19 #ifndef B2_REVOLUTE_JOINT_H 20 #define B2_REVOLUTE_JOINT_H 22 #include <Box2D/Dynamics/Joints/b2Joint.h> 39 type = e_revoluteJoint;
106 float32 GetJointAngle()
const;
109 float32 GetJointSpeed()
const;
112 bool IsLimitEnabled()
const;
115 void EnableLimit(
bool flag);
118 float32 GetLowerLimit()
const;
121 float32 GetUpperLimit()
const;
124 void SetLimits(float32 lower, float32 upper);
127 bool IsMotorEnabled()
const;
130 void EnableMotor(
bool flag);
133 void SetMotorSpeed(float32 speed);
136 float32 GetMotorSpeed()
const;
139 void SetMaxMotorTorque(float32 torque);
140 float32 GetMaxMotorTorque()
const {
return m_maxMotorTorque; }
144 b2Vec2 GetReactionForce(float32 inv_dt)
const;
148 float32 GetReactionTorque(float32 inv_dt)
const;
152 float32 GetMotorTorque(float32 inv_dt)
const;
165 void SolveVelocityConstraints(
const b2SolverData& data);
166 bool SolvePositionConstraints(
const b2SolverData& data);
172 float32 m_motorImpulse;
175 float32 m_maxMotorTorque;
176 float32 m_motorSpeed;
179 float32 m_referenceAngle;
180 float32 m_lowerAngle;
181 float32 m_upperAngle;
196 b2LimitState m_limitState;
A 2D column vector with 3 elements.
Definition: b2Math.h:144
b2Body * bodyA
The first attached body.
Definition: b2Joint.h:92
float32 motorSpeed
The desired motor speed. Usually in radians per second.
Definition: b2RevoluteJoint.h:77
void Initialize(b2Body *bodyA, b2Body *bodyB, const b2Vec2 &anchor)
Definition: b2RevoluteJoint.cpp:36
A 3-by-3 matrix. Stored in column-major order.
Definition: b2Math.h:257
b2Body * bodyB
The second attached body.
Definition: b2Joint.h:95
bool enableMotor
A flag to enable the joint motor.
Definition: b2RevoluteJoint.h:74
Definition: b2Joint.h:103
b2Vec2 localAnchorB
The local anchor point relative to bodyB's origin.
Definition: b2RevoluteJoint.h:59
float32 lowerAngle
The lower angle for the joint limit (radians).
Definition: b2RevoluteJoint.h:68
void Set(float32 x_, float32 y_)
Set this vector to some specified coordinates.
Definition: b2Math.h:65
const b2Vec2 & GetLocalAnchorA() const
The local anchor point relative to bodyA's origin.
Definition: b2RevoluteJoint.h:97
float32 GetReferenceAngle() const
Get the reference angle.
Definition: b2RevoluteJoint.h:103
float32 GetMotorSpeed() const
Get the motor speed in radians per second.
Definition: b2RevoluteJoint.h:199
Definition: b2GearJoint.h:56
float32 referenceAngle
The bodyB angle minus bodyA angle in the reference state (radians).
Definition: b2RevoluteJoint.h:62
b2Vec2 localAnchorA
The local anchor point relative to bodyA's origin.
Definition: b2RevoluteJoint.h:56
b2JointType type
The joint type is set automatically for concrete joint types.
Definition: b2Joint.h:86
Solver Data.
Definition: b2TimeStep.h:63
const b2Vec2 & GetLocalAnchorB() const
The local anchor point relative to bodyB's origin.
Definition: b2RevoluteJoint.h:100
float32 upperAngle
The upper angle for the joint limit (radians).
Definition: b2RevoluteJoint.h:71
Definition: b2RevoluteJoint.h:90
Joint definitions are used to construct joints.
Definition: b2Joint.h:74
bool enableLimit
A flag to enable joint limits.
Definition: b2RevoluteJoint.h:65
A rigid body. These are created via b2World::CreateBody.
Definition: b2Body.h:126
Definition: b2RevoluteJoint.h:35
float32 maxMotorTorque
Definition: b2RevoluteJoint.h:81
A 2D column vector.
Definition: b2Math.h:53