Class Joint

    • Field Detail

      • m_prev

        public Joint m_prev
      • m_next

        public Joint m_next
      • m_bodyA

        protected Body m_bodyA
      • m_bodyB

        protected Body m_bodyB
      • m_islandFlag

        public boolean m_islandFlag
      • m_collideConnected

        private boolean m_collideConnected
      • m_userData

        public java.lang.Object m_userData
    • Method Detail

      • destroy

        public static void destroy​(Joint joint)
      • getType

        public JointType getType()
        get the type of the concrete joint.
        Returns:
      • getBodyA

        public final Body getBodyA()
        get the first body attached to this joint.
      • getBodyB

        public final Body getBodyB()
        get the second body attached to this joint.
        Returns:
      • getAnchorA

        public abstract void getAnchorA​(Vec2 out)
        get the anchor point on bodyA in world coordinates.
      • getAnchorB

        public abstract void getAnchorB​(Vec2 out)
        get the anchor point on bodyB in world coordinates.
      • getReactionForce

        public abstract void getReactionForce​(float inv_dt,
                                              Vec2 out)
        get the reaction force on body2 at the joint anchor in Newtons.
        Parameters:
        inv_dt -
      • getReactionTorque

        public abstract float getReactionTorque​(float inv_dt)
        get the reaction torque on body2 in N*m.
        Parameters:
        inv_dt -
        Returns:
      • getNext

        public Joint getNext()
        get the next joint the world joint list.
      • getUserData

        public java.lang.Object getUserData()
        get the user data pointer.
      • setUserData

        public void setUserData​(java.lang.Object data)
        Set the user data pointer.
      • getCollideConnected

        public final boolean getCollideConnected()
      • isActive

        public boolean isActive()
        Short-cut function to determine if either body is inactive.
        Returns:
      • initVelocityConstraints

        public abstract void initVelocityConstraints​(SolverData data)
      • solveVelocityConstraints

        public abstract void solveVelocityConstraints​(SolverData data)
      • solvePositionConstraints

        public abstract boolean solvePositionConstraints​(SolverData data)
        This returns true if the position errors are within tolerance.
        Parameters:
        baumgarte -
        Returns:
      • destructor

        public void destructor()
        Override to handle destruction of joint