19 #ifndef B2_REVOLUTE_JOINT_H 
   20 #define B2_REVOLUTE_JOINT_H 
   22 #include <Box2D/Dynamics/Joints/b2Joint.h> 
   39         type = e_revoluteJoint;
 
  124     void SetLimits(float32 lower, float32 upper);
 
  140     float32 GetMaxMotorTorque()
 const { 
return m_maxMotorTorque; }
 
  165     void SolveVelocityConstraints(
const b2SolverData& data);
 
  166     bool SolvePositionConstraints(
const b2SolverData& data);
 
  172     float32 m_motorImpulse;
 
  175     float32 m_maxMotorTorque;
 
  176     float32 m_motorSpeed;
 
  179     float32 m_referenceAngle;
 
  180     float32 m_lowerAngle;
 
  181     float32 m_upperAngle;
 
  196     b2LimitState m_limitState;
 
A 2D column vector with 3 elements. 
Definition: b2Math.h:144
bool IsLimitEnabled() const 
Is the joint limit enabled? 
Definition: b2RevoluteJoint.cpp:443
b2Body * bodyA
The first attached body. 
Definition: b2Joint.h:92
float32 GetJointSpeed() const 
Get the current joint angle speed in radians per second. 
Definition: b2RevoluteJoint.cpp:405
float32 motorSpeed
The desired motor speed. Usually in radians per second. 
Definition: b2RevoluteJoint.h:77
void Initialize(b2Body *bodyA, b2Body *bodyB, const b2Vec2 &anchor)
Definition: b2RevoluteJoint.cpp:36
A 3-by-3 matrix. Stored in column-major order. 
Definition: b2Math.h:257
void EnableMotor(bool flag)
Enable/disable the joint motor. 
Definition: b2RevoluteJoint.cpp:417
b2Body * bodyB
The second attached body. 
Definition: b2Joint.h:95
float32 GetUpperLimit() const 
Get the upper joint limit in radians. 
Definition: b2RevoluteJoint.cpp:464
b2Vec2 GetAnchorB() const 
Get the anchor point on bodyB in world coordinates. 
Definition: b2RevoluteJoint.cpp:382
bool enableMotor
A flag to enable the joint motor. 
Definition: b2RevoluteJoint.h:74
void SetMaxMotorTorque(float32 torque)
Set the maximum motor torque, usually in N-m. 
Definition: b2RevoluteJoint.cpp:436
float32 GetJointAngle() const 
Get the current joint angle in radians. 
Definition: b2RevoluteJoint.cpp:398
Definition: b2Joint.h:103
b2Vec2 localAnchorB
The local anchor point relative to bodyB's origin. 
Definition: b2RevoluteJoint.h:59
float32 lowerAngle
The lower angle for the joint limit (radians). 
Definition: b2RevoluteJoint.h:68
void Set(float32 x_, float32 y_)
Set this vector to some specified coordinates. 
Definition: b2Math.h:65
void Dump()
Dump to b2Log. 
Definition: b2RevoluteJoint.cpp:483
const b2Vec2 & GetLocalAnchorA() const 
The local anchor point relative to bodyA's origin. 
Definition: b2RevoluteJoint.h:97
float32 GetReferenceAngle() const 
Get the reference angle. 
Definition: b2RevoluteJoint.h:103
void SetMotorSpeed(float32 speed)
Set the motor speed in radians per second. 
Definition: b2RevoluteJoint.cpp:429
float32 GetMotorSpeed() const 
Get the motor speed in radians per second. 
Definition: b2RevoluteJoint.h:199
Definition: b2GearJoint.h:56
float32 referenceAngle
The bodyB angle minus bodyA angle in the reference state (radians). 
Definition: b2RevoluteJoint.h:62
b2Vec2 localAnchorA
The local anchor point relative to bodyA's origin. 
Definition: b2RevoluteJoint.h:56
b2JointType type
The joint type is set automatically for concrete joint types. 
Definition: b2Joint.h:86
b2Vec2 GetAnchorA() const 
Get the anchor point on bodyA in world coordinates. 
Definition: b2RevoluteJoint.cpp:377
Solver Data. 
Definition: b2TimeStep.h:63
bool IsMotorEnabled() const 
Is the joint motor enabled? 
Definition: b2RevoluteJoint.cpp:412
const b2Vec2 & GetLocalAnchorB() const 
The local anchor point relative to bodyB's origin. 
Definition: b2RevoluteJoint.h:100
float32 upperAngle
The upper angle for the joint limit (radians). 
Definition: b2RevoluteJoint.h:71
void EnableLimit(bool flag)
Enable/disable the joint limit. 
Definition: b2RevoluteJoint.cpp:448
Definition: b2RevoluteJoint.h:90
Joint definitions are used to construct joints. 
Definition: b2Joint.h:74
bool enableLimit
A flag to enable joint limits. 
Definition: b2RevoluteJoint.h:65
A rigid body. These are created via b2World::CreateBody. 
Definition: b2Body.h:126
Definition: b2RevoluteJoint.h:35
float32 GetLowerLimit() const 
Get the lower joint limit in radians. 
Definition: b2RevoluteJoint.cpp:459
float32 maxMotorTorque
Definition: b2RevoluteJoint.h:81
A 2D column vector. 
Definition: b2Math.h:53
float32 GetMotorTorque(float32 inv_dt) const 
Definition: b2RevoluteJoint.cpp:424
void SetLimits(float32 lower, float32 upper)
Set the joint limits in radians. 
Definition: b2RevoluteJoint.cpp:469
b2Vec2 GetReactionForce(float32 inv_dt) const 
Definition: b2RevoluteJoint.cpp:387
float32 GetReactionTorque(float32 inv_dt) const 
Definition: b2RevoluteJoint.cpp:393