Package org.jbox2d.dynamics.joints

Class MotorJoint

java.lang.Object

org.jbox2d.dynamics.joints.Joint

org.jbox2d.dynamics.joints.MotorJoint

public class MotorJoint
extends Joint

A motor joint is used to control the relative motion between two bodies. A typical usage is to control the movement of a dynamic body with respect to the ground.

Author:

Daniel Murphy

Repolink:

Github: erincatto/box2d src/dynamics/b2_motor_joint.cpp

Field Summary

Fields inherited from class org.jbox2d.dynamics.joints.Joint

bodyA, bodyB, edgeA, edgeB, islandFlag, next, pool, prev, userData

Constructor Summary

Constructors

Constructor	Description
MotorJoint(WorldPool pool, MotorJointDef def)

Method Summary

Modifier and Type	Method	Description
void	getAnchorA(Vec2 out)	Get the anchor point on bodyA in world coordinates.
void	getAnchorB(Vec2 out)	Get the anchor point on bodyB in world coordinates.
float	getAngularOffset()
float	getCorrectionFactor()
Vec2	getLinearOffset()	Get the target linear offset, in frame A, in meters.
void	getLinearOffset(Vec2 out)	Get the target linear offset, in frame A, in meters.
float	getMaxForce()	Get the maximum friction force in N.
float	getMaxTorque()	Get the maximum friction torque in N*m.
void	getReactionForce(float invDt, Vec2 out)	Get the reaction force on body2 at the joint anchor in Newtons.
float	getReactionTorque(float invDt)	Get the reaction torque on body2 in N*m.
void	initVelocityConstraints(SolverData data)	Internal
void	setAngularOffset(float angularOffset)	Set the target angular offset, in radians.
void	setCorrectionFactor(float correctionFactor)
void	setLinearOffset(Vec2 linearOffset)	Set the target linear offset, in frame A, in meters.
void	setMaxForce(float force)	Set the maximum friction force in N.
void	setMaxTorque(float torque)	Set the maximum friction torque in N*m.
boolean	solvePositionConstraints(SolverData data)	This returns true if the position errors are within tolerance.
void	solveVelocityConstraints(SolverData data)	Internal

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

Constructor Details

MotorJoint

public MotorJoint(WorldPool pool,
 MotorJointDef def)

Method Details

getAnchorA

public void getAnchorA(Vec2 out)

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 out)

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 invDt,
 Vec2 out)

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 invDt)

Description copied from class: Joint

Get the reaction torque on body2 in N*m.

Specified by:

getReactionTorque in class Joint

getCorrectionFactor

public float getCorrectionFactor()

setCorrectionFactor

public void setCorrectionFactor(float correctionFactor)

setLinearOffset

public void setLinearOffset(Vec2 linearOffset)

Set the target linear offset, in frame A, in meters.

getLinearOffset

public void getLinearOffset(Vec2 out)

Get the target linear offset, in frame A, in meters.

getLinearOffset

public Vec2 getLinearOffset()

Get the target linear offset, in frame A, in meters. Do not modify.

setAngularOffset

public void setAngularOffset(float angularOffset)

Set the target angular offset, in radians.

getAngularOffset

public float getAngularOffset()

setMaxForce

public void setMaxForce(float force)

Set the maximum friction force in N.

getMaxForce

public float getMaxForce()

Get the maximum friction force in N.

setMaxTorque

public void setMaxTorque(float torque)

Set the maximum friction torque in N*m.

getMaxTorque

public float getMaxTorque()

Get the maximum friction torque in N*m.

initVelocityConstraints

public void initVelocityConstraints(SolverData data)

Description copied from class: Joint

Internal

Specified by:

initVelocityConstraints in class Joint

solveVelocityConstraints

public void solveVelocityConstraints(SolverData data)

Description copied from class: Joint

Internal

Specified by:

solveVelocityConstraints in class Joint

solvePositionConstraints

public boolean solvePositionConstraints(SolverData data)

Description copied from class: Joint

This returns true if the position errors are within tolerance. Internal.

Specified by:

solvePositionConstraints in class Joint