b2PrismaticJoint Class Reference

#include <b2PrismaticJoint.h>

Inheritance diagram for b2PrismaticJoint:

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	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	GetLowerLimit () const
	Get the lower joint limit, usually in meters. More...
float32	GetMaxMotorForce () const
float32	GetMotorForce (float32 inv_dt) const
	Get the current motor force given the inverse time step, usually in N. More...
float32	GetMotorSpeed () const
	Get the motor speed, usually in meters per second. 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	GetReferenceAngle () const
	Get the reference angle. More...
float32	GetUpperLimit () const
	Get the upper joint limit, usually in meters. 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, usually in meters. More...
void	SetMaxMotorForce (float32 force)
	Set the maximum motor force, usually in N. More...
void	SetMotorSpeed (float32 speed)
	Set the motor speed, usually in meters 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
	b2PrismaticJoint (const b2PrismaticJointDef *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
float32	m_a1
float32	m_a2
b2Vec2	m_axis
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
b2Mat33	m_K
b2LimitState	m_limitState
b2Vec2	m_localAnchorA
b2Vec2	m_localAnchorB
b2Vec2	m_localCenterA
b2Vec2	m_localCenterB
b2Vec2	m_localXAxisA
b2Vec2	m_localYAxisA
float32	m_lowerTranslation
float32	m_maxMotorForce
float32	m_motorImpulse
float32	m_motorMass
float32	m_motorSpeed
b2Vec2	m_perp
float32	m_referenceAngle
float32	m_s1
float32	m_s2
float32	m_upperTranslation
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 prismatic joint. This joint provides one degree of freedom: translation along an axis fixed in bodyA. Relative rotation is prevented. You can use a joint limit to restrict the range of motion and a joint motor to drive the motion or to model joint friction.

Definition at line 86 of file b2PrismaticJoint.h.

Constructor & Destructor Documentation

b2PrismaticJoint::b2PrismaticJoint ( const b2PrismaticJointDef *  def )

protected

Definition at line 100 of file b2PrismaticJoint.cpp.

Member Function Documentation

void b2PrismaticJoint::Dump ( )

virtual

Dump to b2Log.

Reimplemented from b2Joint.

Definition at line 609 of file b2PrismaticJoint.cpp.

void b2PrismaticJoint::EnableLimit

(

bool

flag

)

Enable/disable the joint limit.

Definition at line 544 of file b2PrismaticJoint.cpp.

void b2PrismaticJoint::EnableMotor

(

bool

flag

)

Enable/disable the joint motor.

Definition at line 583 of file b2PrismaticJoint.cpp.

b2Vec2 b2PrismaticJoint::GetAnchorA ( ) const

virtual

Get the anchor point on bodyA in world coordinates.

Implements b2Joint.

Definition at line 487 of file b2PrismaticJoint.cpp.

b2Vec2 b2PrismaticJoint::GetAnchorB ( ) const

virtual

Get the anchor point on bodyB in world coordinates.

Implements b2Joint.

Definition at line 492 of file b2PrismaticJoint.cpp.

float32 b2PrismaticJoint::GetJointSpeed

(

)

const

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

Definition at line 518 of file b2PrismaticJoint.cpp.

float32 b2PrismaticJoint::GetJointTranslation

(

)

const

Get the current joint translation, usually in meters.

Definition at line 507 of file b2PrismaticJoint.cpp.

const b2Vec2& b2PrismaticJoint::GetLocalAnchorA ( ) const

inline

The local anchor point relative to bodyA's origin.

Definition at line 96 of file b2PrismaticJoint.h.

const b2Vec2& b2PrismaticJoint::GetLocalAnchorB ( ) const

inline

The local anchor point relative to bodyB's origin.

Definition at line 99 of file b2PrismaticJoint.h.

const b2Vec2& b2PrismaticJoint::GetLocalAxisA ( ) const

inline

The local joint axis relative to bodyA.

Definition at line 102 of file b2PrismaticJoint.h.

float32 b2PrismaticJoint::GetLowerLimit

(

)

const

Get the lower joint limit, usually in meters.

Definition at line 555 of file b2PrismaticJoint.cpp.

float32 b2PrismaticJoint::GetMaxMotorForce ( ) const

inline

Definition at line 142 of file b2PrismaticJoint.h.

float32 b2PrismaticJoint::GetMotorForce

(

float32

inv_dt

)

const

Get the current motor force given the inverse time step, usually in N.

Definition at line 604 of file b2PrismaticJoint.cpp.

float32 b2PrismaticJoint::GetMotorSpeed ( ) const

inline

Get the motor speed, usually in meters per second.

Definition at line 191 of file b2PrismaticJoint.h.

b2Vec2 b2PrismaticJoint::GetReactionForce ( float32  inv_dt ) const

virtual

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

Implements b2Joint.

Definition at line 497 of file b2PrismaticJoint.cpp.

float32 b2PrismaticJoint::GetReactionTorque ( float32  inv_dt ) const

virtual

Get the reaction torque on bodyB in N*m.

Implements b2Joint.

Definition at line 502 of file b2PrismaticJoint.cpp.

float32 b2PrismaticJoint::GetReferenceAngle ( ) const

inline

Get the reference angle.

Definition at line 105 of file b2PrismaticJoint.h.

float32 b2PrismaticJoint::GetUpperLimit

(

)

const

Get the upper joint limit, usually in meters.

Definition at line 560 of file b2PrismaticJoint.cpp.

void b2PrismaticJoint::InitVelocityConstraints ( const b2SolverData &  data )

protectedvirtual

Implements b2Joint.

Definition at line 126 of file b2PrismaticJoint.cpp.

bool b2PrismaticJoint::IsLimitEnabled

(

)

const

Is the joint limit enabled?

Definition at line 539 of file b2PrismaticJoint.cpp.

bool b2PrismaticJoint::IsMotorEnabled

(

)

const

Is the joint motor enabled?

Definition at line 578 of file b2PrismaticJoint.cpp.

void b2PrismaticJoint::SetLimits	(	float32	lower,
		float32	upper
	)

Set the joint limits, usually in meters.

Definition at line 565 of file b2PrismaticJoint.cpp.

void b2PrismaticJoint::SetMaxMotorForce

(

float32

force

)

Set the maximum motor force, usually in N.

Definition at line 597 of file b2PrismaticJoint.cpp.

void b2PrismaticJoint::SetMotorSpeed

(

float32

speed

)

Set the motor speed, usually in meters per second.

Definition at line 590 of file b2PrismaticJoint.cpp.

bool b2PrismaticJoint::SolvePositionConstraints ( const b2SolverData &  data )

protectedvirtual

Implements b2Joint.

Definition at line 363 of file b2PrismaticJoint.cpp.

void b2PrismaticJoint::SolveVelocityConstraints ( const b2SolverData &  data )

protectedvirtual

Implements b2Joint.

Definition at line 266 of file b2PrismaticJoint.cpp.

Friends And Related Function Documentation

friend class b2GearJoint

friend

Definition at line 152 of file b2PrismaticJoint.h.

friend class b2Joint

friend

Definition at line 151 of file b2PrismaticJoint.h.

Member Data Documentation

float32 b2PrismaticJoint::m_a1

protected

Definition at line 186 of file b2PrismaticJoint.h.

float32 b2PrismaticJoint::m_a2

protected

Definition at line 186 of file b2PrismaticJoint.h.

b2Vec2 b2PrismaticJoint::m_axis

protected

Definition at line 184 of file b2PrismaticJoint.h.

bool b2PrismaticJoint::m_enableLimit

protected

Definition at line 171 of file b2PrismaticJoint.h.

bool b2PrismaticJoint::m_enableMotor

protected

Definition at line 172 of file b2PrismaticJoint.h.

b2Vec3 b2PrismaticJoint::m_impulse

protected

Definition at line 165 of file b2PrismaticJoint.h.

int32 b2PrismaticJoint::m_indexA

protected

Definition at line 176 of file b2PrismaticJoint.h.

int32 b2PrismaticJoint::m_indexB

protected

Definition at line 177 of file b2PrismaticJoint.h.

float32 b2PrismaticJoint::m_invIA

protected

Definition at line 182 of file b2PrismaticJoint.h.

float32 b2PrismaticJoint::m_invIB

protected

Definition at line 183 of file b2PrismaticJoint.h.

float32 b2PrismaticJoint::m_invMassA

protected

Definition at line 180 of file b2PrismaticJoint.h.

float32 b2PrismaticJoint::m_invMassB

protected

Definition at line 181 of file b2PrismaticJoint.h.

b2Mat33 b2PrismaticJoint::m_K

protected

Definition at line 187 of file b2PrismaticJoint.h.

b2LimitState b2PrismaticJoint::m_limitState

protected

Definition at line 173 of file b2PrismaticJoint.h.

b2Vec2 b2PrismaticJoint::m_localAnchorA

protected

Definition at line 160 of file b2PrismaticJoint.h.

b2Vec2 b2PrismaticJoint::m_localAnchorB

protected

Definition at line 161 of file b2PrismaticJoint.h.

b2Vec2 b2PrismaticJoint::m_localCenterA

protected

Definition at line 178 of file b2PrismaticJoint.h.

b2Vec2 b2PrismaticJoint::m_localCenterB

protected

Definition at line 179 of file b2PrismaticJoint.h.

b2Vec2 b2PrismaticJoint::m_localXAxisA

protected

Definition at line 162 of file b2PrismaticJoint.h.

b2Vec2 b2PrismaticJoint::m_localYAxisA

protected

Definition at line 163 of file b2PrismaticJoint.h.

float32 b2PrismaticJoint::m_lowerTranslation

protected

Definition at line 167 of file b2PrismaticJoint.h.

float32 b2PrismaticJoint::m_maxMotorForce

protected

Definition at line 169 of file b2PrismaticJoint.h.

float32 b2PrismaticJoint::m_motorImpulse

protected

Definition at line 166 of file b2PrismaticJoint.h.

float32 b2PrismaticJoint::m_motorMass

protected

Definition at line 188 of file b2PrismaticJoint.h.

float32 b2PrismaticJoint::m_motorSpeed

protected

Definition at line 170 of file b2PrismaticJoint.h.

b2Vec2 b2PrismaticJoint::m_perp

protected

Definition at line 184 of file b2PrismaticJoint.h.

float32 b2PrismaticJoint::m_referenceAngle

protected

Definition at line 164 of file b2PrismaticJoint.h.

float32 b2PrismaticJoint::m_s1

protected

Definition at line 185 of file b2PrismaticJoint.h.

float32 b2PrismaticJoint::m_s2

protected

Definition at line 185 of file b2PrismaticJoint.h.

float32 b2PrismaticJoint::m_upperTranslation

protected

Definition at line 168 of file b2PrismaticJoint.h.

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

• b2PrismaticJoint.h
• b2PrismaticJoint.cpp