content: /*
   * FXGL - JavaFX Game Library. The MIT License (MIT).
   * Copyright (c) AlmasB (almaslvl@gmail.com).
   * See LICENSE for details.
   */
  
  package com.almasb.fxgl.physics.box2d.dynamics.joints;
  
  import com.almasb.fxgl.core.math.Vec2;
  import com.almasb.fxgl.physics.box2d.dynamics.Body;
  import com.almasb.fxgl.physics.box2d.dynamics.World;
  
  /**
   * Motor joint definition.
   *
   * @author dmurph
   */
  public class MotorJointDef extends JointDef<MotorJoint> {
      /**
       * Position of bodyB minus the position of bodyA, in bodyA's frame, in meters.
       */
      public final Vec2 linearOffset = new Vec2();
  
      /**
       * The bodyB angle minus bodyA angle in radians.
       */
      public float angularOffset;
  
      /**
       * The maximum motor force in N.
       */
      public float maxForce;
  
      /**
       * The maximum motor torque in N-m.
       */
      public float maxTorque;
  
      /**
       * Position correction factor in the range [0,1].
       */
      public float correctionFactor;
  
      public MotorJointDef() {
          angularOffset = 0;
          maxForce = 1;
          maxTorque = 1;
          correctionFactor = 0.3f;
      }
  
      public void initialize(Body bA, Body bB) {
          setBodyA(bA);
          setBodyB(bB);
  
          Vec2 xB = bB.getPosition();
          bA.getLocalPointToOut(xB, linearOffset);
  
          float angleA = bA.getAngle();
          float angleB = bB.getAngle();
          angularOffset = angleB - angleA;
      }
  
      @Override
      protected MotorJoint createJoint(World world) {
          return new MotorJoint(world.getPool(), this);
      }
  }
  