b2PulleyJoint Class Reference

#include <b2PulleyJoint.h>

Inheritance diagram for b2PulleyJoint:

Public Member Functions
void	Dump ()
	Dump joint to dmLog. More...
b2Vec2	GetAnchorA () const
	Get the anchor point on bodyA in world coordinates. More...
b2Vec2	GetAnchorB () const
	Get the anchor point on bodyB in world coordinates. More...
float32	GetCurrentLengthA () const
	Get the current length of the segment attached to bodyA. More...
float32	GetCurrentLengthB () const
	Get the current length of the segment attached to bodyB. More...
b2Vec2	GetGroundAnchorA () const
	Get the first ground anchor. More...
b2Vec2	GetGroundAnchorB () const
	Get the second ground anchor. More...
float32	GetLengthA () const
	Get the current length of the segment attached to bodyA. More...
float32	GetLengthB () const
	Get the current length of the segment attached to bodyB. More...
float32	GetRatio () const
	Get the pulley ratio. More...
b2Vec2	GetReactionForce (float32 inv_dt) const
	Get the reaction force on bodyB at the joint anchor in Newtons. More...
float32	GetReactionTorque (float32 inv_dt) const
	Get the reaction torque on bodyB in N*m. More...
void	ShiftOrigin (const b2Vec2 &newOrigin)
	Implement b2Joint::ShiftOrigin. More...
Public Member Functions inherited from b2Joint
b2Body *	GetBodyA ()
	Get the first body attached to this joint. More...
b2Body *	GetBodyB ()
	Get the second body attached to this joint. More...
bool	GetCollideConnected () const
b2Joint *	GetNext ()
	Get the next joint the world joint list. More...
const b2Joint *	GetNext () const
b2JointType	GetType () const
	Get the type of the concrete joint. More...
void *	GetUserData () const
	Get the user data pointer. More...
bool	IsActive () const
	Short-cut function to determine if either body is inactive. More...
void	SetUserData (void *data)
	Set the user data pointer. More...

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

Protected Attributes
float32	m_constant
b2Vec2	m_groundAnchorA
b2Vec2	m_groundAnchorB
float32	m_impulse
int32	m_indexA
int32	m_indexB
float32	m_invIA
float32	m_invIB
float32	m_invMassA
float32	m_invMassB
float32	m_lengthA
float32	m_lengthB
b2Vec2	m_localAnchorA
b2Vec2	m_localAnchorB
b2Vec2	m_localCenterA
b2Vec2	m_localCenterB
float32	m_mass
b2Vec2	m_rA
float32	m_ratio
b2Vec2	m_rB
b2Vec2	m_uA
b2Vec2	m_uB
Protected Attributes inherited from b2Joint
b2Body *	m_bodyA
b2Body *	m_bodyB
bool	m_collideConnected
b2JointEdge	m_edgeA
b2JointEdge	m_edgeB
int32	m_index
bool	m_islandFlag
b2Joint *	m_next
b2Joint *	m_prev
b2JointType	m_type
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

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.

Definition at line 79 of file b2PulleyJoint.h.

Constructor & Destructor Documentation

b2PulleyJoint::b2PulleyJoint ( const b2PulleyJointDef *  data )

protected

Definition at line 54 of file b2PulleyJoint.cpp.

Member Function Documentation

void b2PulleyJoint::Dump ( )

virtual

Dump joint to dmLog.

Reimplemented from b2Joint.

Definition at line 325 of file b2PulleyJoint.cpp.

b2Vec2 b2PulleyJoint::GetAnchorA ( ) const

virtual

Get the anchor point on bodyA in world coordinates.

Implements b2Joint.

Definition at line 262 of file b2PulleyJoint.cpp.

b2Vec2 b2PulleyJoint::GetAnchorB ( ) const

virtual

Get the anchor point on bodyB in world coordinates.

Implements b2Joint.

Definition at line 267 of file b2PulleyJoint.cpp.

float32 b2PulleyJoint::GetCurrentLengthA

(

)

const

Get the current length of the segment attached to bodyA.

Definition at line 309 of file b2PulleyJoint.cpp.

float32 b2PulleyJoint::GetCurrentLengthB

(

)

const

Get the current length of the segment attached to bodyB.

Definition at line 317 of file b2PulleyJoint.cpp.

b2Vec2 b2PulleyJoint::GetGroundAnchorA

(

)

const

Get the first ground anchor.

Definition at line 284 of file b2PulleyJoint.cpp.

b2Vec2 b2PulleyJoint::GetGroundAnchorB

(

)

const

Get the second ground anchor.

Definition at line 289 of file b2PulleyJoint.cpp.

float32 b2PulleyJoint::GetLengthA

(

)

const

Get the current length of the segment attached to bodyA.

Definition at line 294 of file b2PulleyJoint.cpp.

float32 b2PulleyJoint::GetLengthB

(

)

const

Get the current length of the segment attached to bodyB.

Definition at line 299 of file b2PulleyJoint.cpp.

float32 b2PulleyJoint::GetRatio

(

)

const

Get the pulley ratio.

Definition at line 304 of file b2PulleyJoint.cpp.

b2Vec2 b2PulleyJoint::GetReactionForce ( float32  inv_dt ) const

virtual

Get the reaction force on bodyB at the joint anchor in Newtons.

Implements b2Joint.

Definition at line 272 of file b2PulleyJoint.cpp.

float32 b2PulleyJoint::GetReactionTorque ( float32  inv_dt ) const

virtual

Get the reaction torque on bodyB in N*m.

Implements b2Joint.

Definition at line 278 of file b2PulleyJoint.cpp.

void b2PulleyJoint::InitVelocityConstraints ( const b2SolverData &  data )

protectedvirtual

Implements b2Joint.

Definition at line 73 of file b2PulleyJoint.cpp.

void b2PulleyJoint::ShiftOrigin ( const b2Vec2 &  newOrigin )

virtual

Implement b2Joint::ShiftOrigin.

Reimplemented from b2Joint.

Definition at line 344 of file b2PulleyJoint.cpp.

bool b2PulleyJoint::SolvePositionConstraints ( const b2SolverData &  data )

protectedvirtual

Implements b2Joint.

Definition at line 190 of file b2PulleyJoint.cpp.

void b2PulleyJoint::SolveVelocityConstraints ( const b2SolverData &  data )

protectedvirtual

Implements b2Joint.

Definition at line 163 of file b2PulleyJoint.cpp.

Friends And Related Function Documentation

friend class b2Joint

friend

Definition at line 117 of file b2PulleyJoint.h.

Member Data Documentation

float32 b2PulleyJoint::m_constant

protected

Definition at line 132 of file b2PulleyJoint.h.

b2Vec2 b2PulleyJoint::m_groundAnchorA

protected

Definition at line 124 of file b2PulleyJoint.h.

b2Vec2 b2PulleyJoint::m_groundAnchorB

protected

Definition at line 125 of file b2PulleyJoint.h.

float32 b2PulleyJoint::m_impulse

protected

Definition at line 134 of file b2PulleyJoint.h.

int32 b2PulleyJoint::m_indexA

protected

Definition at line 137 of file b2PulleyJoint.h.

int32 b2PulleyJoint::m_indexB

protected

Definition at line 138 of file b2PulleyJoint.h.

float32 b2PulleyJoint::m_invIA

protected

Definition at line 147 of file b2PulleyJoint.h.

float32 b2PulleyJoint::m_invIB

protected

Definition at line 148 of file b2PulleyJoint.h.

float32 b2PulleyJoint::m_invMassA

protected

Definition at line 145 of file b2PulleyJoint.h.

float32 b2PulleyJoint::m_invMassB

protected

Definition at line 146 of file b2PulleyJoint.h.

float32 b2PulleyJoint::m_lengthA

protected

Definition at line 126 of file b2PulleyJoint.h.

float32 b2PulleyJoint::m_lengthB

protected

Definition at line 127 of file b2PulleyJoint.h.

b2Vec2 b2PulleyJoint::m_localAnchorA

protected

Definition at line 130 of file b2PulleyJoint.h.

b2Vec2 b2PulleyJoint::m_localAnchorB

protected

Definition at line 131 of file b2PulleyJoint.h.

b2Vec2 b2PulleyJoint::m_localCenterA

protected

Definition at line 143 of file b2PulleyJoint.h.

b2Vec2 b2PulleyJoint::m_localCenterB

protected

Definition at line 144 of file b2PulleyJoint.h.

float32 b2PulleyJoint::m_mass

protected

Definition at line 149 of file b2PulleyJoint.h.

b2Vec2 b2PulleyJoint::m_rA

protected

Definition at line 141 of file b2PulleyJoint.h.

float32 b2PulleyJoint::m_ratio

protected

Definition at line 133 of file b2PulleyJoint.h.

b2Vec2 b2PulleyJoint::m_rB

protected

Definition at line 142 of file b2PulleyJoint.h.

b2Vec2 b2PulleyJoint::m_uA

protected

Definition at line 139 of file b2PulleyJoint.h.

b2Vec2 b2PulleyJoint::m_uB

protected

Definition at line 140 of file b2PulleyJoint.h.

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

• b2PulleyJoint.h
• b2PulleyJoint.cpp