19 #ifndef B2_WHEEL_JOINT_H 
   20 #define B2_WHEEL_JOINT_H 
   22 #include <Box2D/Dynamics/Joints/b2Joint.h> 
  117     float32 GetMaxMotorTorque() 
const;
 
  124     float32 GetSpringFrequencyHz() 
const;
 
  128     float32 GetSpringDampingRatio() 
const;
 
  139     void SolveVelocityConstraints(
const b2SolverData& data);
 
  140     bool SolvePositionConstraints(
const b2SolverData& data);
 
  142     float32 m_frequencyHz;
 
  143     float32 m_dampingRatio;
 
  152     float32 m_motorImpulse;
 
  153     float32 m_springImpulse;
 
  155     float32 m_maxMotorTorque;
 
  156     float32 m_motorSpeed;
 
  170     float32 m_sAx, m_sBx;
 
  171     float32 m_sAy, m_sBy;
 
  175     float32 m_springMass;
 
  186 inline float32 b2WheelJoint::GetMaxMotorTorque()
 const 
  188     return m_maxMotorTorque;
 
  196 inline float32 b2WheelJoint::GetSpringFrequencyHz()
 const 
  198     return m_frequencyHz;
 
  203     m_dampingRatio = ratio;
 
  206 inline float32 b2WheelJoint::GetSpringDampingRatio()
 const 
  208     return m_dampingRatio;
 
void SetSpringDampingRatio(float32 ratio)
Set/Get the spring damping ratio. 
Definition: b2WheelJoint.h:201
Definition: b2WheelJoint.h:30
b2Vec2 GetAnchorA() const 
Get the anchor point on bodyA in world coordinates. 
Definition: b2WheelJoint.cpp:329
float32 GetReactionTorque(float32 inv_dt) const 
Get the reaction torque on bodyB in N*m. 
Definition: b2WheelJoint.cpp:344
b2Body * bodyA
The first attached body. 
Definition: b2Joint.h:92
void Dump()
Dump to b2Log. 
Definition: b2WheelJoint.cpp:401
b2Vec2 localAnchorA
The local anchor point relative to bodyA's origin. 
Definition: b2WheelJoint.h:50
b2Body * bodyB
The second attached body. 
Definition: b2Joint.h:95
void EnableMotor(bool flag)
Enable/disable the joint motor. 
Definition: b2WheelJoint.cpp:375
bool IsMotorEnabled() const 
Is the joint motor enabled? 
Definition: b2WheelJoint.cpp:370
float32 GetJointTranslation() const 
Get the current joint translation, usually in meters. 
Definition: b2WheelJoint.cpp:349
b2Vec2 GetReactionForce(float32 inv_dt) const 
Get the reaction force on bodyB at the joint anchor in Newtons. 
Definition: b2WheelJoint.cpp:339
Definition: b2Joint.h:103
float32 frequencyHz
Suspension frequency, zero indicates no suspension. 
Definition: b2WheelJoint.h:68
void Set(float32 x_, float32 y_)
Set this vector to some specified coordinates. 
Definition: b2Math.h:65
void SetZero()
Set this vector to all zeros. 
Definition: b2Math.h:62
bool enableMotor
Enable/disable the joint motor. 
Definition: b2WheelJoint.h:59
float32 GetMotorSpeed() const 
Get the motor speed, usually in radians per second. 
Definition: b2WheelJoint.h:181
b2JointType type
The joint type is set automatically for concrete joint types. 
Definition: b2Joint.h:86
const b2Vec2 & GetLocalAxisA() const 
The local joint axis relative to bodyA. 
Definition: b2WheelJoint.h:95
const b2Vec2 & GetLocalAnchorA() const 
The local anchor point relative to bodyA's origin. 
Definition: b2WheelJoint.h:89
Solver Data. 
Definition: b2TimeStep.h:63
b2Vec2 GetAnchorB() const 
Get the anchor point on bodyB in world coordinates. 
Definition: b2WheelJoint.cpp:334
float32 maxMotorTorque
The maximum motor torque, usually in N-m. 
Definition: b2WheelJoint.h:62
Joint definitions are used to construct joints. 
Definition: b2Joint.h:74
b2Vec2 localAnchorB
The local anchor point relative to bodyB's origin. 
Definition: b2WheelJoint.h:53
A rigid body. These are created via b2World::CreateBody. 
Definition: b2Body.h:126
float32 motorSpeed
The desired motor speed in radians per second. 
Definition: b2WheelJoint.h:65
A 2D column vector. 
Definition: b2Math.h:53
const b2Vec2 & GetLocalAnchorB() const 
The local anchor point relative to bodyB's origin. 
Definition: b2WheelJoint.h:92
void SetMotorSpeed(float32 speed)
Set the motor speed, usually in radians per second. 
Definition: b2WheelJoint.cpp:382
float32 GetJointSpeed() const 
Get the current joint translation speed, usually in meters per second. 
Definition: b2WheelJoint.cpp:363
void Initialize(b2Body *bodyA, b2Body *bodyB, const b2Vec2 &anchor, const b2Vec2 &axis)
Definition: b2WheelJoint.cpp:39
Definition: b2WheelJoint.h:79
float32 dampingRatio
Suspension damping ratio, one indicates critical damping. 
Definition: b2WheelJoint.h:71
b2Vec2 localAxisA
The local translation axis in bodyA. 
Definition: b2WheelJoint.h:56
float32 GetMotorTorque(float32 inv_dt) const 
Get the current motor torque given the inverse time step, usually in N-m. 
Definition: b2WheelJoint.cpp:396
void SetMaxMotorTorque(float32 torque)
Set/Get the maximum motor force, usually in N-m. 
Definition: b2WheelJoint.cpp:389
void SetSpringFrequencyHz(float32 hz)
Set/Get the spring frequency in hertz. Setting the frequency to zero disables the spring...
Definition: b2WheelJoint.h:191