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;
}
cpPinJoint *
cpPinJointInit(cpPinJoint *joint, cpBody *a, cpBody *b, cpVect anchr1, cpVect anchr2)
{
cpConstraintInit((cpConstraint *)joint, &klass, a, b);
joint->anchr1 = anchr1;
joint->anchr2 = anchr2;
// STATIC_BODY_CHECK
cpVect p1 = (a ? cpvadd(a->p, cpvrotate(anchr1, a->rot)) : anchr1);
cpVect p2 = (b ? cpvadd(b->p, cpvrotate(anchr2, b->rot)) : anchr2);
joint->dist = cpvlength(cpvsub(p2, p1));
joint->jnAcc = 0.0f;
return joint;
}
cpPinJoint *
cpPinJointInit(cpPinJoint *joint, cpBody *a, cpBody *b, cpVect anchorA, cpVect anchorB)
{
cpConstraintInit((cpConstraint *)joint, &klass, a, b);
joint->anchorA = anchorA;
joint->anchorB = anchorB;
// STATIC_BODY_CHECK
cpVect p1 = (a ? cpTransformPoint(a->transform, anchorA) : anchorA);
cpVect p2 = (b ? cpTransformPoint(b->transform, anchorB) : anchorB);
joint->dist = cpvlength(cpvsub(p2, p1));
cpAssertWarn(joint->dist > 0.0, "You created a 0 length pin joint. A pivot joint will be much more stable.");
joint->jnAcc = 0.0f;
return joint;
}
cpPinJoint *
cpPinJointInit(cpPinJoint *joint, cpBody *a, cpBody *b, cpVect anchr1, cpVect anchr2)
{
cpConstraintInit((cpConstraint *)joint, &klass, a, b);
joint->anchr1 = anchr1;
joint->anchr2 = anchr2;
// STATIC_BODY_CHECK
cpVect p1 = (a ? cpvadd(a->p, cpvrotate(anchr1, a->rot)) : anchr1);
cpVect p2 = (b ? cpvadd(b->p, cpvrotate(anchr2, b->rot)) : anchr2);
joint->dist = cpvlength(cpvsub(p2, p1));
cpAssertWarn(joint->dist > 0.0, "You created a 0 length pin joint. A pivot joint will be much more stable.");
joint->jnAcc = 0.0f;
return joint;
}
