Package org.jbox2d.dynamics.joints

Class WheelJoint

java.lang.Object

org.jbox2d.dynamics.joints.Joint

org.jbox2d.dynamics.joints.WheelJoint

public class WheelJoint
extends Joint

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.

Author:

Daniel Murphy

Repolink:

Github: erincatto/box2d src/dynamics/b2_wheel_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

Modifier	Constructor	Description
protected	WheelJoint(WorldPool argPool, WheelJointDef def)

Method Summary

Modifier and Type	Method	Description
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	getJointSpeed()
float	getJointTranslation()
Vec2	getLocalAnchorA()
Vec2	getLocalAnchorB()
Vec2	getLocalAxisA()	For serialization
float	getMaxMotorTorque()
float	getMotorSpeed()
float	getMotorTorque(float inv_dt)
void	getReactionForce(float invDt, Vec2 argOut)	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.
float	getSpringDampingRatio()
float	getSpringFrequencyHz()
void	initVelocityConstraints(SolverData data)	Internal
boolean	isMotorEnabled()
void	setMaxMotorTorque(float torque)
void	setMotorSpeed(float speed)
void	setSpringDampingRatio(float ratio)
void	setSpringFrequencyHz(float hz)
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

WheelJoint

protected WheelJoint(WorldPool argPool,
 WheelJointDef def)

Repolink:

Github: erincatto/box2d src/dynamics/b2_wheel_joint.cpp Lines 44 - 87

Method Details

getLocalAnchorA

public Vec2 getLocalAnchorA()

getLocalAnchorB

public Vec2 getLocalAnchorB()

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

Repolink:

Github: erincatto/box2d src/dynamics/b2_wheel_joint.cpp Lines 446 - 449

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

Repolink:

Github: erincatto/box2d src/dynamics/b2_wheel_joint.cpp Lines 451 - 454

getReactionForce

public void getReactionForce(float invDt,
 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

Repolink:

Github: erincatto/box2d src/dynamics/b2_wheel_joint.cpp Lines 456 - 459

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

Repolink:

Github: erincatto/box2d src/dynamics/b2_wheel_joint.cpp Lines 461 - 464

getJointTranslation

public float getJointTranslation()

Repolink:

Github: erincatto/box2d src/dynamics/b2_wheel_joint.cpp Lines 466 - 478

getLocalAxisA

public Vec2 getLocalAxisA()

For serialization

getJointSpeed

public float getJointSpeed()

isMotorEnabled

public boolean isMotorEnabled()

Repolink:

Github: erincatto/box2d src/dynamics/b2_wheel_joint.cpp Lines 556 - 559

enableMotor

public void enableMotor(boolean flag)

Repolink:

Github: erincatto/box2d src/dynamics/b2_wheel_joint.cpp Lines 561 - 569

setMotorSpeed

public void setMotorSpeed(float speed)

Repolink:

Github: erincatto/box2d src/dynamics/b2_wheel_joint.cpp Lines 571 - 579

getMotorSpeed

public float getMotorSpeed()

getMaxMotorTorque

public float getMaxMotorTorque()

setMaxMotorTorque

public void setMaxMotorTorque(float torque)

Repolink:

Github: erincatto/box2d src/dynamics/b2_wheel_joint.cpp Lines 581 - 589

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

public void initVelocityConstraints(SolverData data)

Description copied from class: Joint

Internal

Specified by:

initVelocityConstraints in class Joint

Repolink:

Github: erincatto/box2d src/dynamics/b2_wheel_joint.cpp Lines 89 - 235

solveVelocityConstraints

public void solveVelocityConstraints(SolverData data)

Description copied from class: Joint

Internal

Specified by:

solveVelocityConstraints in class Joint

Repolink:

Github: erincatto/box2d src/dynamics/b2_wheel_joint.cpp Lines 237 - 342

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

Repolink:

Github: erincatto/box2d src/dynamics/b2_wheel_joint.cpp Lines 344 - 444