#include <b2_revolute_joint.h>

Inheritance diagram for b2RevoluteJoint:

Public Member Functions
void	Draw (b2Draw *draw) const override
	Debug draw this joint. More...

void	Dump () override
	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 override
	Get the anchor point on bodyA in world coordinates. More...

b2Vec2	GetAnchorB () const override
	Get the anchor point on bodyB in world coordinates. More...

float	GetJointAngle () const
	Get the current joint angle in radians. More...

float	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...

float	GetLowerLimit () const
	Get the lower joint limit in radians. More...

float	GetMaxMotorTorque () const

float	GetMotorSpeed () const
	Get the motor speed in radians per second. More...

float	GetMotorTorque (float inv_dt) const

b2Vec2	GetReactionForce (float inv_dt) const override

float	GetReactionTorque (float inv_dt) const override

float	GetReferenceAngle () const
	Get the reference angle. More...

float	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 (float lower, float upper)
	Set the joint limits in radians. More...

void	SetMaxMotorTorque (float torque)
	Set the maximum motor torque, usually in N-m. More...

void	SetMotorSpeed (float 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...

b2JointUserData &	GetUserData ()
	Get the user data pointer. More...

bool	IsEnabled () const
	Short-cut function to determine if either body is enabled. 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) override

bool	SolvePositionConstraints (const b2SolverData &data) override

void	SolveVelocityConstraints (const b2SolverData &data) override

Protected Member Functions inherited from b2Joint
	b2Joint (const b2JointDef *def)

virtual	~b2Joint ()

Protected Attributes
float	m_angle

float	m_axialMass

bool	m_enableLimit

bool	m_enableMotor

b2Vec2	m_impulse

int32	m_indexA

int32	m_indexB

float	m_invIA

float	m_invIB

float	m_invMassA

float	m_invMassB

b2Mat22	m_K

b2Vec2	m_localAnchorA

b2Vec2	m_localAnchorB

b2Vec2	m_localCenterA

b2Vec2	m_localCenterB

float	m_lowerAngle

float	m_lowerImpulse

float	m_maxMotorTorque

float	m_motorImpulse

float	m_motorSpeed

b2Vec2	m_rA

b2Vec2	m_rB

float	m_referenceAngle

float	m_upperAngle

float	m_upperImpulse

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

b2JointUserData	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 94 of file b2_revolute_joint.h.

Constructor & Destructor Documentation

◆ b2RevoluteJoint()

b2RevoluteJoint::b2RevoluteJoint ( const b2RevoluteJointDef * def )

protected

Definition at line 50 of file b2_revolute_joint.cpp.

Member Function Documentation

◆ Draw()

void b2RevoluteJoint::Draw ( b2Draw * draw ) const

overridevirtual

Debug draw this joint.

Reimplemented from b2Joint.

Definition at line 462 of file b2_revolute_joint.cpp.

◆ Dump()

void b2RevoluteJoint::Dump ( )

overridevirtual

Dump to b2Log.

Reimplemented from b2Joint.

Definition at line 440 of file b2_revolute_joint.cpp.

◆ EnableLimit()

void b2RevoluteJoint::EnableLimit ( bool flag )

Enable/disable the joint limit.

Definition at line 403 of file b2_revolute_joint.cpp.

◆ EnableMotor()

void b2RevoluteJoint::EnableMotor ( bool flag )

Enable/disable the joint motor.

Definition at line 363 of file b2_revolute_joint.cpp.

◆ GetAnchorA()

b2Vec2 b2RevoluteJoint::GetAnchorA ( ) const

overridevirtual

Get the anchor point on bodyA in world coordinates.

Implements b2Joint.

Definition at line 323 of file b2_revolute_joint.cpp.

◆ GetAnchorB()

b2Vec2 b2RevoluteJoint::GetAnchorB ( ) const

overridevirtual

Get the anchor point on bodyB in world coordinates.

Implements b2Joint.

Definition at line 328 of file b2_revolute_joint.cpp.

◆ GetJointAngle()

float b2RevoluteJoint::GetJointAngle ( ) const

Get the current joint angle in radians.

Definition at line 344 of file b2_revolute_joint.cpp.

◆ GetJointSpeed()

float b2RevoluteJoint::GetJointSpeed ( ) const

Get the current joint angle speed in radians per second.

Definition at line 351 of file b2_revolute_joint.cpp.

◆ GetLocalAnchorA()

const b2Vec2& b2RevoluteJoint::GetLocalAnchorA ( ) const

inline

The local anchor point relative to bodyA's origin.

Definition at line 101 of file b2_revolute_joint.h.

◆ GetLocalAnchorB()

const b2Vec2& b2RevoluteJoint::GetLocalAnchorB ( ) const

inline

The local anchor point relative to bodyB's origin.

Definition at line 104 of file b2_revolute_joint.h.

◆ GetLowerLimit()

float b2RevoluteJoint::GetLowerLimit ( ) const

Get the lower joint limit in radians.

Definition at line 415 of file b2_revolute_joint.cpp.

◆ GetMaxMotorTorque()

float b2RevoluteJoint::GetMaxMotorTorque ( ) const

inline

Definition at line 144 of file b2_revolute_joint.h.

◆ GetMotorSpeed()

float b2RevoluteJoint::GetMotorSpeed ( ) const

inline

Get the motor speed in radians per second.

Definition at line 206 of file b2_revolute_joint.h.

◆ GetMotorTorque()

float b2RevoluteJoint::GetMotorTorque ( float inv_dt ) const

Get the current motor torque given the inverse time step. Unit is N*m.

Definition at line 373 of file b2_revolute_joint.cpp.

◆ GetReactionForce()

b2Vec2 b2RevoluteJoint::GetReactionForce ( float inv_dt ) const

overridevirtual

Get the reaction force given the inverse time step. Unit is N.

Implements b2Joint.

Definition at line 333 of file b2_revolute_joint.cpp.

◆ GetReactionTorque()

float b2RevoluteJoint::GetReactionTorque ( float inv_dt ) const

overridevirtual

Get the reaction torque due to the joint limit given the inverse time step. Unit is N*m.

Implements b2Joint.

Definition at line 339 of file b2_revolute_joint.cpp.

◆ GetReferenceAngle()

float b2RevoluteJoint::GetReferenceAngle ( ) const

inline

Get the reference angle.

Definition at line 107 of file b2_revolute_joint.h.

◆ GetUpperLimit()

float b2RevoluteJoint::GetUpperLimit ( ) const

Get the upper joint limit in radians.

Definition at line 420 of file b2_revolute_joint.cpp.

◆ InitVelocityConstraints()

void b2RevoluteJoint::InitVelocityConstraints ( const b2SolverData & data )

overrideprotectedvirtual

Implements b2Joint.

Definition at line 73 of file b2_revolute_joint.cpp.

◆ IsLimitEnabled()

bool b2RevoluteJoint::IsLimitEnabled ( ) const

Is the joint limit enabled?

Definition at line 398 of file b2_revolute_joint.cpp.

◆ IsMotorEnabled()

bool b2RevoluteJoint::IsMotorEnabled ( ) const

Is the joint motor enabled?

Definition at line 358 of file b2_revolute_joint.cpp.

◆ SetLimits()

void b2RevoluteJoint::SetLimits	(	float	lower,
		float	upper
	)

Set the joint limits in radians.

Definition at line 425 of file b2_revolute_joint.cpp.

◆ SetMaxMotorTorque()

void b2RevoluteJoint::SetMaxMotorTorque ( float torque )

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

Definition at line 388 of file b2_revolute_joint.cpp.

◆ SetMotorSpeed()

void b2RevoluteJoint::SetMotorSpeed ( float speed )

Set the motor speed in radians per second.

Definition at line 378 of file b2_revolute_joint.cpp.

◆ SolvePositionConstraints()

bool b2RevoluteJoint::SolvePositionConstraints ( const b2SolverData & data )

overrideprotectedvirtual

Implements b2Joint.

Definition at line 245 of file b2_revolute_joint.cpp.

◆ SolveVelocityConstraints()

void b2RevoluteJoint::SolveVelocityConstraints ( const b2SolverData & data )

overrideprotectedvirtual

Implements b2Joint.

Definition at line 167 of file b2_revolute_joint.cpp.

Friends And Related Function Documentation

◆ b2GearJoint

friend class b2GearJoint

friend

Definition at line 167 of file b2_revolute_joint.h.

◆ b2Joint

friend class b2Joint

friend

Definition at line 166 of file b2_revolute_joint.h.

Member Data Documentation

◆ m_angle

float b2RevoluteJoint::m_angle

protected

Definition at line 202 of file b2_revolute_joint.h.

◆ m_axialMass

float b2RevoluteJoint::m_axialMass

protected

Definition at line 203 of file b2_revolute_joint.h.

◆ m_enableLimit

bool b2RevoluteJoint::m_enableLimit

protected

Definition at line 185 of file b2_revolute_joint.h.

◆ m_enableMotor

bool b2RevoluteJoint::m_enableMotor

protected

Definition at line 182 of file b2_revolute_joint.h.

◆ m_impulse

b2Vec2 b2RevoluteJoint::m_impulse

protected

Definition at line 178 of file b2_revolute_joint.h.

◆ m_indexA

int32 b2RevoluteJoint::m_indexA

protected

Definition at line 191 of file b2_revolute_joint.h.

◆ m_indexB

int32 b2RevoluteJoint::m_indexB

protected

Definition at line 192 of file b2_revolute_joint.h.

◆ m_invIA

float b2RevoluteJoint::m_invIA

protected

Definition at line 199 of file b2_revolute_joint.h.

◆ m_invIB

float b2RevoluteJoint::m_invIB

protected

Definition at line 200 of file b2_revolute_joint.h.

◆ m_invMassA

float b2RevoluteJoint::m_invMassA

protected

Definition at line 197 of file b2_revolute_joint.h.

◆ m_invMassB

float b2RevoluteJoint::m_invMassB

protected

Definition at line 198 of file b2_revolute_joint.h.

◆ m_K

b2Mat22 b2RevoluteJoint::m_K

protected

Definition at line 201 of file b2_revolute_joint.h.

◆ m_localAnchorA

b2Vec2 b2RevoluteJoint::m_localAnchorA

protected

Definition at line 176 of file b2_revolute_joint.h.

◆ m_localAnchorB

b2Vec2 b2RevoluteJoint::m_localAnchorB

protected

Definition at line 177 of file b2_revolute_joint.h.

◆ m_localCenterA

b2Vec2 b2RevoluteJoint::m_localCenterA

protected

Definition at line 195 of file b2_revolute_joint.h.

◆ m_localCenterB

b2Vec2 b2RevoluteJoint::m_localCenterB

protected

Definition at line 196 of file b2_revolute_joint.h.

◆ m_lowerAngle

float b2RevoluteJoint::m_lowerAngle

protected

Definition at line 187 of file b2_revolute_joint.h.

◆ m_lowerImpulse

float b2RevoluteJoint::m_lowerImpulse

protected

Definition at line 180 of file b2_revolute_joint.h.

◆ m_maxMotorTorque

float b2RevoluteJoint::m_maxMotorTorque

protected

Definition at line 183 of file b2_revolute_joint.h.

◆ m_motorImpulse

float b2RevoluteJoint::m_motorImpulse

protected

Definition at line 179 of file b2_revolute_joint.h.

◆ m_motorSpeed

float b2RevoluteJoint::m_motorSpeed

protected

Definition at line 184 of file b2_revolute_joint.h.

◆ m_rA

b2Vec2 b2RevoluteJoint::m_rA

protected

Definition at line 193 of file b2_revolute_joint.h.

◆ m_rB

b2Vec2 b2RevoluteJoint::m_rB

protected

Definition at line 194 of file b2_revolute_joint.h.

◆ m_referenceAngle

float b2RevoluteJoint::m_referenceAngle

protected

Definition at line 186 of file b2_revolute_joint.h.

◆ m_upperAngle

float b2RevoluteJoint::m_upperAngle

protected

Definition at line 188 of file b2_revolute_joint.h.

◆ m_upperImpulse

float b2RevoluteJoint::m_upperImpulse

protected

Definition at line 181 of file b2_revolute_joint.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

◆ b2RevoluteJoint()

Member Function Documentation

◆ Draw()

◆ Dump()

◆ EnableLimit()

◆ EnableMotor()

◆ GetAnchorA()

◆ GetAnchorB()

◆ GetJointAngle()

◆ GetJointSpeed()

◆ GetLocalAnchorA()

◆ GetLocalAnchorB()

◆ GetLowerLimit()

◆ GetMaxMotorTorque()

◆ GetMotorSpeed()

◆ GetMotorTorque()

◆ GetReactionForce()

◆ GetReactionTorque()

◆ GetReferenceAngle()

◆ GetUpperLimit()

◆ InitVelocityConstraints()

◆ IsLimitEnabled()

◆ IsMotorEnabled()

◆ SetLimits()

◆ SetMaxMotorTorque()

◆ SetMotorSpeed()

◆ SolvePositionConstraints()

◆ SolveVelocityConstraints()

Friends And Related Function Documentation

◆ b2GearJoint

◆ b2Joint

Member Data Documentation

◆ m_angle

◆ m_axialMass

◆ m_enableLimit

◆ m_enableMotor

◆ m_impulse

◆ m_indexA

◆ m_indexB

◆ m_invIA

◆ m_invIB

◆ m_invMassA

◆ m_invMassB

◆ m_K

◆ m_localAnchorA

◆ m_localAnchorB

◆ m_localCenterA

◆ m_localCenterB

◆ m_lowerAngle

◆ m_lowerImpulse

◆ m_maxMotorTorque

◆ m_motorImpulse

◆ m_motorSpeed

◆ m_rA

◆ m_rB

◆ m_referenceAngle

◆ m_upperAngle

◆ m_upperImpulse