Package org.jbox2d.dynamics.joints
Class RevoluteJoint
java.lang.Object
org.jbox2d.dynamics.joints.Joint
org.jbox2d.dynamics.joints.RevoluteJoint
A revolute joint constrains two bodies to share a common point while they are free to rotate
about the point. The relative rotation about the shared point is the joint angle. You can limit
the relative rotation with a joint limit that specifies a lower and upper angle. You can use a
motor to drive the relative rotation about the shared point. A maximum motor torque is provided
so that infinite forces are not generated.
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Field Summary
FieldsModifier and TypeFieldDescriptionprivate boolean
private boolean
private final Vec3
private int
private int
private float
private float
private float
private float
private LimitState
protected final Vec2
protected final Vec2
private final Vec2
private final Vec2
private float
private final Mat33
private float
private float
private float
private float
private final Vec2
private final Vec2
protected 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
Constructors -
Method Summary
Modifier and TypeMethodDescriptionvoid
enableLimit
(boolean flag) void
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
float
float
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
boolean
void
setLimits
(float lower, float upper) void
setMaxMotorTorque
(float torque) void
setMotorSpeed
(float speed) 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_impulse
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m_motorImpulse
private float m_motorImpulse -
m_enableMotor
private boolean m_enableMotor -
m_maxMotorTorque
private float m_maxMotorTorque -
m_motorSpeed
private float m_motorSpeed -
m_enableLimit
private boolean m_enableLimit -
m_referenceAngle
protected float m_referenceAngle -
m_lowerAngle
private float m_lowerAngle -
m_upperAngle
private float m_upperAngle -
m_indexA
private int m_indexA -
m_indexB
private int m_indexB -
m_rA
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m_rB
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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_mass
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m_motorMass
private float m_motorMass -
m_limitState
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Constructor Details
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RevoluteJoint
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Method Details
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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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getLocalAnchorA
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getLocalAnchorB
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getReferenceAngle
public float getReferenceAngle() -
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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getJointAngle
public float getJointAngle() -
getJointSpeed
public float getJointSpeed() -
isMotorEnabled
public boolean isMotorEnabled() -
enableMotor
public void enableMotor(boolean flag) -
getMotorTorque
public float getMotorTorque(float inv_dt) -
setMotorSpeed
public void setMotorSpeed(float speed) -
setMaxMotorTorque
public void setMaxMotorTorque(float torque) -
getMotorSpeed
public float getMotorSpeed() -
getMaxMotorTorque
public float getMaxMotorTorque() -
isLimitEnabled
public boolean isLimitEnabled() -
enableLimit
public void enableLimit(boolean flag) -
getLowerLimit
public float getLowerLimit() -
getUpperLimit
public float getUpperLimit() -
setLimits
public void setLimits(float lower, float upper)
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