org.jbox2d.dynamics.joints
Class RevoluteJoint

java.lang.Object
  extended by org.jbox2d.dynamics.joints.Joint
      extended by org.jbox2d.dynamics.joints.RevoluteJoint

public class RevoluteJoint
extends Joint


Field Summary
 boolean m_enableLimit
           
 boolean m_enableMotor
           
 float m_limitForce
           
 float m_limitPositionImpulse
           
 LimitState m_limitState
           
 Vec2 m_localAnchor1
           
 Vec2 m_localAnchor2
           
 float m_lowerAngle
           
 float m_maxMotorTorque
           
 float m_motorForce
           
 float m_motorMass
           
 float m_motorSpeed
           
 Vec2 m_pivotForce
           
 Mat22 m_pivotMass
           
 float m_referenceAngle
           
 float m_upperAngle
           
 
Fields inherited from class org.jbox2d.dynamics.joints.Joint
m_body1, m_body2, m_collideConnected, m_islandFlag, m_next, m_node1, m_node2, m_prev, m_type, m_userData
 
Constructor Summary
RevoluteJoint(RevoluteJointDef def)
           
 
Method Summary
 void enableLimit(boolean flag)
           
 void enableMotor(boolean flag)
           
 Vec2 getAnchor1()
          Get the anchor point on body1 in world coordinates.
 Vec2 getAnchor2()
          Get the anchor point on body2 in world coordinates.
 float getJointAngle()
           
 float getJointSpeed()
           
 float getLowerLimit()
           
 float getMotorTorque()
           
 Vec2 getReactionForce()
          Get the reaction force on body2 at the joint anchor.
 float getReactionTorque()
          Get the reaction torque on body2.
 float getUpperLimit()
           
 void initVelocityConstraints(TimeStep step)
           
 boolean isLimitEnabled()
           
 boolean isMotorEnabled()
           
 void setLimits(float lower, float upper)
           
 void setMaxMotorTorque(float torque)
           
 void setMotorSpeed(float speed)
           
 boolean solvePositionConstraints()
          This returns true if the position errors are within tolerance.
 void solveVelocityConstraints(TimeStep step)
           
 
Methods inherited from class org.jbox2d.dynamics.joints.Joint
create, destroy, destructor, getBody1, getBody2, getNext, getType, getUserData, initPositionConstraints
 
Methods inherited from class java.lang.Object
clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait
 

Field Detail

m_localAnchor1

public Vec2 m_localAnchor1

m_localAnchor2

public Vec2 m_localAnchor2

m_pivotForce

public Vec2 m_pivotForce

m_motorForce

public float m_motorForce

m_limitForce

public float m_limitForce

m_limitPositionImpulse

public float m_limitPositionImpulse

m_pivotMass

public Mat22 m_pivotMass

m_motorMass

public float m_motorMass

m_enableMotor

public boolean m_enableMotor

m_maxMotorTorque

public float m_maxMotorTorque

m_motorSpeed

public float m_motorSpeed

m_enableLimit

public boolean m_enableLimit

m_referenceAngle

public float m_referenceAngle

m_lowerAngle

public float m_lowerAngle

m_upperAngle

public float m_upperAngle

m_limitState

public LimitState m_limitState
Constructor Detail

RevoluteJoint

public RevoluteJoint(RevoluteJointDef def)
Method Detail

initVelocityConstraints

public void initVelocityConstraints(TimeStep step)
Specified by:
initVelocityConstraints in class Joint

solveVelocityConstraints

public void solveVelocityConstraints(TimeStep step)
Specified by:
solveVelocityConstraints in class Joint

solvePositionConstraints

public boolean solvePositionConstraints()
Description copied from class: Joint
This returns true if the position errors are within tolerance.

Specified by:
solvePositionConstraints in class Joint

getAnchor1

public Vec2 getAnchor1()
Description copied from class: Joint
Get the anchor point on body1 in world coordinates.

Specified by:
getAnchor1 in class Joint

getAnchor2

public Vec2 getAnchor2()
Description copied from class: Joint
Get the anchor point on body2 in world coordinates.

Specified by:
getAnchor2 in class Joint

getReactionForce

public Vec2 getReactionForce()
Description copied from class: Joint
Get the reaction force on body2 at the joint anchor.

Specified by:
getReactionForce in class Joint

getReactionTorque

public float getReactionTorque()
Description copied from class: Joint
Get the reaction torque on body2.

Specified by:
getReactionTorque in class Joint

getJointAngle

public float getJointAngle()

getJointSpeed

public float getJointSpeed()

isMotorEnabled

public boolean isMotorEnabled()

enableMotor

public void enableMotor(boolean flag)

getMotorTorque

public float getMotorTorque()

setMotorSpeed

public void setMotorSpeed(float speed)

setMaxMotorTorque

public void setMaxMotorTorque(float torque)

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)