121 lines
4.6 KiB
C
121 lines
4.6 KiB
C
#ifndef C_BOX2D_JOINT_H
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#define C_BOX2D_JOINT_H
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#include "c_math.h"
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#include "box2d-object.h"
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extern "C"
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{
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struct Joint;
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struct Space;
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/////////
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/// Forge
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//
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Joint *b2d_new_hinge_Joint_with_local_anchors (Space *in_Space,
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Object *Object_A,
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Object *Object_B,
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Vector_3 *Anchor_in_A,
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Vector_3 *Anchor_in_B,
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float low_Limit,
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float high_Limit,
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bool collide_Connected);
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Joint* b2d_new_hinge_Joint (Space* in_Space,
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Object* Object_A,
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Object* Object_B,
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Matrix_4x4* Frame_A,
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Matrix_4x4* Frame_B,
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float low_Limit,
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float high_Limit,
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bool collide_Connected);
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void b2d_free_hinge_Joint (Joint* Self);
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Joint* b2d_new_space_hinge_Joint (Space* in_Space,
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Object* Object_A,
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Matrix_4x4* Frame_A);
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Joint* b2d_new_DoF6_Joint (Object* Object_A,
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Object* Object_B,
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Matrix_4x4* Frame_A,
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Matrix_4x4* Frame_B);
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Joint* b2d_new_cone_twist_Joint (Object* Object_A,
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Object* Object_B,
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Matrix_4x4* Frame_A,
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Matrix_4x4* Frame_B);
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Joint* b2d_new_slider_Joint (Object* Object_A,
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Object* Object_B,
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Matrix_4x4* Frame_A,
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Matrix_4x4* Frame_B);
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Joint* b2d_new_ball_Joint (Object* Object_A,
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Object* Object_B,
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Vector_3* Pivot_in_A,
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Vector_3* Pivot_in_B);
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//////////////
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/// Attributes
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//
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void* b2d_Joint_user_Data (Joint* Self);
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// void b2d_Joint_user_Data_is (Joint* Self, void* Now);
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Object* b2d_Joint_Object_A (Joint* Self);
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Object* b2d_Joint_Object_B (Joint* Self);
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Matrix_4x4 b2d_Joint_Frame_A (Joint* Self);
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Matrix_4x4 b2d_Joint_Frame_B (Joint* Self);
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void b2d_Joint_Frame_A_is (Joint* Self, Matrix_4x4* Now);
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void b2d_Joint_Frame_B_is (Joint* Self, Matrix_4x4* Now);
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void b2d_Joint_set_local_Anchor (Joint* Self, bool is_Anchor_A,
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Vector_3* local_Anchor);
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bool b2d_Joint_is_Limited (Joint* Self, int DoF);
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bool b2d_Joint_Extent (Joint* Self, int DoF);
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void b2d_Joint_Velocity_is (Joint* Self, int DoF,
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Real Now);
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Vector_3 b2d_Joint_reaction_Force (Joint* Self);
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Real b2d_Joint_reaction_Torque (Joint* Self);
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bool b2d_Joint_collide_Connected (Joint* Self);
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/// Hinge
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//
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bool b2d_Joint_hinge_limit_Enabled (Joint* Self);
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void b2d_Joint_hinge_Limits_are (Joint* Self, Real Low,
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Real High);
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Vector_3 b2d_Joint_hinge_local_Anchor_on_A (Joint* Self);
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Vector_3 b2d_Joint_hinge_local_Anchor_on_B (Joint* Self);
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Real b2d_Joint_hinge_reference_Angle (Joint* Self);
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Real b2d_Joint_hinge_Angle (Joint* Self);
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bool b2d_Joint_hinge_motor_Enabled (Joint* Self);
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Real b2d_Joint_hinge_motor_Speed (Joint* Self);
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Real b2d_Joint_hinge_max_motor_Torque (Joint* Self);
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} // extern "C"
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#endif
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