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.

  • Field Details

    • m_frequencyHz

      private float m_frequencyHz

    • m_dampingRatio

      private float m_dampingRatio

    • m_localAnchorA

      private final Vec2 m_localAnchorA

    • m_localAnchorB

      private final Vec2 m_localAnchorB

    • m_localXAxisA

      private final Vec2 m_localXAxisA

    • m_localYAxisA

      private final Vec2 m_localYAxisA

    • m_impulse

      private float m_impulse

    • m_motorImpulse

      private float m_motorImpulse

    • m_springImpulse

      private float m_springImpulse

    • m_maxMotorTorque

      private float m_maxMotorTorque

    • m_motorSpeed

      private float m_motorSpeed

    • m_enableMotor

      private boolean m_enableMotor

    • m_indexA

      private int m_indexA

    • m_indexB

      private int m_indexB

    • 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_ax

      private final Vec2 m_ax

    • m_ay

      private final Vec2 m_ay

    • m_sAx

      private float m_sAx

    • m_sBx

      private float m_sBx

    • m_sAy

      private float m_sAy

    • m_sBy

      private float m_sBy

    • m_mass

      private float m_mass

    • m_motorMass

      private float m_motorMass

    • m_springMass

      private float m_springMass

    • m_bias

      private float m_bias

    • m_gamma

      private float m_gamma

    • rA

      private final Vec2 rA

    • rB

      private final Vec2 rB

    • d

      private final Vec2 d

  • Constructor Details

  • Method Details

    • 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
      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:

    • 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: