Package org.jbox2d.dynamics.joints
Class WeldJoint
java.lang.Object
org.jbox2d.dynamics.joints.Joint
org.jbox2d.dynamics.joints.WeldJoint
A weld joint essentially glues two bodies together. A weld joint may distort somewhat because the
island constraint solver is approximate.
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Field Summary
FieldsModifier and TypeFieldDescriptionprivate float
private float
private float
private float
private final Vec3
private int
private int
private float
private float
private float
private float
private final Vec2
private final Vec2
private final Vec2
private final Vec2
private final Mat33
private final Vec2
private final Vec2
private float
Fields inherited from class org.jbox2d.dynamics.joints.Joint
m_bodyA, m_bodyB, m_edgeA, m_edgeB, m_islandFlag, m_next, m_prev, m_userData, pool
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Constructor Summary
Constructors -
Method Summary
Modifier and TypeMethodDescriptionvoid
getAnchorA
(Vec2 argOut) get the anchor point on bodyA in world coordinates.void
getAnchorB
(Vec2 argOut) get the anchor point on bodyB in world coordinates.float
float
void
getReactionForce
(float inv_dt, Vec2 argOut) get the reaction force on body2 at the joint anchor in Newtons.float
getReactionTorque
(float inv_dt) get the reaction torque on body2 in N*m.float
void
void
setDampingRatio
(float dampingRatio) void
setFrequency
(float frequencyHz) boolean
This returns true if the position errors are within tolerance.void
Methods inherited from class org.jbox2d.dynamics.joints.Joint
create, destroy, destructor, getBodyA, getBodyB, getCollideConnected, getNext, getType, getUserData, isActive, setUserData
Methods inherited from class java.lang.Object
clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait
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Field Details
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m_frequencyHz
private float m_frequencyHz -
m_dampingRatio
private float m_dampingRatio -
m_bias
private float m_bias -
m_localAnchorA
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m_localAnchorB
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m_referenceAngle
private float m_referenceAngle -
m_gamma
private float m_gamma -
m_impulse
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m_indexA
private int m_indexA -
m_indexB
private int m_indexB -
m_rA
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m_rB
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m_localCenterA
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m_localCenterB
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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_mass
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Constructor Details
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WeldJoint
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Method Details
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getReferenceAngle
public float getReferenceAngle() -
getLocalAnchorA
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getLocalAnchorB
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getFrequency
public float getFrequency() -
setFrequency
public void setFrequency(float frequencyHz) -
getDampingRatio
public float getDampingRatio() -
setDampingRatio
public void setDampingRatio(float dampingRatio) -
getAnchorA
Description copied from class:Joint
get the anchor point on bodyA in world coordinates.- Specified by:
getAnchorA
in classJoint
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getAnchorB
Description copied from class:Joint
get the anchor point on bodyB in world coordinates.- Specified by:
getAnchorB
in classJoint
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getReactionForce
Description copied from class:Joint
get the reaction force on body2 at the joint anchor in Newtons.- Specified by:
getReactionForce
in classJoint
- Parameters:
inv_dt
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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 classJoint
- Parameters:
inv_dt
-- Returns:
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initVelocityConstraints
- Specified by:
initVelocityConstraints
in classJoint
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solveVelocityConstraints
- Specified by:
solveVelocityConstraints
in classJoint
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solvePositionConstraints
Description copied from class:Joint
This returns true if the position errors are within tolerance.- Specified by:
solvePositionConstraints
in classJoint
- Returns:
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