Box2d fixes

src/moaicore/MOAIBox2DBody.cpp

@@ -286,7 +286,7 @@ int MOAIBox2DBody::_applyLinearImpulse ( lua_State* L ) {
 	@text	See Box2D documentation.
 
 	@in		MOAIBox2DBody self
-	@in		number torque	Torque in degrees.
+	@opt	number torque	Converted to N-m. Default value is 0.
 	@out	nil
 */
 int MOAIBox2DBody::_applyTorque ( lua_State* L ) {
@@ -296,8 +296,9 @@ int MOAIBox2DBody::_applyTorque ( lua_State* L ) {
 		MOAILog ( state, MOAILogMessages::MOAIBox2DBody_MissingInstance );
 		return 0;
 	}
-
-	float torque = state.GetValue < float >( 2, 0.0f ) * ( float )D2R;
+	float unitsToMeters = self->GetUnitsToMeters();
+	/* Convert from N-m (kg m / s^2) * m => (kg unit / s^2) * unit */
+	float torque = state.GetValue < float >( 2, 0.0f ) * unitsToMeters * unitsToMeters;
 	self->mBody->ApplyTorque ( torque );
 
 	return 0;

src/moaicore/MOAIBox2DDistanceJoint.cpp

@@ -96,7 +96,7 @@ int MOAIBox2DDistanceJoint::_setDampingRatio ( lua_State* L ) {
 		return 0;
 	}
 
-	float dampingRatio = state.GetValue < float >( 1, 0.0f );
+	float dampingRatio = state.GetValue < float >( 2, 0.0f );
 
 	b2DistanceJoint* joint = ( b2DistanceJoint* )self->mJoint;
 	joint->SetDampingRatio ( dampingRatio );
@@ -120,7 +120,7 @@ int MOAIBox2DDistanceJoint::_setFrequency ( lua_State* L ) {
 		return 0;
 	}
 
-	float frequency = state.GetValue < float >( 1, 0.0f );
+	float frequency = state.GetValue < float >( 2, 0.0f );
 
 	b2DistanceJoint* joint = ( b2DistanceJoint* )self->mJoint;
 	joint->SetFrequency ( frequency );
@@ -145,7 +145,7 @@ int MOAIBox2DDistanceJoint::_setLength ( lua_State* L ) {
 		return 0;
 	}
 
-	float length = state.GetValue < float >( 1, 0.0f ) * unitsToMeters;
+	float length = state.GetValue < float >( 2, 0.0f ) * unitsToMeters;
 
 	b2DistanceJoint* joint = ( b2DistanceJoint* )self->mJoint;
 	joint->SetFrequency ( length );

src/moaicore/MOAIBox2DFrictionJoint.cpp

@@ -43,7 +43,7 @@ int MOAIBox2DFrictionJoint::_getMaxForce ( lua_State* L ) {
 	@text	See Box2D documentation.
 
 	@in		MOAIBox2DDistanceJoint self
-	@out	number maxTorque
+	@out	number maxTorque		Converted from N-m.
 */
 int MOAIBox2DFrictionJoint::_getMaxTorque ( lua_State* L ) {
 	MOAI_LUA_SETUP ( MOAIBox2DFrictionJoint, "U" )
@@ -54,7 +54,9 @@ int MOAIBox2DFrictionJoint::_getMaxTorque ( lua_State* L ) {
 	}
 
 	b2FrictionJoint* joint = ( b2FrictionJoint* )self->mJoint;
-	state.Push ( joint->GetMaxTorque () * ( float )R2D );
+	float unitsToMeters = self->GetUnitsToMeters();
+	/* Convert to/from N-m (kg m / s^2) * m from/to (kg unit / s^2) * unit */
+	state.Push ( joint->GetMaxTorque () / ( unitsToMeters * unitsToMeters ) );
 
 	return 1;
 }
@@ -76,7 +78,7 @@ int MOAIBox2DFrictionJoint::_setMaxForce ( lua_State* L ) {
 		return 0;
 	}
 
-	float maxForce = state.GetValue < float >( 1, 0.0f ) * unitsToMeters;
+	float maxForce = state.GetValue < float >( 2, 0.0f ) * unitsToMeters;
 
 	b2FrictionJoint* joint = ( b2FrictionJoint* )self->mJoint;
 	joint->SetMaxForce ( maxForce );
@@ -89,7 +91,7 @@ int MOAIBox2DFrictionJoint::_setMaxForce ( lua_State* L ) {
 	@text	See Box2D documentation.
 
 	@in		MOAIBox2DDistanceJoint self
-	@opt	number maxTorque		Default value is 0.
+	@opt	number maxTorque		Converted to N-m. Default value is 0.
 	@out	nil
 */
 int MOAIBox2DFrictionJoint::_setMaxTorque ( lua_State* L ) {
@@ -100,7 +102,9 @@ int MOAIBox2DFrictionJoint::_setMaxTorque ( lua_State* L ) {
 		return 0;
 	}
 
-	float maxTorque = state.GetValue < float >( 1, 0.0f ) * ( float )D2R;
+	float unitsToMeters = self->GetUnitsToMeters();
+	/* Convert to/from N-m (kg m / s^2) * m from/to (kg unit / s^2) * unit */
+	float maxTorque = state.GetValue < float >( 2, 0.0f ) * unitsToMeters * unitsToMeters;
 
 	b2FrictionJoint* joint = ( b2FrictionJoint* )self->mJoint;
 	joint->SetMaxTorque ( maxTorque );

src/moaicore/MOAIBox2DGearJoint.cpp

@@ -83,7 +83,7 @@ int MOAIBox2DGearJoint::_setRatio ( lua_State* L ) {
 		return 0;
 	}
 
-	float ratio = state.GetValue < float >( 1, 0.0f );
+	float ratio = state.GetValue < float >( 2, 0.0f );
 
 	b2GearJoint* joint = ( b2GearJoint* )self->mJoint;
 	joint->SetRatio ( ratio );

src/moaicore/MOAIBox2DJoint.cpp

@@ -153,7 +153,7 @@ int MOAIBox2DJoint::_getReactionForce ( lua_State* L ) {
 	@text	See Box2D documentation.
 
 	@in		MOAIBox2DJoint self
-	@out	number reactionTorque In degrees.
+	@out	number reactionTorque	Converted from N-m.
 */
 int MOAIBox2DJoint::_getReactionTorque ( lua_State* L ) {
 	MOAI_LUA_SETUP ( MOAIBox2DJoint, "U" )
@@ -165,8 +165,10 @@ int MOAIBox2DJoint::_getReactionTorque ( lua_State* L ) {
 
 	float step = ( float )( 1.0 / MOAISim::Get ().GetStep ());
 
+	/* Convert from N-m (kg m / s^2) * m to (kg unit / s^2) * unit */
+	float unitsToMeters = self->GetUnitsToMeters();
 	float torque = self->mJoint->GetReactionTorque ( step );
-	lua_pushnumber ( state, torque );
+	lua_pushnumber ( state, torque / ( unitsToMeters * unitsToMeters ) );
 
 	return 1;
 }

src/moaicore/MOAIBox2DPrismaticJoint.cpp

@@ -3,6 +3,7 @@
 
 #include "pch.h"
 #include <Box2D/Box2D.h>
+#include <moaicore/MOAISim.h>
 #include <moaicore/MOAIBox2DArbiter.h>
 #include <moaicore/MOAIBox2DBody.h>
 #include <moaicore/MOAIBox2DPrismaticJoint.h>
@@ -100,7 +101,8 @@ int MOAIBox2DPrismaticJoint::_getMotorForce ( lua_State* L ) {
 
 	b2PrismaticJoint* joint = ( b2PrismaticJoint* )self->mJoint;
 
-	state.Push ( joint->GetMotorForce (1.0f) / unitsToMeters );
+	float step = ( float )( 1.0 / MOAISim::Get ().GetStep ());
+	state.Push ( joint->GetMotorForce (step) / unitsToMeters );
 
 	return 1;
 }
@@ -261,7 +263,7 @@ int MOAIBox2DPrismaticJoint::_setMaxMotorForce ( lua_State* L ) {
 		return 0;
 	}
 
-	float maxMotorForce = state.GetValue < float >( 1, 0.0f );
+	float maxMotorForce = state.GetValue < float >( 2, 0.0f );
 
 	b2PrismaticJoint* joint = ( b2PrismaticJoint* )self->mJoint;
 	joint->SetMaxMotorForce ( maxMotorForce * unitsToMeters );
@@ -272,10 +274,12 @@ int MOAIBox2DPrismaticJoint::_setMaxMotorForce ( lua_State* L ) {
 //----------------------------------------------------------------//
 /**	@name	setMotor
 	@text	See Box2D documentation.
+			If speed is determined to be zero, the motor is disabled, unless forceEnable is set.
 
