b2RevoluteJoint Class Reference

#include <b2RevoluteJoint.h>

Inheritance diagram for b2RevoluteJoint:

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

Protected Member Functions
	b2RevoluteJoint (const b2RevoluteJointDef *def)
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
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
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	b2GearJoint
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 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

b2RevoluteJoint::b2RevoluteJoint ( const b2RevoluteJointDef *  def )

protected

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.

float32 b2RevoluteJoint::GetJointAngle

(

)

const

Get the current joint angle in radians.

Definition at line 398 of file b2RevoluteJoint.cpp.

float32 b2RevoluteJoint::GetJointSpeed

(

)

const

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.

float32 b2RevoluteJoint::GetLowerLimit

(

)

const

Get the lower joint limit in radians.

Definition at line 459 of file b2RevoluteJoint.cpp.

float32 b2RevoluteJoint::GetMaxMotorTorque ( ) const

inline

Definition at line 140 of file b2RevoluteJoint.h.

float32 b2RevoluteJoint::GetMotorSpeed ( ) const

inline

Get the motor speed in radians per second.

Definition at line 199 of file b2RevoluteJoint.h.

float32 b2RevoluteJoint::GetMotorTorque

(

float32

inv_dt

)

const

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.

float32 b2RevoluteJoint::GetReferenceAngle ( ) const

inline

Get the reference angle.

Definition at line 103 of file b2RevoluteJoint.h.

float32 b2RevoluteJoint::GetUpperLimit

(

)

const

Get the upper joint limit in radians.

Definition at line 464 of file b2RevoluteJoint.cpp.

void b2RevoluteJoint::InitVelocityConstraints ( const b2SolverData &  data )

protectedvirtual

Implements b2Joint.

Definition at line 64 of file b2RevoluteJoint.cpp.

bool b2RevoluteJoint::IsLimitEnabled

(

)

const

Is the joint limit enabled?

Definition at line 443 of file b2RevoluteJoint.cpp.

bool b2RevoluteJoint::IsMotorEnabled

(

)

const

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.

void b2RevoluteJoint::SetMaxMotorTorque

(

float32

torque

)

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

Definition at line 436 of file b2RevoluteJoint.cpp.

void b2RevoluteJoint::SetMotorSpeed

(

float32

speed

)

Set the motor speed in radians per second.

Definition at line 429 of file b2RevoluteJoint.cpp.

bool b2RevoluteJoint::SolvePositionConstraints ( const b2SolverData &  data )

protectedvirtual

Implements b2Joint.

Definition at line 291 of file b2RevoluteJoint.cpp.

void b2RevoluteJoint::SolveVelocityConstraints ( const b2SolverData &  data )

protectedvirtual

Implements b2Joint.

Definition at line 183 of file b2RevoluteJoint.cpp.

Friends And Related Function Documentation

friend class b2GearJoint

friend

Definition at line 160 of file b2RevoluteJoint.h.

friend class b2Joint

friend

Definition at line 159 of file b2RevoluteJoint.h.

Member Data Documentation

bool b2RevoluteJoint::m_enableLimit

protected

Definition at line 178 of file b2RevoluteJoint.h.

bool b2RevoluteJoint::m_enableMotor

protected

Definition at line 174 of file b2RevoluteJoint.h.

b2Vec3 b2RevoluteJoint::m_impulse

protected

Definition at line 171 of file b2RevoluteJoint.h.

int32 b2RevoluteJoint::m_indexA

protected

Definition at line 184 of file b2RevoluteJoint.h.

int32 b2RevoluteJoint::m_indexB

protected

Definition at line 185 of file b2RevoluteJoint.h.

float32 b2RevoluteJoint::m_invIA

protected

Definition at line 192 of file b2RevoluteJoint.h.

float32 b2RevoluteJoint::m_invIB

protected

Definition at line 193 of file b2RevoluteJoint.h.

float32 b2RevoluteJoint::m_invMassA

protected

Definition at line 190 of file b2RevoluteJoint.h.

float32 b2RevoluteJoint::m_invMassB

protected

Definition at line 191 of file b2RevoluteJoint.h.

b2LimitState b2RevoluteJoint::m_limitState

protected

Definition at line 196 of file b2RevoluteJoint.h.

b2Vec2 b2RevoluteJoint::m_localAnchorA

protected

Definition at line 169 of file b2RevoluteJoint.h.

b2Vec2 b2RevoluteJoint::m_localAnchorB

protected

Definition at line 170 of file b2RevoluteJoint.h.

b2Vec2 b2RevoluteJoint::m_localCenterA

protected

Definition at line 188 of file b2RevoluteJoint.h.

b2Vec2 b2RevoluteJoint::m_localCenterB

protected

Definition at line 189 of file b2RevoluteJoint.h.

float32 b2RevoluteJoint::m_lowerAngle

protected

Definition at line 180 of file b2RevoluteJoint.h.

b2Mat33 b2RevoluteJoint::m_mass

protected

Definition at line 194 of file b2RevoluteJoint.h.

float32 b2RevoluteJoint::m_maxMotorTorque

protected

Definition at line 175 of file b2RevoluteJoint.h.

float32 b2RevoluteJoint::m_motorImpulse

protected

Definition at line 172 of file b2RevoluteJoint.h.

float32 b2RevoluteJoint::m_motorMass

protected

Definition at line 195 of file b2RevoluteJoint.h.

float32 b2RevoluteJoint::m_motorSpeed

protected

Definition at line 176 of file b2RevoluteJoint.h.

b2Vec2 b2RevoluteJoint::m_rA

protected

Definition at line 186 of file b2RevoluteJoint.h.

b2Vec2 b2RevoluteJoint::m_rB

protected

Definition at line 187 of file b2RevoluteJoint.h.

float32 b2RevoluteJoint::m_referenceAngle

protected

Definition at line 179 of file b2RevoluteJoint.h.

float32 b2RevoluteJoint::m_upperAngle

protected

Definition at line 181 of file b2RevoluteJoint.h.

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

• b2RevoluteJoint.h
• b2RevoluteJoint.cpp