Public Member Functions | Protected Member Functions | Protected Attributes | Friends
b2RevoluteJoint Class Reference

#include <b2RevoluteJoint.h>

Inheritance diagram for b2RevoluteJoint:
Inheritance graph
[legend]

List of all members.

Public Member Functions

void Dump ()
 Dump to b2Log.
void EnableLimit (bool flag)
 Enable/disable the joint limit.
void EnableMotor (bool flag)
 Enable/disable the joint motor.
b2Vec2 GetAnchorA () const
 Get the anchor point on bodyA in world coordinates.
b2Vec2 GetAnchorB () const
 Get the anchor point on bodyB in world coordinates.
float32 GetJointAngle () const
 Get the current joint angle in radians.
float32 GetJointSpeed () const
 Get the current joint angle speed in radians per second.
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 GetLowerLimit () const
 Get the lower joint limit in radians.
float32 GetMaxMotorTorque () const
float32 GetMotorSpeed () const
 Get the motor speed in radians per second.
float32 GetMotorTorque (float32 inv_dt) const
b2Vec2 GetReactionForce (float32 inv_dt) const
float32 GetReactionTorque (float32 inv_dt) const
float32 GetReferenceAngle () const
 Get the reference angle.
float32 GetUpperLimit () const
 Get the upper joint limit in radians.
bool IsLimitEnabled () const
 Is the joint limit enabled?
bool IsMotorEnabled () const
 Is the joint motor enabled?
void SetLimits (float32 lower, float32 upper)
 Set the joint limits in radians.
void SetMaxMotorTorque (float32 torque)
 Set the maximum motor torque, usually in N-m.
void SetMotorSpeed (float32 speed)
 Set the motor speed in radians per second.

Protected Member Functions

 b2RevoluteJoint (const b2RevoluteJointDef *def)
void InitVelocityConstraints (const b2SolverData &data)
bool SolvePositionConstraints (const b2SolverData &data)
void SolveVelocityConstraints (const b2SolverData &data)

Protected Attributes

bool m_enableLimit
bool m_enableMotor
b2Vec3 m_impulse
int32 m_indexA
int32 m_indexB
float32 m_invIA
float32 m_invIB
float32 m_invMassA
float32 m_invMassB
b2LimitState m_limitState
b2Vec2 m_localAnchorA
b2Vec2 m_localAnchorB
b2Vec2 m_localCenterA
b2Vec2 m_localCenterB
float32 m_lowerAngle
b2Mat33 m_mass
float32 m_maxMotorTorque
float32 m_motorImpulse
float32 m_motorMass
float32 m_motorSpeed
b2Vec2 m_rA
b2Vec2 m_rB
float32 m_referenceAngle
float32 m_upperAngle

Friends

class b2GearJoint
class b2Joint

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.

Definition at line 90 of file b2RevoluteJoint.h.


Constructor & Destructor Documentation

Definition at line 45 of file b2RevoluteJoint.cpp.


Member Function Documentation

void b2RevoluteJoint::Dump ( ) [virtual]

Dump to b2Log.

Reimplemented from b2Joint.

Definition at line 483 of file b2RevoluteJoint.cpp.

void b2RevoluteJoint::EnableLimit ( bool  flag)

Enable/disable the joint limit.

Definition at line 448 of file b2RevoluteJoint.cpp.

void b2RevoluteJoint::EnableMotor ( bool  flag)

Enable/disable the joint motor.

Definition at line 417 of file b2RevoluteJoint.cpp.

b2Vec2 b2RevoluteJoint::GetAnchorA ( ) const [virtual]

Get the anchor point on bodyA in world coordinates.

Implements b2Joint.

Definition at line 377 of file b2RevoluteJoint.cpp.

b2Vec2 b2RevoluteJoint::GetAnchorB ( ) const [virtual]

Get the anchor point on bodyB in world coordinates.

Implements b2Joint.

Definition at line 382 of file b2RevoluteJoint.cpp.

Get the current joint angle in radians.

Definition at line 398 of file b2RevoluteJoint.cpp.

Get the current joint angle speed in radians per second.

Definition at line 405 of file b2RevoluteJoint.cpp.

const b2Vec2& b2RevoluteJoint::GetLocalAnchorA ( ) const [inline]

The local anchor point relative to bodyA's origin.

Definition at line 97 of file b2RevoluteJoint.h.

const b2Vec2& b2RevoluteJoint::GetLocalAnchorB ( ) const [inline]

The local anchor point relative to bodyB's origin.

Definition at line 100 of file b2RevoluteJoint.h.

Get the lower joint limit in radians.

Definition at line 459 of file b2RevoluteJoint.cpp.

Definition at line 140 of file b2RevoluteJoint.h.

Get the motor speed in radians per second.

Definition at line 199 of file b2RevoluteJoint.h.

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

Definition at line 424 of file b2RevoluteJoint.cpp.

b2Vec2 b2RevoluteJoint::GetReactionForce ( float32  inv_dt) const [virtual]

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

Implements b2Joint.

Definition at line 387 of file b2RevoluteJoint.cpp.

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.

Definition at line 393 of file b2RevoluteJoint.cpp.

Get the reference angle.

Definition at line 103 of file b2RevoluteJoint.h.

Get the upper joint limit in radians.

Definition at line 464 of file b2RevoluteJoint.cpp.

void b2RevoluteJoint::InitVelocityConstraints ( const b2SolverData data) [protected, virtual]

Implements b2Joint.

Definition at line 64 of file b2RevoluteJoint.cpp.

Is the joint limit enabled?

Definition at line 443 of file b2RevoluteJoint.cpp.

Is the joint motor enabled?

Definition at line 412 of file b2RevoluteJoint.cpp.

void b2RevoluteJoint::SetLimits ( float32  lower,
float32  upper 
)

Set the joint limits in radians.

Definition at line 469 of file b2RevoluteJoint.cpp.

Set the maximum motor torque, usually in N-m.

Definition at line 436 of file b2RevoluteJoint.cpp.

Set the motor speed in radians per second.

Definition at line 429 of file b2RevoluteJoint.cpp.

bool b2RevoluteJoint::SolvePositionConstraints ( const b2SolverData data) [protected, virtual]

Implements b2Joint.

Definition at line 291 of file b2RevoluteJoint.cpp.

void b2RevoluteJoint::SolveVelocityConstraints ( const b2SolverData data) [protected, virtual]

Implements b2Joint.

Definition at line 183 of file b2RevoluteJoint.cpp.


Friends And Related Function Documentation

friend class b2GearJoint [friend]

Reimplemented from b2Joint.

Definition at line 160 of file b2RevoluteJoint.h.

friend class b2Joint [friend]

Definition at line 159 of file b2RevoluteJoint.h.


Member Data Documentation

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


mvsim
Author(s):
autogenerated on Thu Jun 6 2019 22:08:35