org.jbox2d.dynamics.joints
Class Joint

java.lang.Object
  extended by org.jbox2d.dynamics.joints.Joint
Direct Known Subclasses:
DistanceJoint, GearJoint, MouseJoint, PrismaticJoint, PulleyJoint, RevoluteJoint

public abstract class Joint
extends java.lang.Object


Field Summary
 Body m_body1
           
 Body m_body2
           
 boolean m_collideConnected
           
 boolean m_islandFlag
           
 Joint m_next
           
 JointEdge m_node1
           
 JointEdge m_node2
           
 Joint m_prev
           
 JointType m_type
           
 java.lang.Object m_userData
           
 
Constructor Summary
Joint(JointDef description)
           
 
Method Summary
static Joint create(JointDef description)
           
static void destroy(Joint j)
           
 void destructor()
           
abstract  Vec2 getAnchor1()
          Get the anchor point on body1 in world coordinates.
abstract  Vec2 getAnchor2()
          Get the anchor point on body2 in world coordinates.
 Body getBody1()
          Get the first body attached to this joint.
 Body getBody2()
          Get the second body attached to this joint.
 Joint getNext()
          Get the next joint the world joint list.
abstract  Vec2 getReactionForce()
          Get the reaction force on body2 at the joint anchor.
abstract  float getReactionTorque()
          Get the reaction torque on body2.
 JointType getType()
          Get the type of the concrete joint.
 java.lang.Object getUserData()
          Get the user data pointer.
 void initPositionConstraints()
           
abstract  void initVelocityConstraints(TimeStep step)
           
abstract  boolean solvePositionConstraints()
          This returns true if the position errors are within tolerance.
abstract  void solveVelocityConstraints(TimeStep step)
           
 
Methods inherited from class java.lang.Object
clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait
 

Field Detail

m_type

public JointType m_type

m_prev

public Joint m_prev

m_next

public Joint m_next

m_node1

public JointEdge m_node1

m_node2

public JointEdge m_node2

m_body1

public Body m_body1

m_body2

public Body m_body2

m_islandFlag

public boolean m_islandFlag

m_collideConnected

public boolean m_collideConnected

m_userData

public java.lang.Object m_userData
Constructor Detail

Joint

public Joint(JointDef description)
Method Detail

destroy

public static void destroy(Joint j)

destructor

public void destructor()

create

public static Joint create(JointDef description)

getType

public JointType getType()
Get the type of the concrete joint.


getBody1

public Body getBody1()
Get the first body attached to this joint.


getBody2

public Body getBody2()
Get the second body attached to this joint.


getAnchor1

public abstract Vec2 getAnchor1()
Get the anchor point on body1 in world coordinates.


getAnchor2

public abstract Vec2 getAnchor2()
Get the anchor point on body2 in world coordinates.


getReactionForce

public abstract Vec2 getReactionForce()
Get the reaction force on body2 at the joint anchor.


getReactionTorque

public abstract float getReactionTorque()
Get the reaction torque on body2.


getNext

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


getUserData

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


initVelocityConstraints

public abstract void initVelocityConstraints(TimeStep step)

solveVelocityConstraints

public abstract void solveVelocityConstraints(TimeStep step)

initPositionConstraints

public void initPositionConstraints()

solvePositionConstraints

public abstract boolean solvePositionConstraints()
This returns true if the position errors are within tolerance.