19 #ifndef B2_MOTOR_JOINT_H    20 #define B2_MOTOR_JOINT_H    22 #include <Box2D/Dynamics/Joints/b2Joint.h>    65     b2Vec2 GetReactionForce(float32 inv_dt) 
const;
    66     float32 GetReactionTorque(float32 inv_dt) 
const;
    70     const b2Vec2& GetLinearOffset() 
const;
    74     float32 GetAngularOffset() 
const;
    77     void SetMaxForce(float32 force);
    80     float32 GetMaxForce() 
const;
    83     void SetMaxTorque(float32 torque);
    86     float32 GetMaxTorque() 
const;
    89     void SetCorrectionFactor(float32 factor);
    92     float32 GetCorrectionFactor() 
const;
   104     void SolveVelocityConstraints(
const b2SolverData& data);
   105     bool SolvePositionConstraints(
const b2SolverData& data);
   109     float32 m_angularOffset;
   111     float32 m_angularImpulse;
   114     float32 m_correctionFactor;
   124     float32 m_angularError;
   130     float32 m_angularMass;
 b2Body * bodyA
The first attached body. 
Definition: b2Joint.h:92
Definition: b2MotorJoint.h:59
b2Body * bodyB
The second attached body. 
Definition: b2Joint.h:95
float32 maxTorque
The maximum motor torque in N-m. 
Definition: b2MotorJoint.h:50
Motor joint definition. 
Definition: b2MotorJoint.h:25
Definition: b2Joint.h:103
void SetZero()
Set this vector to all zeros. 
Definition: b2Math.h:62
float32 angularOffset
The bodyB angle minus bodyA angle in radians. 
Definition: b2MotorJoint.h:44
b2JointType type
The joint type is set automatically for concrete joint types. 
Definition: b2Joint.h:86
Solver Data. 
Definition: b2TimeStep.h:63
float32 maxForce
The maximum motor force in N. 
Definition: b2MotorJoint.h:47
A 2-by-2 matrix. Stored in column-major order. 
Definition: b2Math.h:183
float32 correctionFactor
Position correction factor in the range [0,1]. 
Definition: b2MotorJoint.h:53
Joint definitions are used to construct joints. 
Definition: b2Joint.h:74
A rigid body. These are created via b2World::CreateBody. 
Definition: b2Body.h:126
A 2D column vector. 
Definition: b2Math.h:53
b2Vec2 linearOffset
Position of bodyB minus the position of bodyA, in bodyA's frame, in meters. 
Definition: b2MotorJoint.h:41
void Initialize(b2Body *bodyA, b2Body *bodyB)
Initialize the bodies and offsets using the current transforms. 
Definition: b2MotorJoint.cpp:35