java.lang.Object
- org.jbox2d.dynamics.joints.Joint
- - org.jbox2d.dynamics.joints.RevoluteJoint

```
public class RevoluteJoint
extends Joint
```
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.

Field Summary

Fields
Modifier and Type	Field	Description
`private boolean`	`m_enableLimit`
`private boolean`	`m_enableMotor`
`private Vec3`	`m_impulse`
`private int`	`m_indexA`
`private int`	`m_indexB`
`private float`	`m_invIA`
`private float`	`m_invIB`
`private float`	`m_invMassA`
`private float`	`m_invMassB`
`private LimitState`	`m_limitState`
`protected Vec2`	`m_localAnchorA`
`protected Vec2`	`m_localAnchorB`
`private Vec2`	`m_localCenterA`
`private Vec2`	`m_localCenterB`
`private float`	`m_lowerAngle`
`private Mat33`	`m_mass`
`private float`	`m_maxMotorTorque`
`private float`	`m_motorImpulse`
`private float`	`m_motorMass`
`private float`	`m_motorSpeed`
`private Vec2`	`m_rA`
`private Vec2`	`m_rB`
`protected float`	`m_referenceAngle`
`private float`	`m_upperAngle`

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 Description

protected RevoluteJoint(IWorldPool argWorld, RevoluteJointDef def)

Method Summary

All Methods Instance Methods Concrete Methods
Modifier and Type	Method	Description
`void`	`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`	`getJointAngle()`
`float`	`getJointSpeed()`
`Vec2`	`getLocalAnchorA()`
`Vec2`	`getLocalAnchorB()`
`float`	`getLowerLimit()`
`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`	`getReferenceAngle()`
`float`	`getUpperLimit()`
`void`	`initVelocityConstraints(SolverData data)`
`boolean`	`isLimitEnabled()`
`boolean`	`isMotorEnabled()`
`void`	`setLimits(float lower, float upper)`
`void`	`setMaxMotorTorque(float torque)`
`void`	`setMotorSpeed(float speed)`
`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

Field Detail

m_localAnchorA
```
protected final Vec2 m_localAnchorA
```

m_localAnchorB
```
protected final Vec2 m_localAnchorB
```

m_impulse
```
private final Vec3 m_impulse
```

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
```
private final Vec2 m_rA
```

m_rB
```
private final Vec2 m_rB
```

m_localCenterA
```
private final Vec2 m_localCenterA
```

m_localCenterB
```
private final Vec2 m_localCenterB
```

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
```
private final Mat33 m_mass
```

m_motorMass
```
private float m_motorMass
```

m_limitState
```
private LimitState m_limitState
```

Constructor Detail

RevoluteJoint

protected RevoluteJoint(IWorldPool argWorld,
                        RevoluteJointDef def)

Method Detail
- 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:
- getLocalAnchorA
```
public Vec2 getLocalAnchorA()
```
- getLocalAnchorB
```
public Vec2 getLocalAnchorB()
```
- getReferenceAngle
```
public float getReferenceAngle()
```
- 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:
- 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)
```

Class RevoluteJoint

Field Summary

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

Constructor Summary

Method Summary

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

Methods inherited from class java.lang.Object

Field Detail

m_localAnchorA

m_localAnchorB

m_impulse

m_motorImpulse

m_enableMotor

m_maxMotorTorque

m_motorSpeed

m_enableLimit

m_referenceAngle

m_lowerAngle

m_upperAngle

m_indexA

m_indexB

m_rA

m_rB

m_localCenterA

m_localCenterB

m_invMassA

m_invMassB

m_invIA

m_invIB

m_mass

m_motorMass

m_limitState

Constructor Detail

RevoluteJoint

Method Detail

initVelocityConstraints

solveVelocityConstraints

solvePositionConstraints

getLocalAnchorA

getLocalAnchorB

getReferenceAngle

getAnchorA

getAnchorB

getReactionForce

getReactionTorque

getJointAngle

getJointSpeed

isMotorEnabled

enableMotor

getMotorTorque

setMotorSpeed

setMaxMotorTorque

getMotorSpeed

getMaxMotorTorque

isLimitEnabled

enableLimit

getLowerLimit

getUpperLimit

setLimits