass();
 		def.target = body1->world->scaleDown(b2Vec2(x,y));
 		joint = (b2MouseJoint*)createJoint(&def);
@@ -55,19 +55,19 @@ namespace box2d
 
 	int MouseJoint::getTarget(lua_State * L)
 	{
-		lua_pushnumber(L, world->scaleUp(joint->m_target.x));
-		lua_pushnumber(L, world->scaleUp(joint->m_target.y));
+		lua_pushnumber(L, world->scaleUp(joint->GetTarget().x));
+		lua_pushnumber(L, world->scaleUp(joint->GetTarget().y));
 		return 2;
 	}
 
 	void MouseJoint::setMaxForce(float force)
 	{
-		joint->m_maxForce = force;
+		joint->SetMaxForce(force);
 	}
 
 	float MouseJoint::getMaxForce() const
 	{
-		return joint->m_maxForce;
+		return joint->GetMaxForce();
 	}
 
 } // box2d

src/modules/physics/box2d/Physics.cpp

@@ -131,7 +131,7 @@ namespace box2d
 		if(count < 3)
 			return luaL_error(L, "Polygon degenerated to less than three points.");
 		
-		b2vec2 vecs[] = new b2vec2[count];
+		b2Vec2 vecs[] = new b2vec2[count];
 		
 		for (int i = 0; i < count; i++) {
 			vecs[i].Set(convex_hull[i].x, convex_hull[i].y);

src/modules/physics/box2d/PrismaticJoint.cpp

@@ -72,12 +72,7 @@ namespace box2d
 	{
 		joint->SetMaxMotorForce(force);
 	}
-
-	float PrismaticJoint::getMaxMotorForce() const
-	{
-		return joint->m_maxMotorForce;
-	}
-
+	
 	void PrismaticJoint::setMotorSpeed(float speed)
 	{
 		joint->SetMotorSpeed(speed);

src/modules/physics/box2d/PrismaticJoint.h

@@ -75,11 +75,6 @@ namespace box2d
 		**/
 		void setMaxMotorForce(float force);
 
-		/**
-		* Get the current motor force, usually in N.
-		**/
-		float getMaxMotorForce() const;
-
 		/**
 		* Set the motor speed, usually in meters per second.
 		**/

src/modules/physics/box2d/PulleyJoint.cpp

@@ -48,49 +48,13 @@ namespace box2d
 
 	int PulleyJoint::getGroundAnchors(lua_State * L)
 	{
-		lua_pushnumber(L, world->scaleUp(joint->GetGroundAnchor1().x));
-		lua_pushnumber(L, world->scaleUp(joint->GetGroundAnchor1().y));
-		lua_pushnumber(L, world->scaleUp(joint->GetGroundAnchor2().x));
-		lua_pushnumber(L, world->scaleUp(joint->GetGroundAnchor2().y));
+		lua_pushnumber(L, world->scaleUp(joint->GetGroundAnchorA().x));
+		lua_pushnumber(L, world->scaleUp(joint->GetGroundAnchorA().y));
+		lua_pushnumber(L, world->scaleUp(joint->GetGroundAnchorB().x));
+		lua_pushnumber(L, world->scaleUp(joint->GetGroundAnchorB().y));
 		return 4;
 	}
 	
-	void PulleyJoint::setMaxLengths(float maxlength1, float maxlength2)
-	{	
-		// Apply Box2D's maximum lengths too. They know better.
-		
-		if (maxlength1 > 0)
-		{
-			joint->m_maxLength1 = b2Min(world->scaleDown(maxlength1), joint->m_constant - joint->m_ratio * b2_minPulleyLength);
-		}
-		
-		if (maxlength2 > 0)
-		{
-			joint->m_maxLength2 = b2Min(world->scaleDown(maxlength2), (joint->m_constant - b2_minPulleyLength) / joint->m_ratio);
-		}
-	}
-	
-	int PulleyJoint::getMaxLengths(lua_State * L)
-	{
-		lua_pushnumber(L, world->scaleUp(joint->m_maxLength1));
-		lua_pushnumber(L, world->scaleUp(joint->m_maxLength2));
-		return 2;
-	}
-	
-	void PulleyJoint::setConstant(float constant)
-	{
-		joint->m_constant = world->scaleDown(constant);
-		
-		// Update the max lengths, as does Box2D
-		joint->m_maxLength1 = joint->m_constant - joint->m_ratio * b2_minPulleyLength;
-		joint->m_maxLength2 = (joint->m_constant - b2_minPulleyLength) / joint->m_ratio;
-	}
-	
-	float PulleyJoint::getConstant() const
-	{
-		return world->scaleUp(joint->m_constant);
-	}
-	
 	float PulleyJoint::getLength1() const
 	{
 		return world->scaleUp(joint->GetLength1());
@@ -101,14 +65,9 @@ namespace box2d
 		return world->scaleUp(joint->GetLength2());
 	}
 	
-	void PulleyJoint::setRatio(float ratio)
-	{
-		joint->m_ratio = ratio;
-	}
-	
 	float PulleyJoint::getRatio() const
 	{
-		return joint->m_ratio;
+		return joint->GetRatio();
 	}
 
 } // box2d

src/modules/physics/box2d/PulleyJoint.h

@@ -56,29 +56,6 @@ namespace box2d
 		**/
 		int getGroundAnchors(lua_State * L);
 		
-		/**
-		* Sets the max rope lengths (a value of zero keeps it
-		* unchanged). Beware that Box2D also imposes a maximum,
-		* so the smallest of these is actually set.
-		**/
-		void setMaxLengths(float maxlength1, float maxlength2);
-		
-		/**
-		* Gets the max rope lengths.
-		**/
-		int getMaxLengths(lua_State * L);
-				
-		/**
-		* Sets the total length of the rope and updates the 
-		* MaxLengths values accordingly.
-		**/
-		void setConstant(float length);
-		
-		/**
-		* Gets the total length of the rope.
-		**/
-		float getConstant() const;
-		
 		/**
 		* Gets the current length of the segment attached to body1.
 		**/

src/modules/physics/box2d/RevoluteJoint.cpp

@@ -70,12 +70,7 @@ namespace box2d
 	{
 		joint->SetMaxMotorTorque(torque);
 	}
-
-	float RevoluteJoint::getMaxMotorTorque() const
-	{
-		return joint->m_maxMotorTorque;
-	}
-
+	
 	void RevoluteJoint::setMotorSpeed(float speed)
 	{
 		joint->SetMotorSpeed(speed);

src/modules/physics/box2d/RevoluteJoint.h

@@ -75,11 +75,6 @@ namespace box2d
 		**/
 		void setMaxMotorTorque(float torque);
 
-		/**
-		* Gets the maximum motor torque, usually in N-m.
-		**/
-		float getMaxMotorTorque() const;
-
 		/**
 		* Sets the motor speed in degrees per second.
 		**/

src/modules/physics/box2d/World.cpp

@@ -100,6 +100,8 @@ namespace box2d
 	{
 		world = new b2World(scaleDown(aabb), b2Vec2(0,0), true);
 		world->SetContactListener(this);
+		b2BodyDef def;
+		groundBody = world->CreateBody(def);
 	}
 
 	World::World(b2AABB aabb, b2Vec2 gravity, bool sleep, int meter)
@@ -111,6 +113,7 @@ namespace box2d
 
 	World::~World()
 	{
+		world->DestroyBody(groundBody);
 		delete world;
 	}
 
@@ -272,6 +275,11 @@ namespace box2d
 		t.upperBound = scaleUp(aabb.upperBound);
 		return t;
 	}
+	
+	b2Body * World::getGroundBody()
+	{
+		return groundBody;
+	}
 
 } // box2d
 } // physics

src/modules/physics/box2d/World.h

@@ -77,6 +77,9 @@ namespace box2d
 
 		// Pointer to the Box2D world.
 		b2World * world;
+        
+        // Ground body
+        b2Body * groundBody;
 
