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b2RevoluteJoint Class Reference

#include <b2RevoluteJoint.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.
 
const b2Vec2GetLocalAnchorA () const
 The local anchor point relative to bodyA's origin.
 
const b2Vec2GetLocalAnchorB () const
 The local anchor point relative to bodyB's origin.
 
float32 GetReferenceAngle () const
 Get the reference angle.
 
float32 GetJointAngle () const
 Get the current joint angle in radians.
 
float32 GetJointSpeed () const
 Get the current joint angle speed in radians per second.
 
bool IsLimitEnabled () const
 Is the joint limit enabled?
 
void EnableLimit (bool flag)
 Enable/disable the joint limit.
 
float32 GetLowerLimit () const
 Get the lower joint limit in radians.
 
float32 GetUpperLimit () const
 Get the upper joint limit in radians.
 
void SetLimits (float32 lower, float32 upper)
 Set the joint limits in radians.
 
bool IsMotorEnabled () const
 Is the joint motor enabled?
 
void EnableMotor (bool flag)
 Enable/disable the joint motor.
 
void SetMotorSpeed (float32 speed)
 Set the motor speed in radians per second.
 
float32 GetMotorSpeed () const
 Get the motor speed in radians per second.
 
void SetMaxMotorTorque (float32 torque)
 Set the maximum motor torque, usually in N-m.
 
float32 GetMaxMotorTorque () const
 
b2Vec2 GetReactionForce (float32 inv_dt) const
 
float32 GetReactionTorque (float32 inv_dt) const
 
float32 GetMotorTorque (float32 inv_dt) const
 
void Dump ()
 Dump to b2Log.
 
- 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
 
virtual void ShiftOrigin (const b2Vec2 &newOrigin)
 Shift the origin for any points stored in world coordinates.
 

Protected Member Functions

 b2RevoluteJoint (const b2RevoluteJointDef *def)
 
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_localAnchorA
 
b2Vec2 m_localAnchorB
 
b2Vec3 m_impulse
 
float32 m_motorImpulse
 
bool m_enableMotor
 
float32 m_maxMotorTorque
 
float32 m_motorSpeed
 
bool m_enableLimit
 
float32 m_referenceAngle
 
float32 m_lowerAngle
 
float32 m_upperAngle
 
int32 m_indexA
 
int32 m_indexB
 
b2Vec2 m_rA
 
b2Vec2 m_rB
 
b2Vec2 m_localCenterA
 
b2Vec2 m_localCenterB
 
float32 m_invMassA
 
float32 m_invMassB
 
float32 m_invIA
 
float32 m_invIB
 
b2Mat33 m_mass
 
float32 m_motorMass
 
b2LimitState m_limitState
 
- 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
 
class b2GearJoint
 

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

A revolute joint constrains two bodies to share a common point while they are free to rotate about the point. The relative rotation about the shared point is the joint angle. You can limit the relative rotation with a joint limit that specifies a lower and upper angle. You can use a motor to drive the relative rotation about the shared point. A maximum motor torque is provided so that infinite forces are not generated.

Member Function Documentation

float32 b2RevoluteJoint::GetMotorTorque ( float32  inv_dt) const

Get the current motor torque given the inverse time step. Unit is N*m.

b2Vec2 b2RevoluteJoint::GetReactionForce ( float32  inv_dt) const
virtual

Get the reaction force given the inverse time step. Unit is N.

Implements b2Joint.

float32 b2RevoluteJoint::GetReactionTorque ( float32  inv_dt) const
virtual

Get the reaction torque due to the joint limit given the inverse time step. Unit is N*m.

Implements b2Joint.


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