Class Joint

java.lang.Object
org.jbox2d.dynamics.joints.Joint
Direct Known Subclasses:
ConstantVolumeJoint, DistanceJoint, FrictionJoint, GearJoint, MouseJoint, PrismaticJoint, PulleyJoint, RevoluteJoint, RopeJoint, WeldJoint, WheelJoint
public abstract class Joint extends java.lang.Object
The base joint class. Joints are used to constrain two bodies together in various fashions. Some joints also feature limits and motors.

  • Field Details

    • m_type

      private final JointType m_type

    • m_prev

      public Joint m_prev

    • m_next

      public Joint m_next

    • m_edgeA

      public JointEdge m_edgeA

    • m_edgeB

      public JointEdge m_edgeB

    • m_bodyA

      protected Body m_bodyA

    • m_bodyB

      protected Body m_bodyB

    • m_islandFlag

      public boolean m_islandFlag

    • m_collideConnected

      private boolean m_collideConnected

    • m_userData

      public java.lang.Object m_userData

    • pool

      protected IWorldPool pool

  • Constructor Details

  • Method Details

    • create

      public static Joint create(World world, JointDef def)

    • destroy

      public static void destroy(Joint joint)

    • getType

      public JointType getType()
      get the type of the concrete joint.
      Returns:

    • getBodyA

      public final Body getBodyA()
      get the first body attached to this joint.

    • getBodyB

      public final Body getBodyB()
      get the second body attached to this joint.
      Returns:

    • getAnchorA

      public abstract void getAnchorA(Vec2 out)
      get the anchor point on bodyA in world coordinates.

    • getAnchorB

      public abstract void getAnchorB(Vec2 out)
      get the anchor point on bodyB in world coordinates.

    • getReactionForce

      public abstract void getReactionForce(float inv_dt, Vec2 out)
      get the reaction force on body2 at the joint anchor in Newtons.
      Parameters:
      inv_dt -

    • getReactionTorque

      public abstract float getReactionTorque(float inv_dt)
      get the reaction torque on body2 in N*m.
      Parameters:
      inv_dt -
      Returns:

    • getNext

      public Joint getNext()
      get the next joint the world joint list.

    • getUserData

      public java.lang.Object getUserData()
      get the user data pointer.

    • setUserData

      public void setUserData(java.lang.Object data)
      Set the user data pointer.

    • getCollideConnected

      public final boolean getCollideConnected()

    • isActive

      public boolean isActive()
      Short-cut function to determine if either body is inactive.
      Returns:

    • initVelocityConstraints

      public abstract void initVelocityConstraints(SolverData data)

    • solveVelocityConstraints

      public abstract void solveVelocityConstraints(SolverData data)

    • solvePositionConstraints

      public abstract boolean solvePositionConstraints(SolverData data)
      This returns true if the position errors are within tolerance.
      Parameters:
      baumgarte -
      Returns:

    • destructor

      public void destructor()
      Override to handle destruction of joint