Class: BulldogPhysics::Joint

Inherits:
ContactGenerator show all
Defined in:
lib/RigidBodies/joint.rb

Instance Attribute Summary collapse

Instance Method Summary collapse

Constructor Details

#initialize ⇒ Joint

Returns a new instance of Joint.



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# File 'lib/RigidBodies/joint.rb', line 7

def initialize()
	@body = [RigidBody.new, RigidBody.new]
	@position = [Vector3.new, Vector3.new]
	@error = 0.0
end

Instance Attribute Details

#body ⇒ Object

Returns the value of attribute body.



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# File 'lib/RigidBodies/joint.rb', line 4

def body
  @body
end

#error ⇒ Object

Returns the value of attribute error.



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# File 'lib/RigidBodies/joint.rb', line 4

def error
  @error
end

#position ⇒ Object

Returns the value of attribute position.



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# File 'lib/RigidBodies/joint.rb', line 4

def position
  @position
end

Instance Method Details

#add_contact(contacts, limit) ⇒ Object 



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# File 'lib/RigidBodies/joint.rb', line 12

def add_contact(contacts, limit)
	a_pos_world = @body[0].get_point_in_world_space(@position[0])
	b_pos_world = @body[1].get_point_in_world_space(@position[1])
	a_to_b = b_pos_world - a_pos_world
	normal = a_to_b.unit

	length = a_to_b.magnitude

	if(length.abs > error)
		puts "add contact"
		contact = Contact.new
		contact.body = @body
		contact.contact_normal = normal
		contact.contact_point = (a_pos_world + b_pos_world) * 0.5
		contact.penetration = length - error
		contact.friction = 1.0
		contact.restitution = 0
		contacts << contact
		return 1
	end
	return 0
end

#set(a, a_pos, b, b_pos, error) ⇒ Object 



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# File 'lib/RigidBodies/joint.rb', line 35

def set(a, a_pos, b, b_pos, error)
	@body[0] = a 
	@body[1] = b

	@position[0] = a_pos
	@position[1] = b_pos

	@error = error
end