Class WheelJoint


  • public class WheelJoint
    extends Joint
    A wheel joint. This joint provides two degrees of freedom: translation along an axis fixed in bodyA and rotation in the plane. You can use a joint limit to restrict the range of motion and a joint motor to drive the rotation or to model rotational friction. This joint is designed for vehicle suspensions.
    • Field Detail

      • m_frequencyHz

        private float m_frequencyHz
      • m_dampingRatio

        private float m_dampingRatio
      • m_localAnchorA

        private final Vec2 m_localAnchorA
      • m_localAnchorB

        private final Vec2 m_localAnchorB
      • m_localXAxisA

        private final Vec2 m_localXAxisA
      • m_localYAxisA

        private final Vec2 m_localYAxisA
      • m_impulse

        private float m_impulse
      • m_motorImpulse

        private float m_motorImpulse
      • m_springImpulse

        private float m_springImpulse
      • m_maxMotorTorque

        private float m_maxMotorTorque
      • m_motorSpeed

        private float m_motorSpeed
      • m_enableMotor

        private boolean m_enableMotor
      • m_indexA

        private int m_indexA
      • m_indexB

        private int m_indexB
      • m_localCenterA

        private final Vec2 m_localCenterA
      • m_localCenterB

        private final Vec2 m_localCenterB
      • m_invMassA

        private float m_invMassA
      • m_invMassB

        private float m_invMassB
      • m_invIA

        private float m_invIA
      • m_invIB

        private float m_invIB
      • m_ax

        private final Vec2 m_ax
      • m_ay

        private final Vec2 m_ay
      • m_sAx

        private float m_sAx
      • m_sBx

        private float m_sBx
      • m_sAy

        private float m_sAy
      • m_sBy

        private float m_sBy
      • m_mass

        private float m_mass
      • m_motorMass

        private float m_motorMass
      • m_springMass

        private float m_springMass
      • m_bias

        private float m_bias
      • m_gamma

        private float m_gamma
      • rA

        private final Vec2 rA
      • rB

        private final Vec2 rB
      • d

        private final Vec2 d
    • Method Detail

      • getLocalAnchorA

        public Vec2 getLocalAnchorA()
      • getLocalAnchorB

        public Vec2 getLocalAnchorB()
      • getAnchorA

        public void getAnchorA​(Vec2 argOut)
        Description copied from class: Joint
        get the anchor point on bodyA in world coordinates.
        Specified by:
        getAnchorA in class Joint
      • getAnchorB

        public void getAnchorB​(Vec2 argOut)
        Description copied from class: Joint
        get the anchor point on bodyB in world coordinates.
        Specified by:
        getAnchorB in class Joint
      • getReactionForce

        public void getReactionForce​(float inv_dt,
                                     Vec2 argOut)
        Description copied from class: Joint
        get the reaction force on body2 at the joint anchor in Newtons.
        Specified by:
        getReactionForce in class Joint
      • getReactionTorque

        public float getReactionTorque​(float inv_dt)
        Description copied from class: Joint
        get the reaction torque on body2 in N*m.
        Specified by:
        getReactionTorque in class Joint
        Returns:
      • getJointTranslation

        public float getJointTranslation()
      • getLocalAxisA

        public Vec2 getLocalAxisA()
        For serialization
      • getJointSpeed

        public float getJointSpeed()
      • isMotorEnabled

        public boolean isMotorEnabled()
      • enableMotor

        public void enableMotor​(boolean flag)
      • setMotorSpeed

        public void setMotorSpeed​(float speed)
      • getMotorSpeed

        public float getMotorSpeed()
      • getMaxMotorTorque

        public float getMaxMotorTorque()
      • setMaxMotorTorque

        public void setMaxMotorTorque​(float torque)
      • getMotorTorque

        public float getMotorTorque​(float inv_dt)
      • setSpringFrequencyHz

        public void setSpringFrequencyHz​(float hz)
      • getSpringFrequencyHz

        public float getSpringFrequencyHz()
      • setSpringDampingRatio

        public void setSpringDampingRatio​(float ratio)
      • getSpringDampingRatio

        public float getSpringDampingRatio()
      • solvePositionConstraints

        public boolean solvePositionConstraints​(SolverData data)
        Description copied from class: Joint
        This returns true if the position errors are within tolerance.
        Specified by:
        solvePositionConstraints in class Joint
        Returns: