#include <b2RevoluteJoint.h>
Inheritance diagram for b2RevoluteJoint:
Public Member Functions | |
| b2Vec2 | GetAnchorA () const |
| Get the anchor point on bodyA in world coordinates. | |
| b2Vec2 | GetAnchorB () const |
| 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. | |
| float32 | GetReferenceAngle () const |
| Get the reference angle. | |
| float32 | GetJointAngle () const |
| Get the current joint angle in radians. | |
| float32 | 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. | |
| float32 | GetLowerLimit () const |
| Get the lower joint limit in radians. | |
| float32 | GetUpperLimit () const |
| Get the upper joint limit in radians. | |
| void | SetLimits (float32 lower, float32 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 (float32 speed) |
| Set the motor speed in radians per second. | |
| float32 | GetMotorSpeed () const |
| Get the motor speed in radians per second. | |
| void | SetMaxMotorTorque (float32 torque) |
| Set the maximum motor torque, usually in N-m. | |
| float32 | GetMaxMotorTorque () const |
| b2Vec2 | GetReactionForce (float32 inv_dt) const |
| float32 | GetReactionTorque (float32 inv_dt) const |
| float32 | GetMotorTorque (float32 inv_dt) const |
| void | Dump () |
| Dump to b2Log. | |
 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 |
| void * | GetUserData () const |
| Get the user data pointer. | |
| void | SetUserData (void *data) |
| Set the user data pointer. | |
| bool | IsActive () const |
| Short-cut function to determine if either body is inactive. | |
| 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) |
| void | SolveVelocityConstraints (const b2SolverData &data) |
| bool | SolvePositionConstraints (const b2SolverData &data) |
| Protected Member Functions inherited from b2Joint | |
| b2Joint (const b2JointDef *def) | |
Protected Attributes | |
| b2Vec2 | m_localAnchorA |
| b2Vec2 | m_localAnchorB |
| b2Vec3 | m_impulse |
| float32 | m_motorImpulse |
| bool | m_enableMotor |
| float32 | m_maxMotorTorque |
| float32 | m_motorSpeed |
| bool | m_enableLimit |
| float32 | m_referenceAngle |
| float32 | m_lowerAngle |
| float32 | m_upperAngle |
| int32 | m_indexA |
| int32 | m_indexB |
| b2Vec2 | m_rA |
| b2Vec2 | m_rB |
| b2Vec2 | m_localCenterA |
| b2Vec2 | m_localCenterB |
| float32 | m_invMassA |
| float32 | m_invMassB |
| float32 | m_invIA |
| float32 | m_invIB |
| b2Mat33 | m_mass |
| float32 | m_motorMass |
| b2LimitState | m_limitState |
| 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 |
| void * | 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
| float32 b2RevoluteJoint::GetMotorTorque | ( | float32 | inv_dt | ) | const |
Get the current motor torque given the inverse time step. Unit is N*m.
|
virtual |
Get the reaction force given the inverse time step. Unit is N.
Implements b2Joint.
|
virtual |
Get the reaction torque due to the joint limit given the inverse time step. Unit is N*m.
Implements b2Joint.
The documentation for this class was generated from the following files:
- b2RevoluteJoint.h
- b2RevoluteJoint.cpp
