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Box2D
2.4.1
A 2D physics engine for games
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23 #ifndef B2_FRICTION_JOINT_H
24 #define B2_FRICTION_JOINT_H
34 type = e_frictionJoint;
35 localAnchorA.SetZero();
36 localAnchorB.SetZero();
76 void SetMaxForce(
float force);
79 float GetMaxForce()
const;
82 void SetMaxTorque(
float torque);
85 float GetMaxTorque()
const;
96 void InitVelocityConstraints(
const b2SolverData& data)
override;
97 void SolveVelocityConstraints(
const b2SolverData& data)
override;
98 bool SolvePositionConstraints(
const b2SolverData& data)
override;
105 float m_angularImpulse;
A 2D column vector.
Definition: b2_math.h:41
Definition: b2_friction_joint.h:60
A rigid body. These are created via b2World::CreateBody.
Definition: b2_body.h:128
float maxTorque
The maximum friction torque in N-m.
Definition: b2_friction_joint.h:55
b2Vec2 localAnchorA
The local anchor point relative to bodyA's origin.
Definition: b2_friction_joint.h:46
virtual b2Vec2 GetReactionForce(float inv_dt) const =0
Get the reaction force on bodyB at the joint anchor in Newtons.
virtual b2Vec2 GetAnchorA() const =0
Get the anchor point on bodyA in world coordinates.
Joint definitions are used to construct joints.
Definition: b2_joint.h:72
float maxForce
The maximum friction force in N.
Definition: b2_friction_joint.h:52
virtual void Dump()
Dump this joint to the log file.
Definition: b2_joint.h:151
const b2Vec2 & GetLocalAnchorA() const
The local anchor point relative to bodyA's origin.
Definition: b2_friction_joint.h:70
b2Vec2 localAnchorB
The local anchor point relative to bodyB's origin.
Definition: b2_friction_joint.h:49
A 2-by-2 matrix. Stored in column-major order.
Definition: b2_math.h:171
Solver Data.
Definition: b2_time_step.h:67
virtual b2Vec2 GetAnchorB() const =0
Get the anchor point on bodyB in world coordinates.
Definition: b2_joint.h:110
virtual float GetReactionTorque(float inv_dt) const =0
Get the reaction torque on bodyB in N*m.
Friction joint definition.
Definition: b2_friction_joint.h:30
const b2Vec2 & GetLocalAnchorB() const
The local anchor point relative to bodyB's origin.
Definition: b2_friction_joint.h:73