b2RevoluteJoint Class Reference

#include <b2_revolute_joint.h>

Inheritance diagram for b2RevoluteJoint:

Public Member Functions
b2Vec2	GetAnchorA () const override
	Get the anchor point on bodyA in world coordinates.
b2Vec2	GetAnchorB () const override
	Get the anchor point on bodyB in world coordinates.
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.
float	GetReferenceAngle () const
	Get the reference angle.
float	GetJointAngle () const
	Get the current joint angle in radians.
float	GetJointSpeed () const
	Get the current joint angle speed in radians per second.
bool	IsLimitEnabled () const
	Is the joint limit enabled?
void	EnableLimit (bool flag)
	Enable/disable the joint limit.
float	GetLowerLimit () const
	Get the lower joint limit in radians.
float	GetUpperLimit () const
	Get the upper joint limit in radians.
void	SetLimits (float lower, float upper)
	Set the joint limits in radians.
bool	IsMotorEnabled () const
	Is the joint motor enabled?
void	EnableMotor (bool flag)
	Enable/disable the joint motor.
void	SetMotorSpeed (float speed)
	Set the motor speed in radians per second.
float	GetMotorSpeed () const
	Get the motor speed in radians per second.
void	SetMaxMotorTorque (float torque)
	Set the maximum motor torque, usually in N-m.
float	GetMaxMotorTorque () const
b2Vec2	GetReactionForce (float inv_dt) const override
float	GetReactionTorque (float inv_dt) const override
float	GetMotorTorque (float inv_dt) const
void	Dump () override
	Dump to b2Log.
void	Draw (b2Draw *draw) const override
	Debug draw this joint.
Public Member Functions inherited from b2Joint
b2JointType	GetType () const
	Get the type of the concrete joint.
b2Body *	GetBodyA ()
	Get the first body attached to this joint.
b2Body *	GetBodyB ()
	Get the second body attached to this joint.
b2Joint *	GetNext ()
	Get the next joint the world joint list.
const b2Joint *	GetNext () const
b2JointUserData &	GetUserData ()
	Get the user data pointer.
const b2JointUserData &	GetUserData () const
bool	IsEnabled () const
	Short-cut function to determine if either body is enabled.
bool	GetCollideConnected () const
virtual void	ShiftOrigin (const b2Vec2 &newOrigin)
	Shift the origin for any points stored in world coordinates.

Protected Member Functions
	b2RevoluteJoint (const b2RevoluteJointDef *def)
void	InitVelocityConstraints (const b2SolverData &data) override
void	SolveVelocityConstraints (const b2SolverData &data) override
bool	SolvePositionConstraints (const b2SolverData &data) override
Protected Member Functions inherited from b2Joint
	b2Joint (const b2JointDef *def)

Protected Attributes
b2Vec2	m_localAnchorA
b2Vec2	m_localAnchorB
b2Vec2	m_impulse
float	m_motorImpulse
float	m_lowerImpulse
float	m_upperImpulse
bool	m_enableMotor
float	m_maxMotorTorque
float	m_motorSpeed
bool	m_enableLimit
float	m_referenceAngle
float	m_lowerAngle
float	m_upperAngle
int32	m_indexA
int32	m_indexB
b2Vec2	m_rA
b2Vec2	m_rB
b2Vec2	m_localCenterA
b2Vec2	m_localCenterB
float	m_invMassA
float	m_invMassB
float	m_invIA
float	m_invIB
b2Mat22	m_K
float	m_angle
float	m_axialMass
Protected Attributes inherited from b2Joint
b2JointType	m_type
b2Joint *	m_prev
b2Joint *	m_next
b2JointEdge	m_edgeA
b2JointEdge	m_edgeB
b2Body *	m_bodyA
b2Body *	m_bodyB
int32	m_index
bool	m_islandFlag
bool	m_collideConnected
b2JointUserData	m_userData

Friends
class	b2Joint
class	b2GearJoint

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.

Member Function Documentation

Draw()

void b2RevoluteJoint::Draw ( b2Draw * draw ) const

overridevirtual

Debug draw this joint.

Reimplemented from b2Joint.

Dump()

void b2RevoluteJoint::Dump ( )

overridevirtual

Dump to b2Log.

Reimplemented from b2Joint.

GetAnchorA()

b2Vec2 b2RevoluteJoint::GetAnchorA ( ) const

overridevirtual

Get the anchor point on bodyA in world coordinates.

Implements b2Joint.

GetAnchorB()

b2Vec2 b2RevoluteJoint::GetAnchorB ( ) const

overridevirtual

Get the anchor point on bodyB in world coordinates.

Implements b2Joint.

GetMotorTorque()

float b2RevoluteJoint::GetMotorTorque

(

float

inv_dt

)

const

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

GetReactionForce()

b2Vec2 b2RevoluteJoint::GetReactionForce ( float inv_dt ) const

overridevirtual

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

Implements b2Joint.

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.

InitVelocityConstraints()

void b2RevoluteJoint::InitVelocityConstraints ( const b2SolverData & data )

overrideprotectedvirtual

Implements b2Joint.

SolvePositionConstraints()

bool b2RevoluteJoint::SolvePositionConstraints ( const b2SolverData & data )

overrideprotectedvirtual

Implements b2Joint.

SolveVelocityConstraints()

void b2RevoluteJoint::SolveVelocityConstraints ( const b2SolverData & data )

overrideprotectedvirtual

Implements b2Joint.

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

• E:/github/box2d_24/include/box2d/b2_revolute_joint.h