(def *B2WheelJointDef)
| 170 | } |
| 171 | |
| 172 | func MakeB2WheelJoint(def *B2WheelJointDef) *B2WheelJoint { |
| 173 | res := B2WheelJoint{ |
| 174 | B2Joint: MakeB2Joint(def), |
| 175 | } |
| 176 | |
| 177 | res.M_localAnchorA = def.LocalAnchorA |
| 178 | res.M_localAnchorB = def.LocalAnchorB |
| 179 | res.M_localXAxisA = def.LocalAxisA |
| 180 | res.M_localYAxisA = B2Vec2CrossScalarVector(1.0, res.M_localXAxisA) |
| 181 | |
| 182 | res.M_mass = 0.0 |
| 183 | res.M_impulse = 0.0 |
| 184 | res.M_motorMass = 0.0 |
| 185 | res.M_motorImpulse = 0.0 |
| 186 | res.M_springMass = 0.0 |
| 187 | res.M_springImpulse = 0.0 |
| 188 | |
| 189 | res.M_maxMotorTorque = def.MaxMotorTorque |
| 190 | res.M_motorSpeed = def.MotorSpeed |
| 191 | res.M_enableMotor = def.EnableMotor |
| 192 | |
| 193 | res.M_frequencyHz = def.FrequencyHz |
| 194 | res.M_dampingRatio = def.DampingRatio |
| 195 | |
| 196 | res.M_bias = 0.0 |
| 197 | res.M_gamma = 0.0 |
| 198 | |
| 199 | res.M_ax.SetZero() |
| 200 | res.M_ay.SetZero() |
| 201 | |
| 202 | return &res |
| 203 | } |
| 204 | |
| 205 | func (joint *B2WheelJoint) InitVelocityConstraints(data B2SolverData) { |
| 206 |
no test coverage detected