Class 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 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
    • 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 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:
      • 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: