Box2D  2.4.1
A 2D physics engine for games
b2WheelJoint Class Reference

#include <b2_wheel_joint.h>

Inheritance diagram for b2WheelJoint:

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.
b2Vec2 GetReactionForce (float inv_dt) const override
 Get the reaction force on bodyB at the joint anchor in Newtons.
float GetReactionTorque (float inv_dt) const override
 Get the reaction torque on bodyB in N*m.
const b2Vec2GetLocalAnchorA () const
 The local anchor point relative to bodyA's origin.
const b2Vec2GetLocalAnchorB () const
 The local anchor point relative to bodyB's origin.
const b2Vec2GetLocalAxisA () const
 The local joint axis relative to bodyA.
float GetJointTranslation () const
 Get the current joint translation, usually in meters.
float GetJointLinearSpeed () const
 Get the current joint linear speed, usually in meters per second.
float GetJointAngle () const
 Get the current joint angle in radians.
float GetJointAngularSpeed () const
 Get the current joint angular speed in radians per second.
bool IsLimitEnabled () const
 Is the joint limit enabled?
void EnableLimit (bool flag)
 Enable/disable the joint translation limit.
float GetLowerLimit () const
 Get the lower joint translation limit, usually in meters.
float GetUpperLimit () const
 Get the upper joint translation limit, usually in meters.
void SetLimits (float lower, float upper)
 Set the joint translation limits, usually in meters.
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, usually in radians per second.
float GetMotorSpeed () const
 Get the motor speed, usually in radians per second.
void SetMaxMotorTorque (float torque)
 Set/Get the maximum motor force, usually in N-m.
float GetMaxMotorTorque () const
float GetMotorTorque (float inv_dt) const
 Get the current motor torque given the inverse time step, usually in N-m.
void SetStiffness (float stiffness)
 Access spring stiffness.
float GetStiffness () const
void SetDamping (float damping)
 Access damping.
float GetDamping () 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.
b2BodyGetBodyA ()
 Get the first body attached to this joint.
b2BodyGetBodyB ()
 Get the second body attached to this joint.
b2JointGetNext ()
 Get the next joint the world joint list.
const b2JointGetNext () const
b2JointUserDataGetUserData ()
 Get the user data pointer.
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

 b2WheelJoint (const b2WheelJointDef *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_localXAxisA
b2Vec2 m_localYAxisA
float m_impulse
float m_motorImpulse
float m_springImpulse
float m_lowerImpulse
float m_upperImpulse
float m_translation
float m_lowerTranslation
float m_upperTranslation
float m_maxMotorTorque
float m_motorSpeed
bool m_enableLimit
bool m_enableMotor
float m_stiffness
float m_damping
int32 m_indexA
int32 m_indexB
b2Vec2 m_localCenterA
b2Vec2 m_localCenterB
float m_invMassA
float m_invMassB
float m_invIA
float m_invIB
b2Vec2 m_ax
b2Vec2 m_ay
float m_sAx
float m_sBx
float m_sAy
float m_sBy
float m_mass
float m_motorMass
float m_axialMass
float m_springMass
float m_bias
float m_gamma
- Protected Attributes inherited from b2Joint
b2JointType m_type
b2JointEdge m_edgeA
b2JointEdge m_edgeB
int32 m_index
bool m_islandFlag
bool m_collideConnected
b2JointUserData m_userData


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 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.

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