19 #ifndef B2_REVOLUTE_JOINT_H    20 #define B2_REVOLUTE_JOINT_H    22 #include <Box2D/Dynamics/Joints/b2Joint.h>    39         type = e_revoluteJoint;
   106     float32 GetJointAngle() 
const;
   109     float32 GetJointSpeed() 
const;
   112     bool IsLimitEnabled() 
const;
   115     void EnableLimit(
bool flag);
   118     float32 GetLowerLimit() 
const;
   121     float32 GetUpperLimit() 
const;
   124     void SetLimits(float32 lower, float32 upper);
   127     bool IsMotorEnabled() 
const;
   130     void EnableMotor(
bool flag);
   133     void SetMotorSpeed(float32 speed);
   136     float32 GetMotorSpeed() 
const;
   139     void SetMaxMotorTorque(float32 torque);
   140     float32 GetMaxMotorTorque()
 const { 
return m_maxMotorTorque; }
   144     b2Vec2 GetReactionForce(float32 inv_dt) 
const;
   148     float32 GetReactionTorque(float32 inv_dt) 
const;
   152     float32 GetMotorTorque(float32 inv_dt) 
const;
   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
b2Body * bodyA
The first attached body. 
Definition: b2Joint.h:92
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
b2Body * bodyB
The second attached body. 
Definition: b2Joint.h:95
bool enableMotor
A flag to enable the joint motor. 
Definition: b2RevoluteJoint.h:74
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
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
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
Solver Data. 
Definition: b2TimeStep.h:63
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
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 maxMotorTorque
Definition: b2RevoluteJoint.h:81
A 2D column vector. 
Definition: b2Math.h:53