Class RevoluteJoint

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 Details

    • 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 Details

  • Method Details

    • 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
      Parameters:
      inv_dt -

    • 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
      Parameters:
      inv_dt -
      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)