#include <b2_wheel_joint.h>

Inheritance diagram for b2WheelJoint:

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 translation 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	GetDamping () const

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

float	GetJointAngularSpeed () const
	Get the current joint angular speed in radians per second. More...

float	GetJointLinearSpeed () const
	Get the current joint linear speed, usually in meters per second. More...

float	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...

float	GetLowerLimit () const
	Get the lower joint translation limit, usually in meters. More...

float	GetMaxMotorTorque () const

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

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

b2Vec2	GetReactionForce (float inv_dt) const override
	Get the reaction force on bodyB at the joint anchor in Newtons. More...

float	GetReactionTorque (float inv_dt) const override
	Get the reaction torque on bodyB in N*m. More...

float	GetStiffness () const

float	GetUpperLimit () const
	Get the upper joint translation limit, usually in meters. More...

bool	IsLimitEnabled () const
	Is the joint limit enabled? More...

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

void	SetDamping (float damping)
	Access damping. More...

void	SetLimits (float lower, float upper)
	Set the joint translation limits, usually in meters. More...

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

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

void	SetStiffness (float stiffness)
	Access spring stiffness. 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
	b2WheelJoint (const b2WheelJointDef *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
b2Vec2	m_ax

float	m_axialMass

b2Vec2	m_ay

float	m_bias

float	m_damping

bool	m_enableLimit

bool	m_enableMotor

float	m_gamma

float	m_impulse

int32	m_indexA

int32	m_indexB

float	m_invIA

float	m_invIB

float	m_invMassA

float	m_invMassB

b2Vec2	m_localAnchorA

b2Vec2	m_localAnchorB

b2Vec2	m_localCenterA

b2Vec2	m_localCenterB

b2Vec2	m_localXAxisA

b2Vec2	m_localYAxisA

float	m_lowerImpulse

float	m_lowerTranslation

float	m_mass

float	m_maxMotorTorque

float	m_motorImpulse

float	m_motorMass

float	m_motorSpeed

float	m_sAx

float	m_sAy

float	m_sBx

float	m_sBy

float	m_springImpulse

float	m_springMass

float	m_stiffness

float	m_translation

float	m_upperImpulse

float	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

b2JointUserData	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. The spring/damper is initialized upon creation. This joint is designed for vehicle suspensions.

Definition at line 95 of file b2_wheel_joint.h.

Constructor & Destructor Documentation

◆ b2WheelJoint()

b2WheelJoint::b2WheelJoint ( const b2WheelJointDef * def )

protected

Definition at line 53 of file b2_wheel_joint.cpp.

Member Function Documentation

◆ Draw()

void b2WheelJoint::Draw ( b2Draw * draw ) const

overridevirtual

Debug draw this joint.

Reimplemented from b2Joint.

Definition at line 639 of file b2_wheel_joint.cpp.

◆ Dump()

void b2WheelJoint::Dump ( )

overridevirtual

Dump to b2Log.

Reimplemented from b2Joint.

Definition at line 616 of file b2_wheel_joint.cpp.

◆ EnableLimit()

void b2WheelJoint::EnableLimit ( bool flag )

Enable/disable the joint translation limit.

Definition at line 520 of file b2_wheel_joint.cpp.

◆ EnableMotor()

void b2WheelJoint::EnableMotor ( bool flag )

Enable/disable the joint motor.

Definition at line 561 of file b2_wheel_joint.cpp.

◆ GetAnchorA()

b2Vec2 b2WheelJoint::GetAnchorA ( ) const

overridevirtual

Get the anchor point on bodyA in world coordinates.

Implements b2Joint.

Definition at line 446 of file b2_wheel_joint.cpp.

◆ GetAnchorB()

b2Vec2 b2WheelJoint::GetAnchorB ( ) const

overridevirtual

Get the anchor point on bodyB in world coordinates.

Implements b2Joint.

Definition at line 451 of file b2_wheel_joint.cpp.

◆ GetDamping()

float b2WheelJoint::GetDamping ( ) const

Definition at line 611 of file b2_wheel_joint.cpp.

◆ GetJointAngle()

float b2WheelJoint::GetJointAngle ( ) const

Get the current joint angle in radians.

Definition at line 501 of file b2_wheel_joint.cpp.

◆ GetJointAngularSpeed()

float b2WheelJoint::GetJointAngularSpeed ( ) const

Get the current joint angular speed in radians per second.

Definition at line 508 of file b2_wheel_joint.cpp.

◆ GetJointLinearSpeed()

float b2WheelJoint::GetJointLinearSpeed ( ) const

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

Definition at line 480 of file b2_wheel_joint.cpp.

◆ GetJointTranslation()

float b2WheelJoint::GetJointTranslation ( ) const

Get the current joint translation, usually in meters.

Definition at line 466 of file b2_wheel_joint.cpp.

◆ GetLocalAnchorA()

const b2Vec2& b2WheelJoint::GetLocalAnchorA ( ) const

inline

The local anchor point relative to bodyA's origin.

Definition at line 105 of file b2_wheel_joint.h.

◆ GetLocalAnchorB()

const b2Vec2& b2WheelJoint::GetLocalAnchorB ( ) const

inline

The local anchor point relative to bodyB's origin.

Definition at line 108 of file b2_wheel_joint.h.

◆ GetLocalAxisA()

const b2Vec2& b2WheelJoint::GetLocalAxisA ( ) const

inline

The local joint axis relative to bodyA.

Definition at line 111 of file b2_wheel_joint.h.

◆ GetLowerLimit()

float b2WheelJoint::GetLowerLimit ( ) const

Get the lower joint translation limit, usually in meters.

Definition at line 532 of file b2_wheel_joint.cpp.

◆ GetMaxMotorTorque()

float b2WheelJoint::GetMaxMotorTorque ( ) const

inline

Definition at line 235 of file b2_wheel_joint.h.

◆ GetMotorSpeed()

float b2WheelJoint::GetMotorSpeed ( ) const

inline

Get the motor speed, usually in radians per second.

Definition at line 230 of file b2_wheel_joint.h.

◆ GetMotorTorque()

float b2WheelJoint::GetMotorTorque ( float inv_dt ) const

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

Definition at line 591 of file b2_wheel_joint.cpp.

◆ GetReactionForce()

b2Vec2 b2WheelJoint::GetReactionForce ( float inv_dt ) const

overridevirtual

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

Implements b2Joint.

Definition at line 456 of file b2_wheel_joint.cpp.

◆ GetReactionTorque()

float b2WheelJoint::GetReactionTorque ( float inv_dt ) const

overridevirtual

Get the reaction torque on bodyB in N*m.

Implements b2Joint.

Definition at line 461 of file b2_wheel_joint.cpp.

◆ GetStiffness()

float b2WheelJoint::GetStiffness ( ) const

Definition at line 601 of file b2_wheel_joint.cpp.

◆ GetUpperLimit()

float b2WheelJoint::GetUpperLimit ( ) const

Get the upper joint translation limit, usually in meters.

Definition at line 537 of file b2_wheel_joint.cpp.

◆ InitVelocityConstraints()

void b2WheelJoint::InitVelocityConstraints ( const b2SolverData & data )

overrideprotectedvirtual

Implements b2Joint.

Definition at line 89 of file b2_wheel_joint.cpp.

◆ IsLimitEnabled()

bool b2WheelJoint::IsLimitEnabled ( ) const

Is the joint limit enabled?

Definition at line 515 of file b2_wheel_joint.cpp.

◆ IsMotorEnabled()

bool b2WheelJoint::IsMotorEnabled ( ) const

Is the joint motor enabled?

Definition at line 556 of file b2_wheel_joint.cpp.

◆ SetDamping()

void b2WheelJoint::SetDamping ( float damping )

Access damping.

Definition at line 606 of file b2_wheel_joint.cpp.

◆ SetLimits()

void b2WheelJoint::SetLimits	(	float	lower,
		float	upper
	)

Set the joint translation limits, usually in meters.

Definition at line 542 of file b2_wheel_joint.cpp.

◆ SetMaxMotorTorque()

void b2WheelJoint::SetMaxMotorTorque ( float torque )

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

Definition at line 581 of file b2_wheel_joint.cpp.

◆ SetMotorSpeed()

void b2WheelJoint::SetMotorSpeed ( float speed )

Set the motor speed, usually in radians per second.

Definition at line 571 of file b2_wheel_joint.cpp.

◆ SetStiffness()

void b2WheelJoint::SetStiffness ( float stiffness )

Access spring stiffness.

Definition at line 596 of file b2_wheel_joint.cpp.

◆ SolvePositionConstraints()

bool b2WheelJoint::SolvePositionConstraints ( const b2SolverData & data )

overrideprotectedvirtual

Implements b2Joint.

Definition at line 344 of file b2_wheel_joint.cpp.

◆ SolveVelocityConstraints()

void b2WheelJoint::SolveVelocityConstraints ( const b2SolverData & data )

overrideprotectedvirtual

Implements b2Joint.

Definition at line 237 of file b2_wheel_joint.cpp.

Friends And Related Function Documentation

◆ b2Joint

friend class b2Joint

friend

Definition at line 175 of file b2_wheel_joint.h.

Member Data Documentation

◆ m_ax

b2Vec2 b2WheelJoint::m_ax

protected

Definition at line 216 of file b2_wheel_joint.h.

◆ m_axialMass

float b2WheelJoint::m_axialMass

protected

Definition at line 222 of file b2_wheel_joint.h.

◆ m_ay

b2Vec2 b2WheelJoint::m_ay

protected

Definition at line 216 of file b2_wheel_joint.h.

◆ m_bias

float b2WheelJoint::m_bias

protected

Definition at line 225 of file b2_wheel_joint.h.

◆ m_damping

float b2WheelJoint::m_damping

protected

Definition at line 204 of file b2_wheel_joint.h.

◆ m_enableLimit

bool b2WheelJoint::m_enableLimit

protected

Definition at line 200 of file b2_wheel_joint.h.

◆ m_enableMotor

bool b2WheelJoint::m_enableMotor

protected

Definition at line 201 of file b2_wheel_joint.h.

◆ m_gamma

float b2WheelJoint::m_gamma

protected

Definition at line 226 of file b2_wheel_joint.h.

◆ m_impulse

float b2WheelJoint::m_impulse

protected

Definition at line 187 of file b2_wheel_joint.h.

◆ m_indexA

int32 b2WheelJoint::m_indexA

protected

Definition at line 207 of file b2_wheel_joint.h.

◆ m_indexB

int32 b2WheelJoint::m_indexB

protected

Definition at line 208 of file b2_wheel_joint.h.

◆ m_invIA

float b2WheelJoint::m_invIA

protected

Definition at line 213 of file b2_wheel_joint.h.

◆ m_invIB

float b2WheelJoint::m_invIB

protected

Definition at line 214 of file b2_wheel_joint.h.

◆ m_invMassA

float b2WheelJoint::m_invMassA

protected

Definition at line 211 of file b2_wheel_joint.h.

◆ m_invMassB

float b2WheelJoint::m_invMassB

protected

Definition at line 212 of file b2_wheel_joint.h.

◆ m_localAnchorA

b2Vec2 b2WheelJoint::m_localAnchorA

protected

Definition at line 182 of file b2_wheel_joint.h.

◆ m_localAnchorB

b2Vec2 b2WheelJoint::m_localAnchorB

protected

Definition at line 183 of file b2_wheel_joint.h.

◆ m_localCenterA

b2Vec2 b2WheelJoint::m_localCenterA

protected

Definition at line 209 of file b2_wheel_joint.h.

◆ m_localCenterB

b2Vec2 b2WheelJoint::m_localCenterB

protected

Definition at line 210 of file b2_wheel_joint.h.

◆ m_localXAxisA

b2Vec2 b2WheelJoint::m_localXAxisA

protected

Definition at line 184 of file b2_wheel_joint.h.

◆ m_localYAxisA

b2Vec2 b2WheelJoint::m_localYAxisA

protected

Definition at line 185 of file b2_wheel_joint.h.

◆ m_lowerImpulse

float b2WheelJoint::m_lowerImpulse

protected

Definition at line 191 of file b2_wheel_joint.h.

◆ m_lowerTranslation

float b2WheelJoint::m_lowerTranslation

protected

Definition at line 194 of file b2_wheel_joint.h.

◆ m_mass

float b2WheelJoint::m_mass

protected

Definition at line 220 of file b2_wheel_joint.h.

◆ m_maxMotorTorque

float b2WheelJoint::m_maxMotorTorque

protected

Definition at line 197 of file b2_wheel_joint.h.

◆ m_motorImpulse

float b2WheelJoint::m_motorImpulse

protected

Definition at line 188 of file b2_wheel_joint.h.

◆ m_motorMass

float b2WheelJoint::m_motorMass

protected

Definition at line 221 of file b2_wheel_joint.h.

◆ m_motorSpeed

float b2WheelJoint::m_motorSpeed

protected

Definition at line 198 of file b2_wheel_joint.h.

◆ m_sAx

float b2WheelJoint::m_sAx

protected

Definition at line 217 of file b2_wheel_joint.h.

◆ m_sAy

float b2WheelJoint::m_sAy

protected

Definition at line 218 of file b2_wheel_joint.h.

◆ m_sBx

float b2WheelJoint::m_sBx

protected

Definition at line 217 of file b2_wheel_joint.h.

◆ m_sBy

float b2WheelJoint::m_sBy

protected

Definition at line 218 of file b2_wheel_joint.h.

◆ m_springImpulse

float b2WheelJoint::m_springImpulse

protected

Definition at line 189 of file b2_wheel_joint.h.

◆ m_springMass

float b2WheelJoint::m_springMass

protected

Definition at line 223 of file b2_wheel_joint.h.

◆ m_stiffness

float b2WheelJoint::m_stiffness

protected

Definition at line 203 of file b2_wheel_joint.h.

◆ m_translation

float b2WheelJoint::m_translation

protected

Definition at line 193 of file b2_wheel_joint.h.

◆ m_upperImpulse

float b2WheelJoint::m_upperImpulse

protected

Definition at line 192 of file b2_wheel_joint.h.

◆ m_upperTranslation

float b2WheelJoint::m_upperTranslation

protected

Definition at line 195 of file b2_wheel_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

◆ b2WheelJoint()

Member Function Documentation

◆ Draw()

◆ Dump()

◆ EnableLimit()

◆ EnableMotor()

◆ GetAnchorA()

◆ GetAnchorB()

◆ GetDamping()

◆ GetJointAngle()

◆ GetJointAngularSpeed()

◆ GetJointLinearSpeed()

◆ GetJointTranslation()

◆ GetLocalAnchorA()

◆ GetLocalAnchorB()

◆ GetLocalAxisA()

◆ GetLowerLimit()

◆ GetMaxMotorTorque()

◆ GetMotorSpeed()

◆ GetMotorTorque()

◆ GetReactionForce()

◆ GetReactionTorque()

◆ GetStiffness()

◆ GetUpperLimit()

◆ InitVelocityConstraints()

◆ IsLimitEnabled()

◆ IsMotorEnabled()

◆ SetDamping()

◆ SetLimits()

◆ SetMaxMotorTorque()

◆ SetMotorSpeed()

◆ SetStiffness()

◆ SolvePositionConstraints()

◆ SolveVelocityConstraints()

Friends And Related Function Documentation

◆ b2Joint

Member Data Documentation

◆ m_ax

◆ m_axialMass

◆ m_ay

◆ m_bias

◆ m_damping

◆ m_enableLimit

◆ m_enableMotor

◆ m_gamma

◆ m_impulse

◆ m_indexA

◆ m_indexB

◆ m_invIA

◆ m_invIB

◆ m_invMassA

◆ m_invMassB

◆ m_localAnchorA

◆ m_localAnchorB

◆ m_localCenterA

◆ m_localCenterB

◆ m_localXAxisA

◆ m_localYAxisA

◆ m_lowerImpulse

◆ m_lowerTranslation

◆ m_mass

◆ m_maxMotorTorque

◆ m_motorImpulse

◆ m_motorMass

◆ m_motorSpeed

◆ m_sAx

◆ m_sAy

◆ m_sBx

◆ m_sBy

◆ m_springImpulse

◆ m_springMass

◆ m_stiffness

◆ m_translation