Package org.jbox2d.dynamics.joints
Class WeldJoint
- java.lang.Object
-
- org.jbox2d.dynamics.joints.Joint
-
- org.jbox2d.dynamics.joints.WeldJoint
-
public class WeldJoint extends Joint
A weld joint essentially glues two bodies together. A weld joint may distort somewhat because the island constraint solver is approximate.
-
-
Field Summary
Fields Modifier and Type Field Description private float
m_bias
private float
m_dampingRatio
private float
m_frequencyHz
private float
m_gamma
private Vec3
m_impulse
private int
m_indexA
private int
m_indexB
private float
m_invIA
private float
m_invIB
private float
m_invMassA
private float
m_invMassB
private Vec2
m_localAnchorA
private Vec2
m_localAnchorB
private Vec2
m_localCenterA
private Vec2
m_localCenterB
private Mat33
m_mass
private Vec2
m_rA
private Vec2
m_rB
private float
m_referenceAngle
-
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
-
-
Constructor Summary
Constructors Modifier Constructor Description protected
WeldJoint(IWorldPool argWorld, WeldJointDef def)
-
Method Summary
All Methods Instance Methods Concrete Methods Modifier and Type Method Description void
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
getDampingRatio()
float
getFrequency()
Vec2
getLocalAnchorA()
Vec2
getLocalAnchorB()
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
getReferenceAngle()
void
initVelocityConstraints(SolverData data)
void
setDampingRatio(float dampingRatio)
void
setFrequency(float frequencyHz)
boolean
solvePositionConstraints(SolverData data)
This returns true if the position errors are within tolerance.void
solveVelocityConstraints(SolverData data)
-
Methods inherited from class org.jbox2d.dynamics.joints.Joint
create, destroy, destructor, getBodyA, getBodyB, getCollideConnected, getNext, getType, getUserData, isActive, setUserData
-
-
-
-
Field Detail
-
m_frequencyHz
private float m_frequencyHz
-
m_dampingRatio
private float m_dampingRatio
-
m_bias
private float m_bias
-
m_localAnchorA
private final Vec2 m_localAnchorA
-
m_localAnchorB
private final Vec2 m_localAnchorB
-
m_referenceAngle
private float m_referenceAngle
-
m_gamma
private float m_gamma
-
m_impulse
private final Vec3 m_impulse
-
m_indexA
private int m_indexA
-
m_indexB
private int m_indexB
-
m_rA
private final Vec2 m_rA
-
m_rB
private final Vec2 m_rB
-
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_mass
private final Mat33 m_mass
-
-
Constructor Detail
-
WeldJoint
protected WeldJoint(IWorldPool argWorld, WeldJointDef def)
-
-
Method Detail
-
getReferenceAngle
public float getReferenceAngle()
-
getLocalAnchorA
public Vec2 getLocalAnchorA()
-
getLocalAnchorB
public Vec2 getLocalAnchorB()
-
getFrequency
public float getFrequency()
-
setFrequency
public void setFrequency(float frequencyHz)
-
getDampingRatio
public float getDampingRatio()
-
setDampingRatio
public void setDampingRatio(float dampingRatio)
-
getAnchorA
public void getAnchorA(Vec2 argOut)
Description copied from class:Joint
get the anchor point on bodyA in world coordinates.- Specified by:
getAnchorA
in classJoint
-
getAnchorB
public void getAnchorB(Vec2 argOut)
Description copied from class:Joint
get the anchor point on bodyB in world coordinates.- Specified by:
getAnchorB
in classJoint
-
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 classJoint
-
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
- Returns:
-
initVelocityConstraints
public void initVelocityConstraints(SolverData data)
- Specified by:
initVelocityConstraints
in classJoint
-
solveVelocityConstraints
public void solveVelocityConstraints(SolverData data)
- Specified by:
solveVelocityConstraints
in classJoint
-
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 classJoint
- Returns:
-
-