 		// Contact callbacks.
 		ContactCallback add, persist, remove, result;
@@ -241,6 +244,12 @@ namespace box2d
 		* @return The scaled AABB.
 		**/
 		b2AABB scaleUp(const b2AABB & aabb);
+        
+        /**
+        * Gets the ground body.
+        * @return The ground body.
+        **/
+        b2Body * getGroundBody();
 
 	};
 

src/modules/physics/box2d/wrap_PrismaticJoint.cpp

@@ -68,13 +68,6 @@ namespace box2d
 		return 0;
 	}
 
-	int w_PrismaticJoint_getMaxMotorForce(lua_State * L)
-	{
-		PrismaticJoint * t = luax_checkprismaticjoint(L, 1);
-		lua_pushnumber(L, t->getMaxMotorForce());
-		return 1;
-	}
-
 	int w_PrismaticJoint_setMotorSpeed(lua_State * L)
 	{
 		PrismaticJoint * t = luax_checkprismaticjoint(L, 1);
@@ -164,7 +157,6 @@ namespace box2d
 		{ "setMotorEnabled", w_PrismaticJoint_setMotorEnabled },
 		{ "isMotorEnabled", w_PrismaticJoint_isMotorEnabled },
 		{ "setMaxMotorForce", w_PrismaticJoint_setMaxMotorForce },
-		{ "getMaxMotorForce", w_PrismaticJoint_getMaxMotorForce },
 		{ "setMotorSpeed", w_PrismaticJoint_setMotorSpeed },
 		{ "getMotorSpeed", w_PrismaticJoint_getMotorSpeed },
 		{ "getMotorForce", w_PrismaticJoint_getMotorForce },

src/modules/physics/box2d/wrap_PrismaticJoint.h

@@ -38,7 +38,6 @@ namespace box2d
 	int w_PrismaticJoint_setMotorEnabled(lua_State * L);
 	int w_PrismaticJoint_isMotorEnabled(lua_State * L);
 	int w_PrismaticJoint_setMaxMotorForce(lua_State * L);
-	int w_PrismaticJoint_getMaxMotorForce(lua_State * L);
 	int w_PrismaticJoint_setMotorSpeed(lua_State * L);
 	int w_PrismaticJoint_getMotorSpeed(lua_State * L);
 	int w_PrismaticJoint_getMotorForce(lua_State * L);

src/modules/physics/box2d/wrap_PulleyJoint.cpp

@@ -37,37 +37,6 @@ namespace box2d
 		lua_remove(L, 1);
 		return t->getGroundAnchors(L);
 	}
-	
-	int w_PulleyJoint_setMaxLengths(lua_State * L)
-	{
-		PulleyJoint * t = luax_checkpulleyjoint(L, 1);
-		float arg1 = (float)luaL_optnumber(L, 2, 0.0);
-		float arg2 = (float)luaL_optnumber(L, 3, 0.0);
-		t->setMaxLengths(arg1, arg2);
-		return 0;
-	}
-	
-	int w_PulleyJoint_getMaxLengths(lua_State * L)
-	{
-		PulleyJoint * t = luax_checkpulleyjoint(L, 1);
-		lua_remove(L, 1);
-		return t->getMaxLengths(L);
-	}
-	
-	int w_PulleyJoint_setConstant(lua_State * L)
-	{
-		PulleyJoint * t = luax_checkpulleyjoint(L, 1);
-		float arg1 = (float)luaL_checknumber(L, 2);
-		t->setConstant(arg1);
-		return 0;
-	}
-	
-	int w_PulleyJoint_getConstant(lua_State * L)
-	{
-		PulleyJoint * t = luax_checkpulleyjoint(L, 1);
-		lua_pushnumber(L, t->getConstant());
-		return 1;
-	}
 
 	int w_PulleyJoint_getLength1(lua_State * L)
 	{
@@ -83,14 +52,6 @@ namespace box2d
 		return 1;
 	}
 	
-	int w_PulleyJoint_setRatio(lua_State * L)
-	{
-		PulleyJoint * t = luax_checkpulleyjoint(L, 1);
-		float arg1 = (float)luaL_checknumber(L, 2);
-		t->setRatio(arg1);
-		return 0;
-	}
-	
 	int w_PulleyJoint_getRatio(lua_State * L)
 	{
 		PulleyJoint * t = luax_checkpulleyjoint(L, 1);
@@ -100,13 +61,8 @@ namespace box2d
 
 	static const luaL_Reg functions[] = {
 		{ "getGroundAnchors", w_PulleyJoint_getGroundAnchors },
-		{ "setMaxLengths", w_PulleyJoint_setMaxLengths },
-		{ "getMaxLengths", w_PulleyJoint_getMaxLengths },
-		{ "setConstant", w_PulleyJoint_setConstant },
-		{ "getConstant", w_PulleyJoint_getConstant },
 		{ "getLength1", w_PulleyJoint_getLength1 },
 		{ "getLength2", w_PulleyJoint_getLength2 },
-		{ "setRatio", w_PulleyJoint_setRatio },
 		{ "getRatio", w_PulleyJoint_getRatio },
 		// From Joint.
 		{ "getType", w_Joint_getType },

src/modules/physics/box2d/wrap_PulleyJoint.h

@@ -34,13 +34,8 @@ namespace box2d
 {
 	PulleyJoint * luax_checkpulleyjoint(lua_State * L, int idx);
 	int w_PulleyJoint_getGroundAnchors(lua_State * L);
-	int w_PulleyJoint_setMaxLengths(lua_State * L);
-	int w_PulleyJoint_getMaxLengths(lua_State * L);
-	int w_PulleyJoint_setConstant(lua_State * L);
-	int w_PulleyJoint_getConstant(lua_State * L);
 	int w_PulleyJoint_getLength1(lua_State * L);
 	int w_PulleyJoint_getLength2(lua_State * L);
-	int w_PulleyJoint_setRatio(lua_State * L);
 	int w_PulleyJoint_getRatio(lua_State * L);
 	int luaopen_pulleyjoint(lua_State * L);
 

src/modules/physics/box2d/wrap_RevoluteJoint.cpp

@@ -68,13 +68,6 @@ namespace box2d
 		return 0;
 	}
 
-	int w_RevoluteJoint_getMaxMotorTorque(lua_State * L)
-	{
-		RevoluteJoint * t = luax_checkrevolutejoint(L, 1);
-		lua_pushnumber(L, t->getMaxMotorTorque());
-		return 1;
-	}
-
 	int w_RevoluteJoint_setMotorSpeed(lua_State * L)
 	{
 		RevoluteJoint * t = luax_checkrevolutejoint(L, 1);
@@ -164,7 +157,6 @@ namespace box2d
 		{ "setMotorEnabled", w_RevoluteJoint_setMotorEnabled },
 		{ "isMotorEnabled", w_RevoluteJoint_isMotorEnabled },
 		{ "setMaxMotorTorque", w_RevoluteJoint_setMaxMotorTorque },
-		{ "getMaxMotorTorque", w_RevoluteJoint_getMaxMotorTorque },
 		{ "setMotorSpeed", w_RevoluteJoint_setMotorSpeed },
 		{ "getMotorSpeed", w_RevoluteJoint_getMotorSpeed },
 		{ "getMotorTorque", w_RevoluteJoint_getMotorTorque },

src/modules/physics/box2d/wrap_RevoluteJoint.h

@@ -38,7 +38,6 @@ namespace box2d
 	int w_RevoluteJoint_setMotorEnabled(lua_State * L);
 	int w_RevoluteJoint_isMotorEnabled(lua_State * L);
 	int w_RevoluteJoint_setMaxMotorTorque(lua_State * L);
-	int w_RevoluteJoint_getMaxMotorTorque(lua_State * L);
 	int w_RevoluteJoint_setMotorSpeed(lua_State * L);
 	int w_RevoluteJoint_getMotorSpeed(lua_State * L);
 	int w_RevoluteJoint_getMotorTorque(lua_State * L);