19 #ifndef B2_WHEEL_JOINT_H    20 #define B2_WHEEL_JOINT_H    22 #include <Box2D/Dynamics/Joints/b2Joint.h>    85     b2Vec2 GetReactionForce(float32 inv_dt) 
const;
    86     float32 GetReactionTorque(float32 inv_dt) 
const;
    98     float32 GetJointTranslation() 
const;
   101     float32 GetJointSpeed() 
const;
   104     bool IsMotorEnabled() 
const;
   107     void EnableMotor(
bool flag);
   110     void SetMotorSpeed(float32 speed);
   113     float32 GetMotorSpeed() 
const;
   116     void SetMaxMotorTorque(float32 torque);
   117     float32 GetMaxMotorTorque() 
const;
   120     float32 GetMotorTorque(float32 inv_dt) 
const;
   123     void SetSpringFrequencyHz(float32 hz);
   124     float32 GetSpringFrequencyHz() 
const;
   127     void SetSpringDampingRatio(float32 ratio);
   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
b2Body * bodyA
The first attached body. 
Definition: b2Joint.h:92
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
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
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 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
void SetSpringFrequencyHz(float32 hz)
Set/Get the spring frequency in hertz. Setting the frequency to zero disables the spring...
Definition: b2WheelJoint.h:191