#include <b2WheelJoint.h>

Inheritance diagram for b2WheelJoint:

Public Member Functions
void	Dump ()
	Dump to b2Log. 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	GetJointSpeed () const
	Get the current joint translation speed, usually in meters per second. More...

float32	GetJointTranslation () const
	Get the current joint translation, usually in meters. 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...

const b2Vec2 &	GetLocalAxisA () const
	The local joint axis relative to bodyA. More...

float32	GetMaxMotorTorque () const

float32	GetMotorSpeed () const
	Get the motor speed, usually in radians per second. More...

float32	GetMotorTorque (float32 inv_dt) const
	Get the current motor torque given the inverse time step, usually in N-m. 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...

float32	GetSpringDampingRatio () const

float32	GetSpringFrequencyHz () const

bool	IsMotorEnabled () const
	Is the joint motor enabled? More...

void	SetMaxMotorTorque (float32 torque)
	Set/Get the maximum motor force, usually in N-m. More...

void	SetMotorSpeed (float32 speed)
	Set the motor speed, usually in radians per second. More...

void	SetSpringDampingRatio (float32 ratio)
	Set/Get the spring damping ratio. More...

void	SetSpringFrequencyHz (float32 hz)
	Set/Get the spring frequency in hertz. Setting the frequency to zero disables the spring. 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
	b2WheelJoint (const b2WheelJointDef *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
b2Vec2	m_ax

b2Vec2	m_ay

float32	m_bias

float32	m_dampingRatio

bool	m_enableMotor

float32	m_frequencyHz

float32	m_gamma

float32	m_impulse

int32	m_indexA

int32	m_indexB

float32	m_invIA

float32	m_invIB

float32	m_invMassA

float32	m_invMassB

b2Vec2	m_localAnchorA

b2Vec2	m_localAnchorB

b2Vec2	m_localCenterA

b2Vec2	m_localCenterB

b2Vec2	m_localXAxisA

b2Vec2	m_localYAxisA

float32	m_mass

float32	m_maxMotorTorque

float32	m_motorImpulse

float32	m_motorMass

float32	m_motorSpeed

float32	m_sAx

float32	m_sAy

float32	m_sBx

float32	m_sBy

float32	m_springImpulse

float32	m_springMass

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

A wheel joint. This joint provides two degrees of freedom: translation along an axis fixed in bodyA and rotation in the plane. In other words, it is a point to line constraint with a rotational motor and a linear spring/damper. This joint is designed for vehicle suspensions.

Definition at line 78 of file b2WheelJoint.h.

Constructor & Destructor Documentation

b2WheelJoint::b2WheelJoint ( const b2WheelJointDef * def )

protected

Definition at line 48 of file b2WheelJoint.cpp.

Member Function Documentation

void b2WheelJoint::Dump ( )

virtual

Dump to b2Log.

Reimplemented from b2Joint.

Definition at line 401 of file b2WheelJoint.cpp.

void b2WheelJoint::EnableMotor ( bool flag )

Enable/disable the joint motor.

Definition at line 375 of file b2WheelJoint.cpp.

b2Vec2 b2WheelJoint::GetAnchorA ( ) const

virtual

Get the anchor point on bodyA in world coordinates.

Implements b2Joint.

Definition at line 329 of file b2WheelJoint.cpp.

b2Vec2 b2WheelJoint::GetAnchorB ( ) const

virtual

Get the anchor point on bodyB in world coordinates.

Implements b2Joint.

Definition at line 334 of file b2WheelJoint.cpp.

float32 b2WheelJoint::GetJointSpeed ( ) const

Get the current joint translation speed, usually in meters per second.

Definition at line 363 of file b2WheelJoint.cpp.

float32 b2WheelJoint::GetJointTranslation ( ) const

Get the current joint translation, usually in meters.

Definition at line 349 of file b2WheelJoint.cpp.

const b2Vec2& b2WheelJoint::GetLocalAnchorA ( ) const

inline

The local anchor point relative to bodyA's origin.

Definition at line 88 of file b2WheelJoint.h.

const b2Vec2& b2WheelJoint::GetLocalAnchorB ( ) const

inline

The local anchor point relative to bodyB's origin.

Definition at line 91 of file b2WheelJoint.h.

const b2Vec2& b2WheelJoint::GetLocalAxisA ( ) const

inline

The local joint axis relative to bodyA.

Definition at line 94 of file b2WheelJoint.h.

float32 b2WheelJoint::GetMaxMotorTorque ( ) const

inline

Definition at line 185 of file b2WheelJoint.h.

float32 b2WheelJoint::GetMotorSpeed ( ) const

inline

Get the motor speed, usually in radians per second.

Definition at line 180 of file b2WheelJoint.h.

float32 b2WheelJoint::GetMotorTorque ( float32 inv_dt ) const

Get the current motor torque given the inverse time step, usually in N-m.

Definition at line 396 of file b2WheelJoint.cpp.

b2Vec2 b2WheelJoint::GetReactionForce ( float32 inv_dt ) const

virtual

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

Implements b2Joint.

Definition at line 339 of file b2WheelJoint.cpp.

float32 b2WheelJoint::GetReactionTorque ( float32 inv_dt ) const

virtual

Get the reaction torque on bodyB in N*m.

Implements b2Joint.

Definition at line 344 of file b2WheelJoint.cpp.

float32 b2WheelJoint::GetSpringDampingRatio ( ) const

inline

Definition at line 205 of file b2WheelJoint.h.

float32 b2WheelJoint::GetSpringFrequencyHz ( ) const

inline

Definition at line 195 of file b2WheelJoint.h.

void b2WheelJoint::InitVelocityConstraints ( const b2SolverData & data )

protectedvirtual

Implements b2Joint.

Definition at line 77 of file b2WheelJoint.cpp.

bool b2WheelJoint::IsMotorEnabled ( ) const

Is the joint motor enabled?

Definition at line 370 of file b2WheelJoint.cpp.

void b2WheelJoint::SetMaxMotorTorque ( float32 torque )

Set/Get the maximum motor force, usually in N-m.

Definition at line 389 of file b2WheelJoint.cpp.

void b2WheelJoint::SetMotorSpeed ( float32 speed )

Set the motor speed, usually in radians per second.

Definition at line 382 of file b2WheelJoint.cpp.

void b2WheelJoint::SetSpringDampingRatio ( float32 ratio )

inline

Set/Get the spring damping ratio.

Definition at line 200 of file b2WheelJoint.h.

void b2WheelJoint::SetSpringFrequencyHz ( float32 hz )

inline

Set/Get the spring frequency in hertz. Setting the frequency to zero disables the spring.

Definition at line 190 of file b2WheelJoint.h.

bool b2WheelJoint::SolvePositionConstraints ( const b2SolverData & data )

protectedvirtual

Implements b2Joint.

Definition at line 280 of file b2WheelJoint.cpp.

void b2WheelJoint::SolveVelocityConstraints ( const b2SolverData & data )

protectedvirtual

Implements b2Joint.

Definition at line 216 of file b2WheelJoint.cpp.

Friends And Related Function Documentation

friend class b2Joint

friend

Definition at line 134 of file b2WheelJoint.h.

Member Data Documentation

b2Vec2 b2WheelJoint::m_ax

protected

Definition at line 168 of file b2WheelJoint.h.

b2Vec2 b2WheelJoint::m_ay

protected

Definition at line 168 of file b2WheelJoint.h.

float32 b2WheelJoint::m_bias

protected

Definition at line 176 of file b2WheelJoint.h.

float32 b2WheelJoint::m_dampingRatio

protected

Definition at line 142 of file b2WheelJoint.h.

bool b2WheelJoint::m_enableMotor

protected

Definition at line 156 of file b2WheelJoint.h.

float32 b2WheelJoint::m_frequencyHz

protected

Definition at line 141 of file b2WheelJoint.h.

float32 b2WheelJoint::m_gamma

protected

Definition at line 177 of file b2WheelJoint.h.

float32 b2WheelJoint::m_impulse

protected

Definition at line 150 of file b2WheelJoint.h.

int32 b2WheelJoint::m_indexA

protected

Definition at line 159 of file b2WheelJoint.h.

int32 b2WheelJoint::m_indexB

protected

Definition at line 160 of file b2WheelJoint.h.

float32 b2WheelJoint::m_invIA

protected

Definition at line 165 of file b2WheelJoint.h.

float32 b2WheelJoint::m_invIB

protected

Definition at line 166 of file b2WheelJoint.h.

float32 b2WheelJoint::m_invMassA

protected

Definition at line 163 of file b2WheelJoint.h.

float32 b2WheelJoint::m_invMassB

protected

Definition at line 164 of file b2WheelJoint.h.

b2Vec2 b2WheelJoint::m_localAnchorA

protected

Definition at line 145 of file b2WheelJoint.h.

b2Vec2 b2WheelJoint::m_localAnchorB

protected

Definition at line 146 of file b2WheelJoint.h.

b2Vec2 b2WheelJoint::m_localCenterA

protected

Definition at line 161 of file b2WheelJoint.h.

b2Vec2 b2WheelJoint::m_localCenterB

protected

Definition at line 162 of file b2WheelJoint.h.

b2Vec2 b2WheelJoint::m_localXAxisA

protected

Definition at line 147 of file b2WheelJoint.h.

b2Vec2 b2WheelJoint::m_localYAxisA

protected

Definition at line 148 of file b2WheelJoint.h.

float32 b2WheelJoint::m_mass

protected

Definition at line 172 of file b2WheelJoint.h.

float32 b2WheelJoint::m_maxMotorTorque

protected

Definition at line 154 of file b2WheelJoint.h.

float32 b2WheelJoint::m_motorImpulse

protected

Definition at line 151 of file b2WheelJoint.h.

float32 b2WheelJoint::m_motorMass

protected

Definition at line 173 of file b2WheelJoint.h.

float32 b2WheelJoint::m_motorSpeed

protected

Definition at line 155 of file b2WheelJoint.h.

float32 b2WheelJoint::m_sAx

protected

Definition at line 169 of file b2WheelJoint.h.

float32 b2WheelJoint::m_sAy

protected

Definition at line 170 of file b2WheelJoint.h.

float32 b2WheelJoint::m_sBx

protected

Definition at line 169 of file b2WheelJoint.h.

float32 b2WheelJoint::m_sBy

protected

Definition at line 170 of file b2WheelJoint.h.

float32 b2WheelJoint::m_springImpulse

protected

Definition at line 152 of file b2WheelJoint.h.

float32 b2WheelJoint::m_springMass

protected

Definition at line 174 of file b2WheelJoint.h.

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

Public Member Functions

Protected Member Functions

Protected Attributes

Friends

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Friends And Related Function Documentation

Member Data Documentation