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b2WheelJoint Class Reference

#include <b2WheelJoint.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.
 
const b2Vec2 & GetLocalAnchorA () const
 The local anchor point relative to bodyA's origin.
 
const b2Vec2 & GetLocalAnchorB () const
 The local anchor point relative to bodyB's origin.
 
const b2Vec2 & GetLocalAxisA () const
 The local joint axis relative to bodyA.
 
float32 GetJointTranslation () const
 Get the current joint translation, usually in meters.
 
float32 GetJointSpeed () const
 Get the current joint translation speed, usually in meters per second.
 
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, usually in radians per second.
 
float32 GetMotorSpeed () const
 Get the motor speed, usually in radians per second.
 
void SetMaxMotorTorque (float32 torque)
 Set/Get the maximum motor force, usually in N-m.
 
float32 GetMaxMotorTorque () const
 
float32 GetMotorTorque (float32 inv_dt) const
 Get the current motor torque given the inverse time step, usually in N-m.
 
void SetSpringFrequencyHz (float32 hz)
 Set/Get the spring frequency in hertz. Setting the frequency to zero disables the spring.
 
float32 GetSpringFrequencyHz () const
 
void SetSpringDampingRatio (float32 ratio)
 Set/Get the spring damping ratio.
 
float32 GetSpringDampingRatio () const
 
void Dump ()
 Dump to b2Log.
 
- Public Member Functions inherited from b2Joint
b2JointType GetType () const
 Get the type of the concrete joint.
 
b2Body * GetBodyA ()
 Get the first body attached to this joint.
 
b2Body * GetBodyB ()
 Get the second body attached to this joint.
 
b2Joint * GetNext ()
 Get the next joint the world joint list.
 
const b2Joint * GetNext () 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

 b2WheelJoint (const b2WheelJointDef *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

float32 m_frequencyHz
 
float32 m_dampingRatio
 
b2Vec2 m_localAnchorA
 
b2Vec2 m_localAnchorB
 
b2Vec2 m_localXAxisA
 
b2Vec2 m_localYAxisA
 
float32 m_impulse
 
float32 m_motorImpulse
 
float32 m_springImpulse
 
float32 m_maxMotorTorque
 
float32 m_motorSpeed
 
bool m_enableMotor
 
int32 m_indexA
 
int32 m_indexB
 
b2Vec2 m_localCenterA
 
b2Vec2 m_localCenterB
 
float32 m_invMassA
 
float32 m_invMassB
 
float32 m_invIA
 
float32 m_invIB
 
b2Vec2 m_ax
 
b2Vec2 m_ay
 
float32 m_sAx
 
float32 m_sBx
 
float32 m_sAy
 
float32 m_sBy
 
float32 m_mass
 
float32 m_motorMass
 
float32 m_springMass
 
float32 m_bias
 
float32 m_gamma
 
- Protected Attributes inherited from b2Joint
b2JointType m_type
 
b2Joint * m_prev
 
b2Joint * m_next
 
b2JointEdge m_edgeA
 
b2JointEdge m_edgeB
 
b2Body * m_bodyA
 
b2Body * m_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 b2Joint * Create (const b2JointDef *def, b2BlockAllocator *allocator)
 
static void Destroy (b2Joint *joint, b2BlockAllocator *allocator)
 

Detailed Description

A wheel joint. This joint provides two degrees of freedom: translation along an axis fixed in bodyA and rotation in the plane. You can use a joint limit to restrict the range of motion and a joint motor to drive the rotation or to model rotational friction. This joint is designed for vehicle suspensions.

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