Fixed RevoluteJoint (added localAnchorB, angular units changed to use…

… degree)
ElderOrb · Jan 1, 2014 · 1550e96 · 1550e96
1 parent f36fe24
commit 1550e96
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Showing 5 changed files with 49 additions and 41 deletions.
diff --git a/box2dfixture.cpp b/box2dfixture.cpp
@@ -187,6 +187,7 @@ b2Shape *Box2DBox::createShape()
     int32 count = 4;
 
     b2PolygonShape *shape = new b2PolygonShape;
+    //shape->SetAsBox(width()/ scaleRatio,height()/ scaleRatio );
     shape->Set(vertices, count);
     return shape;
 }

diff --git a/box2dmotorjoint.cpp b/box2dmotorjoint.cpp
@@ -43,31 +43,32 @@ Box2DMotorJoint::~Box2DMotorJoint()
 
 QPointF Box2DMotorJoint::linearOffset() const
 {
-    return QPointF(mMotorJointDef.linearOffset.x,mMotorJointDef.linearOffset.y);
+    return QPointF(mMotorJointDef.linearOffset.x * scaleRatio,mMotorJointDef.linearOffset.y * scaleRatio);
 }
 
 void Box2DMotorJoint::setLinearOffset(const QPointF &linearOffset)
 {
     if(this->linearOffset() == linearOffset)
         return;
-    mMotorJointDef.linearOffset = b2Vec2(linearOffset.x(),linearOffset.y());
+    mMotorJointDef.linearOffset = b2Vec2(linearOffset.x() / scaleRatio,-linearOffset.y() / scaleRatio);
     if(mMotorJoint)
         mMotorJoint->SetLinearOffset(mMotorJointDef.linearOffset);
     emit linearOffsetChanged();
 }
 
 float Box2DMotorJoint::angularOffset() const
 {
-    return mMotorJointDef.angularOffset;
+    return mMotorJointDef.angularOffset * 180 / b2_pi;
 }
 
 void Box2DMotorJoint::setAngularOffset(const float angularOffset)
 {
-    if(mMotorJointDef.angularOffset == angularOffset)
+    float angularOffsetRad = angularOffset * ( b2_pi / 180);
+    if(mMotorJointDef.angularOffset == angularOffsetRad)
         return;
-    mMotorJointDef.angularOffset = angularOffset;
+    mMotorJointDef.angularOffset = angularOffsetRad;
     if(mMotorJoint)
-        mMotorJoint->SetAngularOffset(angularOffset);
+        mMotorJoint->SetAngularOffset(angularOffsetRad);
     emit angularOffsetChanged();
 }
 
@@ -123,6 +124,7 @@ void Box2DMotorJoint::nullifyJoint()
 
 void Box2DMotorJoint::createJoint()
 {
+
     mMotorJointDef.Initialize(bodyA()->body(),bodyB()->body());
     mMotorJointDef.collideConnected = collideConnected();
     mMotorJoint = static_cast<b2MotorJoint*>(

diff --git a/box2dplugin.cpp b/box2dplugin.cpp
@@ -35,6 +35,7 @@
 #include "box2ddistancejoint.h"
 #include "box2dprismaticjoint.h"
 #include "box2drevolutejoint.h"
+#include "box2dmotorjoint.h"
 
 Box2DPlugin::Box2DPlugin(QObject *parent) :
     QQmlExtensionPlugin(parent)
@@ -58,4 +59,5 @@ void Box2DPlugin::registerTypes(const char *uri)
     qmlRegisterType<Box2DDistanceJoint>(uri, 1, 0, "DistanceJoint");
     qmlRegisterType<Box2DPrismaticJoint>(uri, 1, 0, "PrismaticJoint");
     qmlRegisterType<Box2DRevoluteJoint>(uri, 1, 0, "RevoluteJoint");
+    qmlRegisterType<Box2DMotorJoint>(uri, 1, 0, "MotorJoint");
 }
diff --git a/box2drevolutejoint.cpp b/box2drevolutejoint.cpp
@@ -32,8 +32,7 @@
 Box2DRevoluteJoint::Box2DRevoluteJoint(QObject *parent) :
     Box2DJoint(parent),
     mRevoluteJointDef(),
-    mRevoluteJoint(0),
-    mOverrideLocalAnchorA(false)
+    mRevoluteJoint(0)
 {
 }
 
@@ -44,35 +43,36 @@ Box2DRevoluteJoint::~Box2DRevoluteJoint()
 
 float Box2DRevoluteJoint::lowerAngle() const
 {
-    return mRevoluteJointDef.lowerAngle;
+    return mRevoluteJointDef.lowerAngle * 180 / b2_pi;
 }
 
 void Box2DRevoluteJoint::setLowerAngle(float lowerAngle)
 {
-    if (mRevoluteJointDef.lowerAngle == lowerAngle * b2_pi)
+    float lowerAngleRad = lowerAngle * b2_pi / 180;
+    if (mRevoluteJointDef.lowerAngle == lowerAngleRad)
         return;
 
-    mRevoluteJointDef.lowerAngle = lowerAngle * b2_pi;
+    mRevoluteJointDef.lowerAngle = lowerAngleRad;
     if (mRevoluteJoint)
-        mRevoluteJoint->SetLimits(lowerAngle * b2_pi,
-                                  mRevoluteJointDef.upperAngle);
+        mRevoluteJoint->SetLimits(lowerAngleRad,mRevoluteJointDef.upperAngle);
     emit lowerAngleChanged();
 }
 
 float Box2DRevoluteJoint::upperAngle() const
 {
-    return mRevoluteJointDef.upperAngle;
+    return mRevoluteJointDef.upperAngle * 180 / b2_pi;
 }
 
 void Box2DRevoluteJoint::setUpperAngle(float upperAngle)
 {
-    if (mRevoluteJointDef.upperAngle == upperAngle * b2_pi)
+    float upperAngleRad = upperAngle * b2_pi / 180;
+    if (mRevoluteJointDef.upperAngle == upperAngleRad)
         return;
 
-    mRevoluteJointDef.upperAngle = upperAngle * b2_pi;
+    mRevoluteJointDef.upperAngle = upperAngleRad;
     if (mRevoluteJoint)
         mRevoluteJoint->SetLimits(mRevoluteJointDef.lowerAngle,
-                                  upperAngle * b2_pi);
+                                  upperAngleRad);
     emit upperAngleChanged();
 }
 
@@ -94,17 +94,18 @@ void Box2DRevoluteJoint::setMaxMotorTorque(float maxMotorTorque)
 
 float Box2DRevoluteJoint::motorSpeed() const
 {
-    return mRevoluteJointDef.motorSpeed;
+    return mRevoluteJointDef.motorSpeed * b2_pi / 180;
 }
 
 void Box2DRevoluteJoint::setMotorSpeed(float motorSpeed)
 {
-    if (mRevoluteJointDef.motorSpeed == motorSpeed)
+    float motorSpeedRad = motorSpeed  * b2_pi / 180;
+    if (mRevoluteJointDef.motorSpeed == motorSpeedRad)
         return;
 
-    mRevoluteJointDef.motorSpeed = motorSpeed;
+    mRevoluteJointDef.motorSpeed = motorSpeedRad;
     if (mRevoluteJoint)
-        mRevoluteJoint->SetMotorSpeed(motorSpeed);
+        mRevoluteJoint->SetMotorSpeed(motorSpeedRad);
     emit motorSpeedChanged();
 }
 
@@ -142,39 +143,38 @@ void Box2DRevoluteJoint::setEnableMotor(bool enableMotor)
 
 QPointF Box2DRevoluteJoint::localAnchorA() const
 {
-    if (mOverrideLocalAnchorA)
-        return mLocalAnchorA;
-    else
-        return QPointF(mRevoluteJointDef.localAnchorA.x * scaleRatio,
-                       -mRevoluteJointDef.localAnchorA.y * scaleRatio);
+    return QPointF(mRevoluteJointDef.localAnchorA.x * scaleRatio, mRevoluteJointDef.localAnchorA.y * scaleRatio);
 }
 
-void Box2DRevoluteJoint::setLocalAnchorA(const QPointF &localAnchorA)
+QPointF Box2DRevoluteJoint::localAnchorB() const
 {
-    if (mOverrideLocalAnchorA && mLocalAnchorA == localAnchorA)
-        return;
+    return QPointF(mRevoluteJointDef.localAnchorB.x * scaleRatio, mRevoluteJointDef.localAnchorB.y * scaleRatio);
+}
 
-    mOverrideLocalAnchorA = true;
-    mLocalAnchorA = localAnchorA;
+void Box2DRevoluteJoint::setLocalAnchorA(const QPointF &localAnchorA)
+{
 
+    mRevoluteJointDef.localAnchorA = b2Vec2(localAnchorA.x() / scaleRatio,-localAnchorA.y() / scaleRatio);
     emit localAnchorAChanged();
 }
 
+void Box2DRevoluteJoint::setLocalAnchorB(const QPointF &localAnchorB)
+{
+
+    mRevoluteJointDef.localAnchorB = b2Vec2(localAnchorB.x() / scaleRatio,-localAnchorB.y() / scaleRatio);
+    emit localAnchorBChanged();
+}
+
 void Box2DRevoluteJoint::nullifyJoint()
 {
     mRevoluteJoint = 0;
 }
 
 void Box2DRevoluteJoint::createJoint()
 {
-    b2Vec2 anchor = mOverrideLocalAnchorA ?
-                b2Vec2(mLocalAnchorA.x() / scaleRatio,
-                       -mLocalAnchorA.y() / scaleRatio) +
-                bodyA()->body()->GetPosition() :
-                bodyA()->body()->GetWorldCenter();
-
-    mRevoluteJointDef.Initialize(bodyA()->body(), bodyB()->body(),
-                                 anchor);
+    mRevoluteJointDef.bodyA = bodyA()->body();
+    mRevoluteJointDef.bodyB = bodyB()->body();
+    mRevoluteJointDef.referenceAngle = 0;
     mRevoluteJointDef.collideConnected = collideConnected();
 
     mRevoluteJoint = static_cast<b2RevoluteJoint*>(

diff --git a/box2drevolutejoint.h b/box2drevolutejoint.h
@@ -45,6 +45,7 @@ class Box2DRevoluteJoint : public Box2DJoint
     Q_PROPERTY(bool enableLimit READ enableLimit WRITE setEnableLimit NOTIFY enableLimitChanged)
     Q_PROPERTY(bool enableMotor READ enableMotor WRITE setEnableMotor NOTIFY enableMotorChanged)
     Q_PROPERTY(QPointF localAnchorA READ localAnchorA WRITE setLocalAnchorA NOTIFY localAnchorAChanged)
+    Q_PROPERTY(QPointF localAnchorB READ localAnchorB WRITE setLocalAnchorB NOTIFY localAnchorBChanged)
 
 public:
     explicit Box2DRevoluteJoint(QObject *parent = 0);
@@ -71,6 +72,9 @@ class Box2DRevoluteJoint : public Box2DJoint
     QPointF localAnchorA() const;
     void setLocalAnchorA(const QPointF &localAnchorA);
 
+    QPointF localAnchorB() const;
+    void setLocalAnchorB(const QPointF &localAnchorB);
+
     void nullifyJoint();
     void createJoint();
     void cleanup(b2World *world);
@@ -83,12 +87,11 @@ class Box2DRevoluteJoint : public Box2DJoint
     void enableLimitChanged();
     void enableMotorChanged();
     void localAnchorAChanged();
+    void localAnchorBChanged();
 
 private:
     b2RevoluteJointDef mRevoluteJointDef;
     b2RevoluteJoint *mRevoluteJoint;
-    bool mOverrideLocalAnchorA;
-    QPointF mLocalAnchorA;
 };
 
 #endif // BOX2DREVOLUTEJOINT_H