text: //
  // Copyright (c) 2008-2017 the Urho3D project.
  //
  // Permission is hereby granted, free of charge, to any person obtaining a copy
  // of this software and associated documentation files (the "Software"), to deal
  // in the Software without restriction, including without limitation the rights
  // to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
  // copies of the Software, and to permit persons to whom the Software is
  // furnished to do so, subject to the following conditions:
  //
  // The above copyright notice and this permission notice shall be included in
  // all copies or substantial portions of the Software.
  //
  // THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
  // IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
  // FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
  // AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
  // LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
  // OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
  // THE SOFTWARE.
  //
  
  #include "../Precompiled.h"
  
  #include "../Core/Context.h"
  #include "../Cross2D/ConstraintMotor2D.h"
  #include "../Cross2D/PhysicsUtils2D.h"
  #include "../Cross2D/RigidBody2D.h"
  
  #include "../DebugNew.h"
  
  namespace Cross
  {
  
  extern const char* CROSS2D_CATEGORY;
  
  ConstraintMotor2D::ConstraintMotor2D(Context* context) :
      Constraint2D(context),
      linearOffset_(Vector2::ZERO)
  {
  
  }
  
  ConstraintMotor2D::~ConstraintMotor2D()
  {
  }
  
  void ConstraintMotor2D::RegisterObject(Context* context)
  {
      context->RegisterFactory<ConstraintMotor2D>(CROSS2D_CATEGORY);
  
      CROSS_ACCESSOR_ATTRIBUTE("Is Enabled", IsEnabled, SetEnabled, bool, true, AM_DEFAULT);
      CROSS_ACCESSOR_ATTRIBUTE("Linear Offset", GetLinearOffset, SetLinearOffset, Vector2, Vector2::ZERO, AM_DEFAULT);
      CROSS_ACCESSOR_ATTRIBUTE("Angular Offset", GetAngularOffset, SetAngularOffset, float, 0.0f, AM_DEFAULT);
      CROSS_ACCESSOR_ATTRIBUTE("Max Force", GetMaxForce, SetMaxForce, float, 1.0f, AM_DEFAULT);
      CROSS_ACCESSOR_ATTRIBUTE("Max Torque", GetMaxTorque, SetMaxTorque, float, 1.0f, AM_DEFAULT);
      CROSS_ACCESSOR_ATTRIBUTE("Correction Factor", GetCorrectionFactor, SetCorrectionFactor, float, 0.3f, AM_DEFAULT);
      CROSS_COPY_BASE_ATTRIBUTES(Constraint2D);
  }
  
  void ConstraintMotor2D::SetLinearOffset(const Vector2& linearOffset)
  {
      if (linearOffset == linearOffset_)
          return;
  
      linearOffset_ = linearOffset;
  
      if (joint_)
          static_cast<b2MotorJoint*>(joint_)->SetLinearOffset(ToB2Vec2(linearOffset));
      else
          RecreateJoint();
  
      MarkNetworkUpdate();
  }
  
  void ConstraintMotor2D::SetAngularOffset(float angularOffset)
  {
      if (angularOffset == jointDef_.angularOffset)
          return;
  
      jointDef_.angularOffset = angularOffset;
  
      if (joint_)
          static_cast<b2MotorJoint*>(joint_)->SetAngularOffset(angularOffset);
      else
          RecreateJoint();
  
      MarkNetworkUpdate();
  }
  
  void ConstraintMotor2D::SetMaxForce(float maxForce)
  {
      if (maxForce == jointDef_.maxForce)
          return;
  
      jointDef_.maxForce = maxForce;
  
      if (joint_)
          static_cast<b2MotorJoint*>(joint_)->SetMaxForce(maxForce);
      else
          RecreateJoint();
  
      MarkNetworkUpdate();
  }
  
  void ConstraintMotor2D::SetMaxTorque(float maxTorque)
  {
      if (maxTorque == jointDef_.maxTorque)
          return;
  
      jointDef_.maxTorque = maxTorque;
  
      if (joint_)
          static_cast<b2MotorJoint*>(joint_)->SetMaxTorque(maxTorque);
      else
          RecreateJoint();
  
      MarkNetworkUpdate();
  }
  
  void ConstraintMotor2D::SetCorrectionFactor(float correctionFactor)
  {
      if (correctionFactor == jointDef_.correctionFactor)
          return;
  
      jointDef_.correctionFactor = correctionFactor;
  
      if (joint_)
          static_cast<b2MotorJoint*>(joint_)->SetCorrectionFactor(correctionFactor);
      else
          RecreateJoint();
  
      MarkNetworkUpdate();
  }
  
  b2JointDef* ConstraintMotor2D::GetJointDef()
  {
      if (!ownerBody_ || !otherBody_)
          return 0;
  
      b2Body* bodyA = ownerBody_->GetBody();
      b2Body* bodyB = otherBody_->GetBody();
      if (!bodyA || !bodyB)
          return 0;
  
      jointDef_.Initialize(bodyA, bodyB);
      jointDef_.linearOffset = ToB2Vec2(linearOffset_);
  
      return &jointDef_;
  }
  
  }
  