|  | Box2D
    2.3.0
    A 2D Physics Engine for Games | 
 
 
 
   19 #ifndef B2_MOTOR_JOINT_H 
   20 #define B2_MOTOR_JOINT_H 
   22 #include <Box2D/Dynamics/Joints/b2Joint.h> 
   70     const b2Vec2& GetLinearOffset() 
const;
 
   74     float32 GetAngularOffset() 
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;
 
  
A 2D column vector.
Definition: b2Math.h:53
A rigid body. These are created via b2World::CreateBody.
Definition: b2Body.h:126
float32 correctionFactor
Position correction factor in the range [0,1].
Definition: b2MotorJoint.h:53
b2Vec2 GetReactionForce(float32 inv_dt) const
Get the reaction force on bodyB at the joint anchor in Newtons.
Definition: b2MotorJoint.cpp:216
void SetAngularOffset(float32 angularOffset)
Set/get the target angular offset, in radians.
Definition: b2MotorJoint.cpp:274
b2Vec2 GetAnchorA() const
Get the anchor point on bodyA in world coordinates.
Definition: b2MotorJoint.cpp:206
Joint definitions are used to construct joints.
Definition: b2Joint.h:74
b2JointType type
The joint type is set automatically for concrete joint types.
Definition: b2Joint.h:86
float32 GetMaxForce() const
Get the maximum friction force in N.
Definition: b2MotorJoint.cpp:232
float32 GetCorrectionFactor() const
Get the position correction factor in the range [0,1].
Definition: b2MotorJoint.cpp:254
Motor joint definition.
Definition: b2MotorJoint.h:25
float32 angularOffset
The bodyB angle minus bodyA angle in radians.
Definition: b2MotorJoint.h:44
b2Vec2 GetAnchorB() const
Get the anchor point on bodyB in world coordinates.
Definition: b2MotorJoint.cpp:211
b2Body * bodyB
The second attached body.
Definition: b2Joint.h:95
float32 GetReactionTorque(float32 inv_dt) const
Get the reaction torque on bodyB in N*m.
Definition: b2MotorJoint.cpp:221
void SetMaxForce(float32 force)
Set the maximum friction force in N.
Definition: b2MotorJoint.cpp:226
void Dump()
Dump to b2Log.
Definition: b2MotorJoint.cpp:289
Definition: b2MotorJoint.h:59
float32 maxTorque
The maximum motor torque in N-m.
Definition: b2MotorJoint.h:50
b2Vec2 linearOffset
Position of bodyB minus the position of bodyA, in bodyA's frame, in meters.
Definition: b2MotorJoint.h:41
float32 GetMaxTorque() const
Get the maximum friction torque in N*m.
Definition: b2MotorJoint.cpp:243
void Initialize(b2Body *bodyA, b2Body *bodyB)
Initialize the bodies and offsets using the current transforms.
Definition: b2MotorJoint.cpp:35
A 2-by-2 matrix. Stored in column-major order.
Definition: b2Math.h:183
Solver Data.
Definition: b2TimeStep.h:63
void SetZero()
Set this vector to all zeros.
Definition: b2Math.h:62
float32 maxForce
The maximum motor force in N.
Definition: b2MotorJoint.h:47
b2Body * bodyA
The first attached body.
Definition: b2Joint.h:92
Definition: b2Joint.h:103
void SetMaxTorque(float32 torque)
Set the maximum friction torque in N*m.
Definition: b2MotorJoint.cpp:237
void SetLinearOffset(const b2Vec2 &linearOffset)
Set/get the target linear offset, in frame A, in meters.
Definition: b2MotorJoint.cpp:259
void SetCorrectionFactor(float32 factor)
Set the position correction factor in the range [0,1].
Definition: b2MotorJoint.cpp:248