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

Field Summary

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

Constructor Summary

Constructors

Modifier	Constructor and Description
protected	WheelJoint(IWorldPool argPool, WheelJointDef def)

Method Summary

Modifier and Type	Method and 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 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	getSpringDampingRatio()
float	getSpringFrequencyHz()
void	initVelocityConstraints(SolverData data)
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)

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 Detail

WheelJoint

protected WheelJoint(IWorldPool argPool,
                     WheelJointDef def)

Method Detail

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

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

getReactionForce

public void getReactionForce(float inv_dt,
                             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

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 class Joint

Returns:

getJointTranslation

public float getJointTranslation()

getLocalAxisA

public Vec2 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

public void initVelocityConstraints(SolverData data)

Specified by:

initVelocityConstraints in class Joint

solveVelocityConstraints

public void solveVelocityConstraints(SolverData data)

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.

Specified by:

solvePositionConstraints in class Joint

Returns: