Public Member Functions | Protected Member Functions | Protected Attributes | Friends | List of all members
b2RevoluteJoint Class Reference

#include <b2RevoluteJoint.h>

Inheritance diagram for b2RevoluteJoint:
Inheritance graph
[legend]

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 GetJointAngle () const
 Get the current joint angle in radians. More...
 
float32 GetJointSpeed () const
 Get the current joint angle speed in radians per second. More...
 
const b2Vec2GetLocalAnchorA () const
 The local anchor point relative to bodyA's origin. More...
 
const b2Vec2GetLocalAnchorB () const
 The local anchor point relative to bodyB's origin. More...
 
float32 GetLowerLimit () const
 Get the lower joint limit in radians. More...
 
float32 GetMaxMotorTorque () const
 
float32 GetMotorSpeed () const
 Get the motor speed in radians per second. More...
 
float32 GetMotorTorque (float32 inv_dt) const
 
b2Vec2 GetReactionForce (float32 inv_dt) const
 
float32 GetReactionTorque (float32 inv_dt) const
 
float32 GetReferenceAngle () const
 Get the reference angle. More...
 
float32 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 (float32 lower, float32 upper)
 Set the joint limits in radians. More...
 
void SetMaxMotorTorque (float32 torque)
 Set the maximum motor torque, usually in N-m. More...
 
void SetMotorSpeed (float32 speed)
 Set the motor speed in radians per second. More...
 
- Public Member Functions inherited from b2Joint
b2BodyGetBodyA ()
 Get the first body attached to this joint. More...
 
b2BodyGetBodyB ()
 Get the second body attached to this joint. More...
 
bool GetCollideConnected () const
 
b2JointGetNext ()
 Get the next joint the world joint list. More...
 
const b2JointGetNext () const
 
b2JointType GetType () const
 Get the type of the concrete joint. More...
 
voidGetUserData () 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

 b2RevoluteJoint (const b2RevoluteJointDef *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

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
 
b2LimitState m_limitState
 
b2Vec2 m_localAnchorA
 
b2Vec2 m_localAnchorB
 
b2Vec2 m_localCenterA
 
b2Vec2 m_localCenterB
 
float32 m_lowerAngle
 
b2Mat33 m_mass
 
float32 m_maxMotorTorque
 
float32 m_motorImpulse
 
float32 m_motorMass
 
float32 m_motorSpeed
 
b2Vec2 m_rA
 
b2Vec2 m_rB
 
float32 m_referenceAngle
 
float32 m_upperAngle
 
- Protected Attributes inherited from b2Joint
b2Bodym_bodyA
 
b2Bodym_bodyB
 
bool m_collideConnected
 
b2JointEdge m_edgeA
 
b2JointEdge m_edgeB
 
int32 m_index
 
bool m_islandFlag
 
b2Jointm_next
 
b2Jointm_prev
 
b2JointType m_type
 
voidm_userData
 

Friends

class b2GearJoint
 
class b2Joint
 

Additional Inherited Members

- Static Protected Member Functions inherited from b2Joint
static b2JointCreate (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 90 of file b2RevoluteJoint.h.

Constructor & Destructor Documentation

b2RevoluteJoint::b2RevoluteJoint ( const b2RevoluteJointDef def)
protected

Definition at line 45 of file b2RevoluteJoint.cpp.

Member Function Documentation

void b2RevoluteJoint::Dump ( )
virtual

Dump to b2Log.

Reimplemented from b2Joint.

Definition at line 483 of file b2RevoluteJoint.cpp.

void b2RevoluteJoint::EnableLimit ( bool  flag)

Enable/disable the joint limit.

Definition at line 448 of file b2RevoluteJoint.cpp.

void b2RevoluteJoint::EnableMotor ( bool  flag)

Enable/disable the joint motor.

Definition at line 417 of file b2RevoluteJoint.cpp.

b2Vec2 b2RevoluteJoint::GetAnchorA ( ) const
virtual

Get the anchor point on bodyA in world coordinates.

Implements b2Joint.

Definition at line 377 of file b2RevoluteJoint.cpp.

b2Vec2 b2RevoluteJoint::GetAnchorB ( ) const
virtual

Get the anchor point on bodyB in world coordinates.

Implements b2Joint.

Definition at line 382 of file b2RevoluteJoint.cpp.

float32 b2RevoluteJoint::GetJointAngle ( ) const

Get the current joint angle in radians.

Definition at line 398 of file b2RevoluteJoint.cpp.

float32 b2RevoluteJoint::GetJointSpeed ( ) const

Get the current joint angle speed in radians per second.

Definition at line 405 of file b2RevoluteJoint.cpp.

const b2Vec2& b2RevoluteJoint::GetLocalAnchorA ( ) const
inline

The local anchor point relative to bodyA's origin.

Definition at line 97 of file b2RevoluteJoint.h.

const b2Vec2& b2RevoluteJoint::GetLocalAnchorB ( ) const
inline

The local anchor point relative to bodyB's origin.

Definition at line 100 of file b2RevoluteJoint.h.

float32 b2RevoluteJoint::GetLowerLimit ( ) const

Get the lower joint limit in radians.

Definition at line 459 of file b2RevoluteJoint.cpp.

float32 b2RevoluteJoint::GetMaxMotorTorque ( ) const
inline

Definition at line 140 of file b2RevoluteJoint.h.

float32 b2RevoluteJoint::GetMotorSpeed ( ) const
inline

Get the motor speed in radians per second.

