#include <b2WheelJoint.h>
Public Member Functions | |
| void | Dump () |
| Dump to b2Log. | |
| void | EnableMotor (bool flag) |
| Enable/disable the joint motor. | |
| b2Vec2 | GetAnchorA () const |
| Get the anchor point on bodyA in world coordinates. | |
| b2Vec2 | GetAnchorB () const |
| Get the anchor point on bodyB in world coordinates. | |
| float32 | GetJointSpeed () const |
| Get the current joint translation speed, usually in meters per second. | |
| float32 | GetJointTranslation () const |
| Get the current joint translation, usually in meters. | |
| const b2Vec2 & | GetLocalAnchorA () const |
| The local anchor point relative to bodyA's origin. | |
| const b2Vec2 & | GetLocalAnchorB () const |
| The local anchor point relative to bodyB's origin. | |
| const b2Vec2 & | GetLocalAxisA () const |
| The local joint axis relative to bodyA. | |
| float32 | GetMaxMotorTorque () const |
| float32 | GetMotorSpeed () const |
| Get the motor speed, usually in radians per second. | |
| float32 | GetMotorTorque (float32 inv_dt) const |
| Get the current motor torque given the inverse time step, usually in N-m. | |
| b2Vec2 | GetReactionForce (float32 inv_dt) const |
| Get the reaction force on bodyB at the joint anchor in Newtons. | |
| float32 | GetReactionTorque (float32 inv_dt) const |
| Get the reaction torque on bodyB in N*m. | |
| float32 | GetSpringDampingRatio () const |
| float32 | GetSpringFrequencyHz () const |
| bool | IsMotorEnabled () const |
| Is the joint motor enabled? | |
| void | SetMaxMotorTorque (float32 torque) |
| Set/Get the maximum motor force, usually in N-m. | |
| void | SetMotorSpeed (float32 speed) |
| Set the motor speed, usually in radians per second. | |
| void | SetSpringDampingRatio (float32 ratio) |
| Set/Get the spring damping ratio. | |
| void | SetSpringFrequencyHz (float32 hz) |
| Set/Get the spring frequency in hertz. Setting the frequency to zero disables the spring. | |
Protected Member Functions | |
| b2WheelJoint (const b2WheelJointDef *def) | |
| void | InitVelocityConstraints (const b2SolverData &data) |
| bool | SolvePositionConstraints (const b2SolverData &data) |
| void | SolveVelocityConstraints (const b2SolverData &data) |
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 |
Friends | |
| class | b2Joint |
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] |
| 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 | ) | [protected, virtual] |
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 | ) | [protected, virtual] |
Implements b2Joint.
Definition at line 280 of file b2WheelJoint.cpp.
| void b2WheelJoint::SolveVelocityConstraints | ( | const b2SolverData & | data | ) | [protected, virtual] |
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: