Package org.jbox2d.dynamics.joints
Class WheelJoint
java.lang.Object
org.jbox2d.dynamics.joints.Joint
org.jbox2d.dynamics.joints.WheelJoint
A wheel joint. This joint provides two degrees of freedom: translation along an axis fixed in
bodyA and rotation in the plane. You can use a joint limit to restrict the range of motion and a
joint motor to drive the rotation or to model rotational friction. This joint is designed for
vehicle suspensions.
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Field Summary
FieldsModifier and TypeFieldDescriptionprivate final Vec2
private final Vec2
private final Vec2
private float
private float
private boolean
private float
private float
private float
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 Vec2
private final Vec2
private float
private float
private float
private float
private float
private float
private float
private float
private float
private float
private float
private final Vec2
private final Vec2
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
enableMotor
(boolean flag) 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
float
For serializationfloat
float
float
getMotorTorque
(float inv_dt) 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
void
boolean
void
setMaxMotorTorque
(float torque) void
setMotorSpeed
(float speed) void
setSpringDampingRatio
(float ratio) void
setSpringFrequencyHz
(float hz) 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_localAnchorA
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m_localAnchorB
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m_localXAxisA
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m_localYAxisA
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m_impulse
private float m_impulse -
m_motorImpulse
private float m_motorImpulse -
m_springImpulse
private float m_springImpulse -
m_maxMotorTorque
private float m_maxMotorTorque -
m_motorSpeed
private float m_motorSpeed -
m_enableMotor
private boolean m_enableMotor -
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_ax
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m_ay
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m_sAx
private float m_sAx -
m_sBx
private float m_sBx -
m_sAy
private float m_sAy -
m_sBy
private float m_sBy -
m_mass
private float m_mass -
m_motorMass
private float m_motorMass -
m_springMass
private float m_springMass -
m_bias
private float m_bias -
m_gamma
private float m_gamma -
rA
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rB
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d
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Constructor Details
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WheelJoint
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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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getJointTranslation
public float getJointTranslation() -
getLocalAxisA
For serialization -
getJointSpeed
public float getJointSpeed() -
isMotorEnabled
public boolean isMotorEnabled() -
enableMotor
public void enableMotor(boolean flag) -
setMotorSpeed
public void setMotorSpeed(float speed) -
getMotorSpeed
public float getMotorSpeed() -
getMaxMotorTorque
public float getMaxMotorTorque() -
setMaxMotorTorque
public void setMaxMotorTorque(float torque) -
getMotorTorque
public float getMotorTorque(float inv_dt) -
setSpringFrequencyHz
public void setSpringFrequencyHz(float hz) -
getSpringFrequencyHz
public float getSpringFrequencyHz() -
setSpringDampingRatio
public void setSpringDampingRatio(float ratio) -
getSpringDampingRatio
public float getSpringDampingRatio() -
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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