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cocos2d-x节点(b2WheelJoint.h)API
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/// 一个Wheel(车轮)joints(接头)这个 joints(接头)提供了两个自由度:沿固定在 bodyA上的轴和平面旋转
///cocos2d-x-3.0alpha0/external/Box2D/Dynamics/Joints
/// 一个Wheel(车轮)joints(接头)这个 joints(接头)提供了两个自由度:沿固定在 bodyA上的轴和平面旋转
#ifndef B2_WHEEL_JOINT_H
#define B2_WHEEL_JOINT_H
#include <Box2D/Dynamics/Joints/b2Joint.h>
/// Wheel(车轮)joints(接头)定义. 这个定义需要 运动的线使用的轴和锚点
/// 定义使用本地锚点和本地轴,所以初始配置可以稍微违反约束。
/// 当本地锚点和 world 空间里的锚点重合时,joints(接头)换算成 0。
//使用本地锚点和本地轴有助于保存和加载游戏时
struct b2WheelJointDef : public b2JointDef
{
b2WheelJointDef()
{
type = e_wheelJoint;
localAnchorA.SetZero();
localAnchorB.SetZero();
localAxisA.Set(1.0f, 0.0f);
enableMotor = false;
maxMotorTorque = 0.0f;
motorSpeed = 0.0f;
frequencyHz = 2.0f;
dampingRatio = 0.7f;
}
/// Initialize the bodies, anchors, axis, and reference angle using the world
/// anchor and world axis.
void Initialize(b2Body* bodyA, b2Body* bodyB, const b2Vec2& anchor, const b2Vec2& axis);
/// 相对与 bodyA's 原点本地锚点.
b2Vec2 localAnchorA;
/// 相对与 bodyB's 原点的本地锚点.
b2Vec2 localAnchorB;
/// bodyA 上面的本地换算轴.
b2Vec2 localAxisA;
/// Enable/disable the joint motor.
bool enableMotor;
/// The maximum motor torque(力矩), usually in N-m. //电机
float32 maxMotorTorque;
/// The desired(期望的) motor speed in radians per second. //电机
float32 motorSpeed;
/// Suspension frequency, zero indicates no suspension //悬浮频率,零表示没有悬浮
float32 frequencyHz;
/// Suspension damping ratio, one indicates critical damping //悬浮阻尼比,一表示临界阻尼
float32 dampingRatio;
};
/// 一个Wheel(车轮)joints(接头)这个 joints(接头)提供了两个自由度:沿固定在 bodyA上的轴和平面旋转
/// 你可以使用joints(接头)来限制运动的摩擦范围,一个joints(接头)motor 来驱动旋转或者旋转摩擦模型 //电机
/// 这个 joint(接头)是为 Wheel(车轮)的悬浮而设计的
class b2WheelJoint : public b2Joint
{
public:
void GetDefinition(b2WheelJointDef* def) const;
b2Vec2 GetAnchorA() const;
b2Vec2 GetAnchorB() const;
b2Vec2 GetReactionForce(float32 inv_dt) const;
float32 GetReactionTorque(float32 inv_dt) const;
/// 相对与 bodyA's 的原点本地锚点.
const b2Vec2& GetLocalAnchorA() const { return m_localAnchorA; }
/// 相对与 bodyB's 原点的本地锚点.
const b2Vec2& GetLocalAnchorB() const { return m_localAnchorB; }
/// bodyA 上面的本地换算轴.
const b2Vec2& GetLocalAxisA() const { return m_localXAxisA; }
/// Get the current joint translation(换算), usually in meters.
float32 GetJointTranslation() const;
/// Get the current joint translation(换算) speed, usually in meters per second.
float32 GetJointSpeed() const;
/// Is the joint motor enabled? //电机
bool IsMotorEnabled() const;
/// Enable/disable the joint motor.
void EnableMotor(bool flag);
/// Set the motor speed, usually in radians per second. //电机
void SetMotorSpeed(float32 speed);
/// Get the motor speed, usually in radians per second. //电机
float32 GetMotorSpeed() const;
/// Set/Get the maximum motor force(力), usually in N-m. //电机
void SetMaxMotorTorque(float32 torque);
float32 GetMaxMotorTorque() const;
/// Get the current motor torque given the inverse time step, usually in N-m. //逆转时间步获取当前 motor 力 //电机
float32 GetMotorTorque(float32 inv_dt) const;
/// Set/Get the spring frequency in hertz. Setting the frequency to zero disables the spring. //弹簧的频率,单位为赫兹。频率设定为零禁用弹性
void SetSpringFrequencyHz(float32 hz);
float32 GetSpringFrequencyHz() const;
/// Set/Get the spring damping ratio //弹簧阻尼系数
void SetSpringDampingRatio(float32 ratio);
float32 GetSpringDampingRatio() const;
///把阻尼输出到 b2Log.
void Dump();
protected:
friend class b2Joint;
b2WheelJoint(const b2WheelJointDef* def);
void InitVelocityConstraints(const b2SolverData& data);
void SolveVelocityConstraints(const b2SolverData& data);
bool SolvePositionConstraints(const b2SolverData& data);
float32 m_frequencyHz;
float32 m_dampingRatio;
// Solver shared
b2Vec2 m_localAnchorA;
b2Vec2 m_localAnchorB;
b2Vec2 m_localXAxisA;
b2Vec2 m_localYAxisA;
float32 m_impulse;
float32 m_motorImpulse;
float32 m_springImpulse;
float32 m_maxMotorTorque;
float32 m_motorSpeed;
bool m_enableMotor;
// Solver temp
int32 m_indexA;
int32 m_indexB;
b2Vec2 m_localCenterA;
b2Vec2 m_localCenterB;
float32 m_invMassA;
float32 m_invMassB;
float32 m_invIA;
float32 m_invIB;
b2Vec2 m_ax, m_ay;
float32 m_sAx, m_sBx;
float32 m_sAy, m_sBy;
float32 m_mass;
float32 m_motorMass;
float32 m_springMass;
float32 m_bias;
float32 m_gamma;
};
inline float32 b2WheelJoint::GetMotorSpeed() const
{
return m_motorSpeed;
}
inline float32 b2WheelJoint::GetMaxMotorTorque() const
{
return m_maxMotorTorque;
}
inline void b2WheelJoint::SetSpringFrequencyHz(float32 hz)
{
m_frequencyHz = hz;
}
inline float32 b2WheelJoint::GetSpringFrequencyHz() const
{
return m_frequencyHz;
}
inline void b2WheelJoint::SetSpringDampingRatio(float32 ratio)
{
m_dampingRatio = ratio;
}
inline float32 b2WheelJoint::GetSpringDampingRatio() const
{
return m_dampingRatio;
}
#endif