Definition at line 199 of file b2RevoluteJoint.h.

float32 b2RevoluteJoint::GetMotorTorque ( float32  inv_dt) const

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

Definition at line 424 of file b2RevoluteJoint.cpp.

b2Vec2 b2RevoluteJoint::GetReactionForce ( float32  inv_dt) const
virtual

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

Implements b2Joint.

Definition at line 387 of file b2RevoluteJoint.cpp.

float32 b2RevoluteJoint::GetReactionTorque ( float32  inv_dt) const
virtual

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

Implements b2Joint.

Definition at line 393 of file b2RevoluteJoint.cpp.

float32 b2RevoluteJoint::GetReferenceAngle ( ) const
inline

Get the reference angle.

Definition at line 103 of file b2RevoluteJoint.h.

float32 b2RevoluteJoint::GetUpperLimit ( ) const

Get the upper joint limit in radians.

Definition at line 464 of file b2RevoluteJoint.cpp.

void b2RevoluteJoint::InitVelocityConstraints ( const b2SolverData data)
protectedvirtual

Implements b2Joint.

Definition at line 64 of file b2RevoluteJoint.cpp.

bool b2RevoluteJoint::IsLimitEnabled ( ) const

Is the joint limit enabled?

Definition at line 443 of file b2RevoluteJoint.cpp.

bool b2RevoluteJoint::IsMotorEnabled ( ) const

Is the joint motor enabled?

Definition at line 412 of file b2RevoluteJoint.cpp.

void b2RevoluteJoint::SetLimits ( float32  lower,
float32  upper 
)

Set the joint limits in radians.

Definition at line 469 of file b2RevoluteJoint.cpp.

void b2RevoluteJoint::SetMaxMotorTorque ( float32  torque)

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

Definition at line 436 of file b2RevoluteJoint.cpp.

void b2RevoluteJoint::SetMotorSpeed ( float32  speed)

Set the motor speed in radians per second.

Definition at line 429 of file b2RevoluteJoint.cpp.

bool b2RevoluteJoint::SolvePositionConstraints ( const b2SolverData data)
protectedvirtual

Implements b2Joint.

Definition at line 291 of file b2RevoluteJoint.cpp.

void b2RevoluteJoint::SolveVelocityConstraints ( const b2SolverData data)
protectedvirtual

Implements b2Joint.

Definition at line 183 of file b2RevoluteJoint.cpp.

Friends And Related Function Documentation

friend class b2GearJoint
friend

Definition at line 160 of file b2RevoluteJoint.h.

friend class b2Joint
friend

Definition at line 159 of file b2RevoluteJoint.h.

Member Data Documentation

bool b2RevoluteJoint::m_enableLimit
protected

Definition at line 178 of file b2RevoluteJoint.h.

bool b2RevoluteJoint::m_enableMotor
protected

Definition at line 174 of file b2RevoluteJoint.h.

b2Vec3 b2RevoluteJoint::m_impulse
protected

Definition at line 171 of file b2RevoluteJoint.h.

int32 b2RevoluteJoint::m_indexA
protected

Definition at line 184 of file b2RevoluteJoint.h.

int32 b2RevoluteJoint::m_indexB
protected

Definition at line 185 of file b2RevoluteJoint.h.

float32 b2RevoluteJoint::m_invIA
protected

Definition at line 192 of file b2RevoluteJoint.h.

float32 b2RevoluteJoint::m_invIB
protected

Definition at line 193 of file b2RevoluteJoint.h.

float32 b2RevoluteJoint::m_invMassA
protected

Definition at line 190 of file b2RevoluteJoint.h.

float32 b2RevoluteJoint::m_invMassB
protected

Definition at line 191 of file b2RevoluteJoint.h.

b2LimitState b2RevoluteJoint::m_limitState
protected

Definition at line 196 of file b2RevoluteJoint.h.

b2Vec2 b2RevoluteJoint::m_localAnchorA
protected

Definition at line 169 of file b2RevoluteJoint.h.

b2Vec2 b2RevoluteJoint::m_localAnchorB
protected

Definition at line 170 of file b2RevoluteJoint.h.

b2Vec2 b2RevoluteJoint::m_localCenterA
protected

Definition at line 188 of file b2RevoluteJoint.h.

b2Vec2 b2RevoluteJoint::m_localCenterB
protected

Definition at line 189 of file b2RevoluteJoint.h.

float32 b2RevoluteJoint::m_lowerAngle
protected

Definition at line 180 of file b2RevoluteJoint.h.

b2Mat33 b2RevoluteJoint::m_mass
protected

Definition at line 194 of file b2RevoluteJoint.h.

float32 b2RevoluteJoint::m_maxMotorTorque
protected

Definition at line 175 of file b2RevoluteJoint.h.

float32 b2RevoluteJoint::m_motorImpulse
protected

Definition at line 172 of file b2RevoluteJoint.h.

float32 b2RevoluteJoint::m_motorMass
protected

Definition at line 195 of file b2RevoluteJoint.h.

float32 b2RevoluteJoint::m_motorSpeed
protected

Definition at line 176 of file b2RevoluteJoint.h.

b2Vec2 b2RevoluteJoint::m_rA
protected

Definition at line 186 of file b2RevoluteJoint.h.

b2Vec2 b2RevoluteJoint::m_rB
protected

Definition at line 187 of file b2RevoluteJoint.h.

float32 b2RevoluteJoint::m_referenceAngle
protected

Definition at line 179 of file b2RevoluteJoint.h.

float32 b2RevoluteJoint::m_upperAngle
protected

Definition at line 181 of file b2RevoluteJoint.h.


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


mvsim
Author(s):
autogenerated on Fri May 7 2021 03:05:52