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b2PulleyJoint Class Reference

#include <b2PulleyJoint.h>

Inherits b2Joint.

Public Member Functions

b2Vec2 GetAnchorA () const
 Get the anchor point on bodyA in world coordinates.
 
b2Vec2 GetAnchorB () const
 Get the anchor point on bodyB in world coordinates.
 
b2Vec2 GetReactionForce (float32 inv_dt) const
 Get the reaction force on bodyB at the joint anchor in Newtons.
 
float32 GetReactionTorque (float32 inv_dt) const
 Get the reaction torque on bodyB in N*m.
 
b2Vec2 GetGroundAnchorA () const
 Get the first ground anchor.
 
b2Vec2 GetGroundAnchorB () const
 Get the second ground anchor.
 
float32 GetLengthA () const
 Get the current length of the segment attached to bodyA.
 
float32 GetLengthB () const
 Get the current length of the segment attached to bodyB.
 
float32 GetRatio () const
 Get the pulley ratio.
 
float32 GetCurrentLengthA () const
 Get the current length of the segment attached to bodyA.
 
float32 GetCurrentLengthB () const
 Get the current length of the segment attached to bodyB.
 
void Dump ()
 Dump joint to dmLog.
 
void ShiftOrigin (const b2Vec2 &newOrigin)
 Implement b2Joint::ShiftOrigin.
 
- Public Member Functions inherited from b2Joint
b2JointType GetType () const
 Get the type of the concrete joint.
 
b2BodyGetBodyA ()
 Get the first body attached to this joint.
 
b2BodyGetBodyB ()
 Get the second body attached to this joint.
 
b2JointGetNext ()
 Get the next joint the world joint list.
 
const b2JointGetNext () const
 
void * GetUserData () const
 Get the user data pointer.
 
void SetUserData (void *data)
 Set the user data pointer.
 
bool IsActive () const
 Short-cut function to determine if either body is inactive.
 
bool GetCollideConnected () const
 

Protected Member Functions

 b2PulleyJoint (const b2PulleyJointDef *data)
 
void InitVelocityConstraints (const b2SolverData &data)
 
void SolveVelocityConstraints (const b2SolverData &data)
 
bool SolvePositionConstraints (const b2SolverData &data)
 
- Protected Member Functions inherited from b2Joint
 b2Joint (const b2JointDef *def)
 

Protected Attributes

b2Vec2 m_groundAnchorA
 
b2Vec2 m_groundAnchorB
 
float32 m_lengthA
 
float32 m_lengthB
 
b2Vec2 m_localAnchorA
 
b2Vec2 m_localAnchorB
 
float32 m_constant
 
float32 m_ratio
 
float32 m_impulse
 
int32 m_indexA
 
int32 m_indexB
 
b2Vec2 m_uA
 
b2Vec2 m_uB
 
b2Vec2 m_rA
 
b2Vec2 m_rB
 
b2Vec2 m_localCenterA
 
b2Vec2 m_localCenterB
 
float32 m_invMassA
 
float32 m_invMassB
 
float32 m_invIA
 
float32 m_invIB
 
float32 m_mass
 
- Protected Attributes inherited from b2Joint
b2JointType m_type
 
b2Jointm_prev
 
b2Jointm_next
 
b2JointEdge m_edgeA
 
b2JointEdge m_edgeB
 
b2Bodym_bodyA
 
b2Bodym_bodyB
 
int32 m_index
 
bool m_islandFlag
 
bool m_collideConnected
 
void * m_userData
 

Friends

class b2Joint
 

Additional Inherited Members

- Static Protected Member Functions inherited from b2Joint
static b2JointCreate (const b2JointDef *def, b2BlockAllocator *allocator)
 
static void Destroy (b2Joint *joint, b2BlockAllocator *allocator)
 

Detailed Description

The pulley joint is connected to two bodies and two fixed ground points. The pulley supports a ratio such that: length1 + ratio * length2 <= constant Yes, the force transmitted is scaled by the ratio. Warning: the pulley joint can get a bit squirrelly by itself. They often work better when combined with prismatic joints. You should also cover the the anchor points with static shapes to prevent one side from going to zero length.


The documentation for this class was generated from the following files: