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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 b2Vec2GetLocalAnchorA () const
 The local anchor point relative to bodyA's origin.
const b2Vec2GetLocalAnchorB () const
 The local anchor point relative to bodyB's origin.
const b2Vec2GetLocalAxisA () 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.
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

 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
b2JointEdge m_edgeA
b2JointEdge m_edgeB
int32 m_index
bool m_islandFlag
bool m_collideConnected
void * m_userData


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

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: