b2FrictionJoint.h
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1 /*
2 * Copyright (c) 2006-2007 Erin Catto http://www.box2d.org
3 *
4 * This software is provided 'as-is', without any express or implied
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8 * including commercial applications, and to alter it and redistribute it
9 * freely, subject to the following restrictions:
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13 * appreciated but is not required.
14 * 2. Altered source versions must be plainly marked as such, and must not be
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16 * 3. This notice may not be removed or altered from any source distribution.
17 */
18 
19 #ifndef B2_FRICTION_JOINT_H
20 #define B2_FRICTION_JOINT_H
21 
23 
26 {
28  {
32  maxForce = 0.0f;
33  maxTorque = 0.0f;
34  }
35 
38  void Initialize(b2Body* bodyA, b2Body* bodyB, const b2Vec2& anchor);
39 
42 
45 
48 
51 };
52 
55 class b2FrictionJoint : public b2Joint
56 {
57 public:
58  b2Vec2 GetAnchorA() const;
59  b2Vec2 GetAnchorB() const;
60 
61  b2Vec2 GetReactionForce(float32 inv_dt) const;
62  float32 GetReactionTorque(float32 inv_dt) const;
63 
65  const b2Vec2& GetLocalAnchorA() const { return m_localAnchorA; }
66 
68  const b2Vec2& GetLocalAnchorB() const { return m_localAnchorB; }
69 
71  void SetMaxForce(float32 force);
72 
74  float32 GetMaxForce() const;
75 
77  void SetMaxTorque(float32 torque);
78 
80  float32 GetMaxTorque() const;
81 
83  void Dump();
84 
85 protected:
86 
87  friend class b2Joint;
88 
90 
91  void InitVelocityConstraints(const b2SolverData& data);
92  void SolveVelocityConstraints(const b2SolverData& data);
93  bool SolvePositionConstraints(const b2SolverData& data);
94 
97 
98  // Solver shared
103 
104  // Solver temp
117 };
118 
119 #endif
virtual void SolveVelocityConstraints(const b2SolverData &data)=0
b2Vec2 localAnchorA
The local anchor point relative to bodyA's origin.
Joint definitions are used to construct joints.
Definition: b2Joint.h:74
b2Vec2 localAnchorB
The local anchor point relative to bodyB's origin.
float32 maxForce
The maximum friction force in N.
Solver Data.
Definition: b2TimeStep.h:63
void SetZero()
Set this vector to all zeros.
Definition: b2Math.h:62
A 2D column vector.
Definition: b2Math.h:53
const b2Vec2 & GetLocalAnchorA() const
The local anchor point relative to bodyA's origin.
Friction joint definition.
signed int int32
Definition: b2Settings.h:31
A rigid body. These are created via b2World::CreateBody.
Definition: b2Body.h:126
const b2Vec2 & GetLocalAnchorB() const
The local anchor point relative to bodyB's origin.
virtual void InitVelocityConstraints(const b2SolverData &data)=0
virtual bool SolvePositionConstraints(const b2SolverData &data)=0
float32 maxTorque
The maximum friction torque in N-m.
float32 m_angularImpulse
b2JointType type
The joint type is set automatically for concrete joint types.
Definition: b2Joint.h:86
void Initialize(b2Body *bodyA, b2Body *bodyB, const b2Vec2 &anchor)
A 2-by-2 matrix. Stored in column-major order.
Definition: b2Math.h:183
b2Body * bodyA
The first attached body.
Definition: b2Joint.h:92
b2Body * bodyB
The second attached body.
Definition: b2Joint.h:95
float float32
Definition: b2Settings.h:35


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autogenerated on Thu Jun 6 2019 19:36:40