Box2D 2.4.1
A 2D physics engine for games
Public Member Functions | Protected Member Functions | Protected Attributes | Friends | List of all members
b2WheelJoint Class Reference

#include <b2_wheel_joint.h>

Inheritance diagram for b2WheelJoint:
b2Joint

Public Member Functions

b2Vec2 GetAnchorA () const override
 Get the anchor point on bodyA in world coordinates. More...
 
b2Vec2 GetAnchorB () const override
 Get the anchor point on bodyB in world coordinates. More...
 
b2Vec2 GetReactionForce (float inv_dt) const override
 Get the reaction force on bodyB at the joint anchor in Newtons. More...
 
float GetReactionTorque (float inv_dt) const override
 Get the reaction torque on bodyB in N*m. More...
 
const b2Vec2 & GetLocalAnchorA () const
 The local anchor point relative to bodyA's origin.
 
const b2Vec2 & GetLocalAnchorB () const
 The local anchor point relative to bodyB's origin.
 
const b2Vec2 & GetLocalAxisA () const
 The local joint axis relative to bodyA.
 
float GetJointTranslation () const
 Get the current joint translation, usually in meters.
 
float GetJointLinearSpeed () const
 Get the current joint linear speed, usually in meters per second.
 
float GetJointAngle () const
 Get the current joint angle in radians.
 
float GetJointAngularSpeed () const
 Get the current joint angular speed in radians per second.
 
bool IsLimitEnabled () const
 Is the joint limit enabled?
 
void EnableLimit (bool flag)
 Enable/disable the joint translation limit.
 
float GetLowerLimit () const
 Get the lower joint translation limit, usually in meters.
 
float GetUpperLimit () const
 Get the upper joint translation limit, usually in meters.
 
void SetLimits (float lower, float upper)
 Set the joint translation limits, usually in meters.
 
bool IsMotorEnabled () const
 Is the joint motor enabled?
 
void EnableMotor (bool flag)
 Enable/disable the joint motor.
 
void SetMotorSpeed (float speed)
 Set the motor speed, usually in radians per second.
 
float GetMotorSpeed () const
 Get the motor speed, usually in radians per second.
 
void SetMaxMotorTorque (float torque)
 Set/Get the maximum motor force, usually in N-m.
 
float GetMaxMotorTorque () const
 
float GetMotorTorque (float inv_dt) const
 Get the current motor torque given the inverse time step, usually in N-m.
 
void SetStiffness (float stiffness)
 Access spring stiffness.
 
float GetStiffness () const
 
void SetDamping (float damping)
 Access damping.
 
float GetDamping () const
 
void Dump () override
 Dump to b2Log. More...
 
void Draw (b2Draw *draw) const override
 Debug draw this joint. More...
 
- Public Member Functions inherited from b2Joint
b2JointType GetType () const
 Get the type of the concrete joint.
 
b2Body * GetBodyA ()
 Get the first body attached to this joint.
 
b2Body * GetBodyB ()
 Get the second body attached to this joint.
 
virtual b2Vec2 GetAnchorA () const =0
 Get the anchor point on bodyA in world coordinates. More...
 
virtual b2Vec2 GetAnchorB () const =0
 Get the anchor point on bodyB in world coordinates. More...
 
virtual b2Vec2 GetReactionForce (float inv_dt) const =0
 Get the reaction force on bodyB at the joint anchor in Newtons. More...
 
virtual float GetReactionTorque (float inv_dt) const =0
 Get the reaction torque on bodyB in N*m. More...
 
b2Joint * GetNext ()
 Get the next joint the world joint list.
 
const b2Joint * GetNext () const
 
b2JointUserData & GetUserData ()
 Get the user data pointer.
 
bool IsEnabled () const
 Short-cut function to determine if either body is enabled.
 
bool GetCollideConnected () const
 
virtual void Dump ()
 Dump this joint to the log file. More...
 
virtual void ShiftOrigin (const b2Vec2 &newOrigin)
 Shift the origin for any points stored in world coordinates. More...
 
virtual void Draw (b2Draw *draw) const
 Debug draw this joint. More...
 

Protected Member Functions

 b2WheelJoint (const b2WheelJointDef *def)
 
void InitVelocityConstraints (const b2SolverData &data) override
 
void SolveVelocityConstraints (const b2SolverData &data) override
 
bool SolvePositionConstraints (const b2SolverData &data) override
 
- Protected Member Functions inherited from b2Joint
 b2Joint (const b2JointDef *def)
 
virtual void InitVelocityConstraints (const b2SolverData &data)=0
 
virtual void SolveVelocityConstraints (const b2SolverData &data)=0
 
virtual bool SolvePositionConstraints (const b2SolverData &data)=0
 

Protected Attributes

b2Vec2 m_localAnchorA
 
b2Vec2 m_localAnchorB
 
b2Vec2 m_localXAxisA
 
b2Vec2 m_localYAxisA
 
float m_impulse
 
float m_motorImpulse
 
float m_springImpulse
 
float m_lowerImpulse
 
float m_upperImpulse
 
float m_translation
 
float m_lowerTranslation
 
float m_upperTranslation
 
float m_maxMotorTorque
 
float m_motorSpeed
 
bool m_enableLimit
 
bool m_enableMotor
 
float m_stiffness
 
float m_damping
 
int32 m_indexA
 
int32 m_indexB
 
b2Vec2 m_localCenterA
 
b2Vec2 m_localCenterB
 
float m_invMassA
 
float m_invMassB
 
float m_invIA
 
float m_invIB
 
b2Vec2 m_ax
 
b2Vec2 m_ay
 
float m_sAx
 
float m_sBx
 
float m_sAy
 
float m_sBy
 
float m_mass
 
float m_motorMass
 
float m_axialMass
 
float m_springMass
 
float m_bias
 
float m_gamma
 
- Protected Attributes inherited from b2Joint
b2JointType m_type
 
b2Joint * m_prev
 
b2Joint * m_next
 
b2JointEdge m_edgeA
 
b2JointEdge m_edgeB
 
b2Body * m_bodyA
 
b2Body * m_bodyB
 
int32 m_index
 
bool m_islandFlag
 
bool m_collideConnected
 
b2JointUserData m_userData
 

Friends

class b2Joint
 

Additional Inherited Members

- Static Protected Member Functions inherited from b2Joint
static b2Joint * Create (const b2JointDef *def, b2BlockAllocator *allocator)
 
static void Destroy (b2Joint *joint, b2BlockAllocator *allocator)
 

Detailed Description

A wheel joint. This joint provides two degrees of freedom: translation along an axis fixed in bodyA and rotation in the plane. In other words, it is a point to line constraint with a rotational motor and a linear spring/damper. The spring/damper is initialized upon creation. This joint is designed for vehicle suspensions.

Member Function Documentation

◆ Draw()

void b2WheelJoint::Draw ( b2Draw *  draw) const
overridevirtual

Debug draw this joint.

Reimplemented from b2Joint.

◆ Dump()

void b2WheelJoint::Dump ( )
overridevirtual

Dump to b2Log.

Reimplemented from b2Joint.

◆ GetAnchorA()

b2Vec2 b2WheelJoint::GetAnchorA ( ) const
overridevirtual

Get the anchor point on bodyA in world coordinates.

Implements b2Joint.

◆ GetAnchorB()

b2Vec2 b2WheelJoint::GetAnchorB ( ) const
overridevirtual

Get the anchor point on bodyB in world coordinates.

Implements b2Joint.

◆ GetReactionForce()

b2Vec2 b2WheelJoint::GetReactionForce ( float  inv_dt) const
overridevirtual

Get the reaction force on bodyB at the joint anchor in Newtons.

Implements b2Joint.

◆ GetReactionTorque()

float b2WheelJoint::GetReactionTorque ( float  inv_dt) const
overridevirtual

Get the reaction torque on bodyB in N*m.

Implements b2Joint.

◆ InitVelocityConstraints()

void b2WheelJoint::InitVelocityConstraints ( const b2SolverData &  data)
overrideprotectedvirtual

Implements b2Joint.

◆ SolvePositionConstraints()

bool b2WheelJoint::SolvePositionConstraints ( const b2SolverData &  data)
overrideprotectedvirtual

Implements b2Joint.

◆ SolveVelocityConstraints()

void b2WheelJoint::SolveVelocityConstraints ( const b2SolverData &  data)
overrideprotectedvirtual

Implements b2Joint.

The documentation for this class was generated from the following file: