/*******************************************************************************
 * Copyright (c) 2013, Daniel Murphy
 * All rights reserved.
 * 
 * Redistribution and use in source and binary forms, with or without modification,
 * are permitted provided that the following conditions are met:
 * 	* Redistributions of source code must retain the above copyright notice,
 * 	  this list of conditions and the following disclaimer.
 * 	* Redistributions in binary form must reproduce the above copyright notice,
 * 	  this list of conditions and the following disclaimer in the documentation
 * 	  and/or other materials provided with the distribution.
 * 
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
 * ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
 * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED.
 * IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT,
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 ******************************************************************************/

package org.jbox2d.dynamics.joints;

import org.jbox2d.common.Vec2;
import org.jbox2d.dynamics.Body;

/**
 * Created at 3:38:52 AM Jan 15, 2011
 */

/** @author Daniel Murphy */
public class WeldJointDef extends JointDef {
	/** The local anchor point relative to body1's origin. */
	public final Vec2 localAnchorA;

	/** The local anchor point relative to body2's origin. */
	public final Vec2 localAnchorB;

	/** The body2 angle minus body1 angle in the reference state (radians). */
	public float referenceAngle;

	/** The mass-spring-damper frequency in Hertz. Rotation only. Disable softness with a value of 0. */
	public float frequencyHz;

	/** The damping ratio. 0 = no damping, 1 = critical damping. */
	public float dampingRatio;

	public WeldJointDef () {
		super(JointType.WELD);
		localAnchorA = new Vec2();
		localAnchorB = new Vec2();
		referenceAngle = 0.0f;
	}

	/** Initialize the bodies, anchors, and reference angle using a world anchor point.
	 * 
	 * @param bA
	 * @param bB
	 * @param anchor */
	public void initialize (Body bA, Body bB, Vec2 anchor) {
		bodyA = bA;
		bodyB = bB;
		bodyA.getLocalPointToOut(anchor, localAnchorA);
		bodyB.getLocalPointToOut(anchor, localAnchorB);
		referenceAngle = bodyB.getAngle() - bodyA.getAngle();
	}
}