 	@in		MOAIBox2DPrismaticJoint self
 	@opt	number speed			Default value is 0.
 	@opt	number max				Default value is 0.
+	@opt	boolean forceEnable		Default value is false.
 	@out	nil
 */
 int MOAIBox2DPrismaticJoint::_setMotor ( lua_State* L ) {
@@ -288,13 +292,14 @@ int MOAIBox2DPrismaticJoint::_setMotor ( lua_State* L ) {
 
 	float speed	= state.GetValue < float >( 2, 0.0f );
 	float max	= state.GetValue < float >( 3, 0.0f );
+	bool forceEnable = state.GetValue < bool >( 4, false );
 
 	float unitsToMeters = self->GetUnitsToMeters ();
 	b2PrismaticJoint* joint = ( b2PrismaticJoint* )self->mJoint;
 
 	joint->SetMotorSpeed ( speed * unitsToMeters );
 	joint->SetMaxMotorForce ( max * unitsToMeters );
-	joint->EnableMotor ( speed != 0.0f );
+	joint->EnableMotor ( forceEnable ? true : ( speed != 0.0f ) );
 
 	return 0;
 }
@@ -323,6 +328,32 @@ int MOAIBox2DPrismaticJoint::_setMotorEnabled ( lua_State* L ) {
 	return 0;
 }
 
+//----------------------------------------------------------------//
+/**	@name	setMotorSpeed
+ @text	See Box2D documentation.
+
+ @in	MOAIBox2DPrismaticJoint self
+ @opt	number motorSpeed		Converted from units of distance/s to m/s. Default value is 0.
+
+ */
+int MOAIBox2DPrismaticJoint::_setMotorSpeed ( lua_State* L ) {
+	MOAI_LUA_SETUP ( MOAIBox2DPrismaticJoint, "U" )
+
+	if ( !self->mJoint ) {
+		MOAILog ( state, MOAILogMessages::MOAIBox2DJoint_MissingInstance );
+		return 0;
+	}
+
+	float unitsToMeters = self->GetUnitsToMeters ();
+	float speed = state.GetValue < float >( 2, 0.0f ) * unitsToMeters;
+
+	b2PrismaticJoint* joint = ( b2PrismaticJoint* )self->mJoint;
+	joint->SetMotorSpeed ( speed );
+
+	return 0;
+}
+
+
 //================================================================//
 // MOAIBox2DPrismaticJoint
 //================================================================//
@@ -361,6 +392,7 @@ void MOAIBox2DPrismaticJoint::RegisterLuaFuncs ( MOAILuaState& state ) {
 		{ "setLimitEnabled",			_setLimitEnabled },
 		{ "setMaxMotorForce",			_setMaxMotorForce },
 		{ "setMotor",					_setMotor },
+		{ "setMotorSpeed",				_setMotorSpeed },
 		{ "setMotorEnabled",			_setMotorEnabled },
 		{ NULL, NULL }
 	};

src/moaicore/MOAIBox2DPrismaticJoint.h

@@ -31,6 +31,7 @@ class MOAIBox2DPrismaticJoint :
 	static int		_setLimitEnabled		( lua_State* L );
 	static int		_setMaxMotorForce		( lua_State* L );
 	static int		_setMotor				( lua_State* L );
+	static int		_setMotorSpeed			( lua_State* L );
 	static int		_setMotorEnabled		( lua_State* L );
 
 public:

src/moaicore/MOAIBox2DRevoluteJoint.cpp

@@ -106,7 +106,7 @@ int MOAIBox2DRevoluteJoint::_getMotorSpeed ( lua_State* L ) {
 	@text	See Box2D documentation.
 
 	@in		MOAIBox2DRevoluteJoint self
-	@out	number motorTorque
+	@out	number motorTorque		Converted from N-m.
 */
 int MOAIBox2DRevoluteJoint::_getMotorTorque ( lua_State* L ) {
 	MOAI_LUA_SETUP ( MOAIBox2DRevoluteJoint, "U" )
@@ -116,9 +116,11 @@ int MOAIBox2DRevoluteJoint::_getMotorTorque ( lua_State* L ) {
 		return 0;
 	}
 
+	float unitsToMeters = self->GetUnitsToMeters ();
 	b2RevoluteJoint* joint = ( b2RevoluteJoint* )self->mJoint;
 	float step = ( float )( 1.0 / MOAISim::Get ().GetStep ());
-	state.Push ( joint->GetMotorTorque (step) * ( float )R2D );
+	/* Convert from N-m (kg m / s^2) * m => (kg unit / s^2) * unit */
+	state.Push ( joint->GetMotorTorque (step) / (unitsToMeters * unitsToMeters));
 
 	return 1;
 }
@@ -242,7 +244,7 @@ int MOAIBox2DRevoluteJoint::_setLimitEnabled ( lua_State* L ) {
 	@text	See Box2D documentation.
 
 	@in		MOAIBox2DRevoluteJoint self
-	@opt	number maxMotorTorque		Default value is 0.
+	@opt	number maxMotorTorque		Converted to N-m. Default value is 0.
 	@out	nil
 */
 int MOAIBox2DRevoluteJoint::_setMaxMotorTorque ( lua_State* L ) {
@@ -253,7 +255,9 @@ int MOAIBox2DRevoluteJoint::_setMaxMotorTorque ( lua_State* L ) {
 		return 0;
 	}
 
-	float maxMotorTorque = state.GetValue < float >( 1, 0.0f ) * ( float )D2R;
+	float unitsToMeters = self->GetUnitsToMeters ();
+	/* Convert to N-m (kg m / s^2) * m from (kg unit / s^2) * unit */
+	float maxMotorTorque = state.GetValue < float >( 2, 0.0f ) * unitsToMeters * unitsToMeters;
 
 	b2RevoluteJoint* joint = ( b2RevoluteJoint* )self->mJoint;
 	joint->SetMaxMotorTorque ( maxMotorTorque );
@@ -264,10 +268,12 @@ int MOAIBox2DRevoluteJoint::_setMaxMotorTorque ( lua_State* L ) {
 //----------------------------------------------------------------//
 /**	@name	setMotor
 	@text	See Box2D documentation.
-
+			If speed is determined to be zero, the motor is disabled, unless forceEnable is set.
+
 	@in		MOAIBox2DRevoluteJoint self
 	@opt	number speed			Default value is 0.
-	@opt	number max				Default value is 0.
+	@opt	number maxMotorTorque		Converted to N-m. Default value is 0.
+	@opt	boolean forceEnable		Default value is false.
 	@out	nil
 */
 int MOAIBox2DRevoluteJoint::_setMotor ( lua_State* L ) {
@@ -278,17 +284,44 @@ int MOAIBox2DRevoluteJoint::_setMotor ( lua_State* L ) {
 		return 0;
 	}
 
+	float unitsToMeters = self->GetUnitsToMeters ();
 	float speed	= state.GetValue < float >( 2, 0.0f );
 	float max	= state.GetValue < float >( 3, 0.0f );
-
+	bool forceEnable = state.GetValue < bool >( 4, false );
+
 	b2RevoluteJoint* joint = ( b2RevoluteJoint* )self->mJoint;
 	joint->SetMotorSpeed ( speed * ( float )D2R );
-	joint->SetMaxMotorTorque ( max * ( float )D2R );
-	joint->EnableMotor ( speed != 0.0f );
+	/* Convert from N-m (kg m / s^2) * m => (kg unit / s^2) * unit */
+	joint->SetMaxMotorTorque ( max * unitsToMeters * unitsToMeters );
+	joint->EnableMotor ( forceEnable ? true : ( speed != 0.0f ) );
 
 	return 0;
 }
 
+//----------------------------------------------------------------//
+/**	@name	setMotorSpeed
+ @text	See Box2D documentation.
+
+ @in	MOAIBox2DRevoluteJoint self
+ @opt	number motorSpeed		Converted from Deg/s to Rad/s. Default value is 0.
+
+ */
+int MOAIBox2DRevoluteJoint::_setMotorSpeed ( lua_State* L ) {
+	MOAI_LUA_SETUP ( MOAIBox2DRevoluteJoint, "U" )
+
+	if ( !self->mJoint ) {
+		MOAILog ( state, MOAILogMessages::MOAIBox2DJoint_MissingInstance );
+		return 0;
+	}
+
+	float speed = state.GetValue < float >( 2, 0.0f ) * ( float )D2R;
+
+	b2RevoluteJoint* joint = ( b2RevoluteJoint* )self->mJoint;
+	joint->SetMotorSpeed ( speed );
+
+	return 0;
+}
+
 //----------------------------------------------------------------//
 /**	@name	setMotorEnabled
 	@text	See Box2D documentation.
@@ -351,6 +384,7 @@ void MOAIBox2DRevoluteJoint::RegisterLuaFuncs ( MOAILuaState& state ) {
 		{ "setLimitEnabled",			_setLimitEnabled },
 		{ "setMaxMotorTorque",			_setMaxMotorTorque },
 		{ "setMotor",					_setMotor },
+		{ "setMotorSpeed",				_setMotorSpeed },
 		{ "setMotorEnabled",			_setMotorEnabled },
 		{ NULL, NULL }
 	};

src/moaicore/MOAIBox2DRevoluteJoint.h

@@ -31,6 +31,7 @@ class MOAIBox2DRevoluteJoint :
 	static int		_setLimitEnabled		( lua_State* L );
 	static int		_setMaxMotorTorque		( lua_State* L );
 	static int		_setMotor				( lua_State* L );
+	static int		_setMotorSpeed			( lua_State* L );
 	static int		_setMotorEnabled		( lua_State* L );
 
 public:

src/moaicore/MOAIBox2DRopeJoint.cpp

@@ -81,8 +81,7 @@ int MOAIBox2DRopeJoint::_setMaxLength ( lua_State* L ) {
 		return 0;
 	}
 
-	float length = state.GetValue < float >( 1, 0.0f ) * unitsToMeters;
-	printf("\n\n\nmax length = %f", length);
+	float length = state.GetValue < float >( 2, 0.0f ) * unitsToMeters;
 	b2RopeJoint* joint = ( b2RopeJoint* )self->mJoint;
 	joint->SetMaxLength ( length );