+14
-31
lines changedFilter options
+14
-31
lines changed Original file line number Diff line number Diff line change
@@ -39,22 +39,21 @@
39 39
*/
40 40
public class WheelJoint extends Joint {
41 41 42 -
private float m_frequencyHz;
43 -
private float m_dampingRatio;
44 - 45 42
// Solver shared
46 43
private final Vec2 m_localAnchorA = new Vec2();
47 44
private final Vec2 m_localAnchorB = new Vec2();
48 45
private final Vec2 m_localXAxisA = new Vec2();
49 46
private final Vec2 m_localYAxisA = new Vec2();
50 47 51 48
private float m_impulse;
52 -
private float m_motorImpulse;
49 +
private float m_motorImpulse = 0.0f;
53 50
private float m_springImpulse;
54 51 55 52
private float m_maxMotorTorque;
56 53
private float m_motorSpeed;
57 54
private boolean m_enableMotor;
55 +
private float m_frequencyHz;
56 +
private float m_dampingRatio;
58 57 59 58
// Solver temp
60 59
private int m_indexA;
@@ -68,11 +67,13 @@ public class WheelJoint extends Joint {
68 67 69 68
private final Vec2 m_ax = new Vec2();
70 69
private final Vec2 m_ay = new Vec2();
71 -
private float m_sAx, m_sBx;
72 -
private float m_sAy, m_sBy;
70 +
private float m_sAx;
71 +
private float m_sBx;
72 +
private float m_sAy;
73 +
private float m_sBy;
73 74 74 75
private float m_mass;
75 -
private float m_motorMass;
76 +
private float m_motorMass = 0.0f;
76 77
private float m_springMass;
77 78 78 79
private float m_bias;
@@ -85,14 +86,9 @@ protected WheelJoint(IWorldPool argPool, WheelJointDef def) {
85 86
m_localXAxisA.set(def.localAxisA);
86 87
Vec2.crossToOutUnsafe(1.0f, m_localXAxisA, m_localYAxisA);
87 88 88 - 89 -
m_motorMass = 0.0f;
90 -
m_motorImpulse = 0.0f;
91 - 92 89
m_maxMotorTorque = def.maxMotorTorque;
93 90
m_motorSpeed = def.motorSpeed;
94 91
m_enableMotor = def.enableMotor;
95 - 96 92
m_frequencyHz = def.frequencyHz;
97 93
m_dampingRatio = def.dampingRatio;
98 94
}
@@ -340,9 +336,7 @@ public void initVelocityConstraints(SolverData data) {
340 336
pool.pushRot(2);
341 337
pool.pushVec2(1);
342 338 343 -
// data.velocities[m_indexA].v = vA;
344 339
data.velocities[m_indexA].w = wA;
345 -
// data.velocities[m_indexB].v = vB;
346 340
data.velocities[m_indexB].w = wB;
347 341
}
348 342
@@ -414,9 +408,7 @@ public void solveVelocityConstraints(SolverData data) {
414 408
}
415 409
pool.pushVec2(2);
416 410 417 -
// data.velocities[m_indexA].v = vA;
418 411
data.velocities[m_indexA].w = wA;
419 -
// data.velocities[m_indexB].v = vB;
420 412
data.velocities[m_indexB].w = wB;
421 413
}
422 414
@@ -470,9 +462,7 @@ public boolean solvePositionConstraints(SolverData data) {
470 462 471 463
pool.pushVec2(3);
472 464
pool.pushRot(2);
473 -
// data.positions[m_indexA].c = cA;
474 465
data.positions[m_indexA].a = aA;
475 -
// data.positions[m_indexB].c = cB;
476 466
data.positions[m_indexB].a = aB;
477 467 478 468
return FXGLMath.abs(C) <= JBoxSettings.linearSlop;
@@ -36,39 +36,32 @@ public class WheelJointDef extends JointDef<WheelJoint> {
36 36
/**
37 37
* The local translation axis in body1.
38 38
*/
39 -
public final Vec2 localAxisA = new Vec2();
39 +
public final Vec2 localAxisA = new Vec2(1, 0);
40 40 41 41
/**
42 42
* Enable/disable the joint motor.
43 43
*/
44 -
public boolean enableMotor;
44 +
public boolean enableMotor = false;
45 45 46 46
/**
47 47
* The maximum motor torque, usually in N-m.
48 48
*/
49 -
public float maxMotorTorque;
49 +
public float maxMotorTorque = 0f;
50 50 51 51
/**
52 52
* The desired motor speed in radians per second.
53 53
*/
54 -
public float motorSpeed;
54 +
public float motorSpeed = 0f;
55 55 56 56
/**
57 57
* Suspension frequency, zero indicates no suspension
58 58
*/
59 -
public float frequencyHz;
59 +
public float frequencyHz = 0f;
60 60 61 61
/**
62 62
* Suspension damping ratio, one indicates critical damping
63 63
*/
64 -
public float dampingRatio;
65 - 66 -
public WheelJointDef() {
67 -
localAxisA.set(1, 0);
68 -
enableMotor = false;
69 -
maxMotorTorque = 0f;
70 -
motorSpeed = 0f;
71 -
}
64 +
public float dampingRatio = 0f;
72 65 73 66
public void initialize(Body b1, Body b2, Vec2 anchor, Vec2 axis) {
74 67
setBodyA(b1);
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