Package org.jbox2d.dynamics.joints
Class PrismaticJoint
java.lang.Object
org.jbox2d.dynamics.joints.Joint
org.jbox2d.dynamics.joints.PrismaticJoint
A prismatic joint. This joint provides one degree of freedom: translation along an axis fixed in
bodyA. Relative rotation is prevented. You can use a joint limit to restrict the range of motion
and a joint motor to drive the motion or to model joint friction.
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Field Summary
FieldsModifier and TypeFieldDescriptionprivate float
private float
private final Vec2
private boolean
private boolean
private final Vec3
private int
private int
private float
private float
private float
private float
private final Mat33
private LimitState
protected final Vec2
protected final Vec2
private final Vec2
private final Vec2
protected final Vec2
protected final Vec2
private float
private float
private float
private float
private float
private final Vec2
protected float
private float
private float
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
ConstructorsModifierConstructorDescriptionprotected
PrismaticJoint
(IWorldPool argWorld, PrismaticJointDef def) -
Method Summary
Modifier and TypeMethodDescriptionvoid
enableLimit
(boolean flag) Enable/disable the joint limit.void
enableMotor
(boolean flag) Enable/disable the joint motor.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
Get the current joint translation, usually in meters.float
float
Get the lower joint limit, usually in meters.float
float
getMotorForce
(float inv_dt) Get the current motor force, usually in N.float
Get the motor speed, usually in meters per second.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
float
Get the upper joint limit, usually in meters.void
boolean
Is the joint limit enabled?boolean
Is the joint motor enabled?void
setLimits
(float lower, float upper) Set the joint limits, usually in meters.void
setMaxMotorForce
(float force) Set the maximum motor force, usually in N.void
setMotorSpeed
(float speed) Set the motor speed, usually in meters per second.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_localAnchorA
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m_localAnchorB
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m_localXAxisA
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m_localYAxisA
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m_referenceAngle
protected float m_referenceAngle -
m_impulse
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m_motorImpulse
private float m_motorImpulse -
m_lowerTranslation
private float m_lowerTranslation -
m_upperTranslation
private float m_upperTranslation -
m_maxMotorForce
private float m_maxMotorForce -
m_motorSpeed
private float m_motorSpeed -
m_enableLimit
private boolean m_enableLimit -
m_enableMotor
private boolean m_enableMotor -
m_limitState
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m_indexA
private int m_indexA -
m_indexB
private int m_indexB -
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_axis
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m_perp
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m_s1
private float m_s1 -
m_s2
private float m_s2 -
m_a1
private float m_a1 -
m_a2
private float m_a2 -
m_K
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m_motorMass
private float m_motorMass
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Constructor Details
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PrismaticJoint
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Method Details
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getLocalAnchorA
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getLocalAnchorB
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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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getJointSpeed
public float getJointSpeed()Get the current joint translation, usually in meters. -
getJointTranslation
public float getJointTranslation() -
isLimitEnabled
public boolean isLimitEnabled()Is the joint limit enabled?- Returns:
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enableLimit
public void enableLimit(boolean flag) Enable/disable the joint limit.- Parameters:
flag
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getLowerLimit
public float getLowerLimit()Get the lower joint limit, usually in meters.- Returns:
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getUpperLimit
public float getUpperLimit()Get the upper joint limit, usually in meters.- Returns:
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setLimits
public void setLimits(float lower, float upper) Set the joint limits, usually in meters.- Parameters:
lower
-upper
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isMotorEnabled
public boolean isMotorEnabled()Is the joint motor enabled?- Returns:
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enableMotor
public void enableMotor(boolean flag) Enable/disable the joint motor.- Parameters:
flag
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setMotorSpeed
public void setMotorSpeed(float speed) Set the motor speed, usually in meters per second.- Parameters:
speed
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getMotorSpeed
public float getMotorSpeed()Get the motor speed, usually in meters per second.- Returns:
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setMaxMotorForce
public void setMaxMotorForce(float force) Set the maximum motor force, usually in N.- Parameters:
force
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getMotorForce
public float getMotorForce(float inv_dt) Get the current motor force, usually in N.- Parameters:
inv_dt
-- Returns:
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getMaxMotorForce
public float getMaxMotorForce() -
getReferenceAngle
public float getReferenceAngle() -
getLocalAxisA
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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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