// p = attached point, m = mouse point
// C = p - m
// Cdot = v
// = v + cross(w, r)
// J = [I r_skew]
// Identity used:
// w k % (rx i + ry j) = w * (-ry i + rx j)
internal MouseJoint(MouseJointDef def) : base(def)
{
Utilities.Assert(def.target.IsValid());
Utilities.Assert(Utilities.IsValid(def.maxForce) && def.maxForce >= 0.0f);
Utilities.Assert(Utilities.IsValid(def.frequencyHz) && def.frequencyHz >= 0.0f);
Utilities.Assert(Utilities.IsValid(def.dampingRatio) && def.dampingRatio >= 0.0f);
m_targetA = def.target;
m_localAnchorB = Utilities.MulT(m_bodyB.GetTransform(), m_targetA);
m_maxForce = def.maxForce;
m_impulse.SetZero();
m_frequencyHz = def.frequencyHz;
m_dampingRatio = def.dampingRatio;
m_beta = 0.0f;
m_gamma = 0.0f;
}
internal MouseJoint(MouseJointDef def)
: base(def)
{
//Debug.Assert(def.target.IsValid());
//Debug.Assert(MathUtils.IsValid(def.maxForce) && def.maxForce >= 0.0f);
//Debug.Assert(MathUtils.IsValid(def.frequencyHz) && def.frequencyHz >= 0.0f);
//Debug.Assert(MathUtils.IsValid(def.dampingRatio) && def.dampingRatio >= 0.0f);
Transform xf1;
_bodyB.GetTransform(out xf1);
_target = def.target;
_localAnchor = MathUtils.MultiplyT(ref xf1, _target);
_maxForce = def.maxForce;
_impulse = Vector2.zero;
_frequencyHz = def.frequencyHz;
_dampingRatio = def.dampingRatio;
_beta = 0.0f;
_gamma = 0.0f;
}
// p = attached point, m = mouse point
// C = p - m
// Cdot = v
// = v + cross(w, r)
// J = [I r_skew]
// Identity used:
// w k % (rx i + ry j) = w * (-ry i + rx j)
internal MouseJoint(MouseJointDef def) : base(def){
Utilities.Assert(def.target.IsValid());
Utilities.Assert(Utilities.IsValid(def.maxForce) && def.maxForce >= 0.0f);
Utilities.Assert(Utilities.IsValid(def.frequencyHz) && def.frequencyHz >= 0.0f);
Utilities.Assert(Utilities.IsValid(def.dampingRatio) && def.dampingRatio >= 0.0f);
m_targetA = def.target;
m_localAnchorB = Utilities.MulT(m_bodyB.GetTransform(), m_targetA);
m_maxForce = def.maxForce;
m_impulse.SetZero();
m_frequencyHz = def.frequencyHz;
m_dampingRatio = def.dampingRatio;
m_beta = 0.0f;
m_gamma = 0.0f;
}
public virtual void MouseDown(Vec2 p){
m_mouseWorld = p;
if (m_mouseJoint != null)
{
return;
}
// Make a small box.
AABB aabb;
Vec2 d = new Vec2();
d.Set(0.001f, 0.001f);
aabb.lowerBound = p - d;
aabb.upperBound = p + d;
// Query the world for overlapping shapes.
TestQueryCallback callback = new TestQueryCallback(p);
m_world.QueryAABB(callback, aabb);
if (callback.m_fixture != null)
{
Body body = callback.m_fixture.GetBody();
MouseJointDef md = new MouseJointDef();
md.bodyA = m_groundBody;
md.bodyB = body;
md.target = p;
md.maxForce = 1000.0f * body.GetMass();
m_mouseJoint = (MouseJoint)m_world.CreateJoint(md);
body.SetAwake(true);
}
}