b2PrismaticJoint Class Reference

#include <b2PrismaticJoint.h>

Inheritance diagram for b2PrismaticJoint:

Collaboration diagram for b2PrismaticJoint:

List of all members.

Public Member Functions
b2Vec2	GetAnchorA () const
	Get the anchor point on bodyA in world coordinates.
b2Vec2	GetAnchorB () const
	Get the anchor point on bodyB in world coordinates.
b2Vec2	GetReactionForce (float32 inv_dt) const
	Get the reaction force on bodyB at the joint anchor in Newtons.
float32	GetReactionTorque (float32 inv_dt) const
	Get the reaction torque on bodyB in N*m.
const b2Vec2 &	GetLocalAnchorA () const
	The local anchor point relative to bodyA's origin.
const b2Vec2 &	GetLocalAnchorB () const
	The local anchor point relative to bodyB's origin.
const b2Vec2 &	GetLocalAxisA () const
	The local joint axis relative to bodyA.
float32	GetReferenceAngle () const
	Get the reference angle.
float32	GetJointTranslation () const
	Get the current joint translation, usually in meters.
float32	GetJointSpeed () const
	Get the current joint translation speed, usually in meters per second.
bool	IsLimitEnabled () const
	Is the joint limit enabled?
void	EnableLimit (bool flag)
	Enable/disable the joint limit.
float32	GetLowerLimit () const
	Get the lower joint limit, usually in meters.
float32	GetUpperLimit () const
	Get the upper joint limit, usually in meters.
void	SetLimits (float32 lower, float32 upper)
	Set the joint limits, usually in meters.
bool	IsMotorEnabled () const
	Is the joint motor enabled?
void	EnableMotor (bool flag)
	Enable/disable the joint motor.
void	SetMotorSpeed (float32 speed)
	Set the motor speed, usually in meters per second.
float32	GetMotorSpeed () const
	Get the motor speed, usually in meters per second.
void	SetMaxMotorForce (float32 force)
	Set the maximum motor force, usually in N.
float32	GetMaxMotorForce () const
float32	GetMotorForce (float32 inv_dt) const
	Get the current motor force given the inverse time step, usually in N.
void	Dump ()
	Dump to b2Log.
Protected Member Functions
	b2PrismaticJoint (const b2PrismaticJointDef *def)
void	InitVelocityConstraints (const b2SolverData &data)
void	SolveVelocityConstraints (const b2SolverData &data)
bool	SolvePositionConstraints (const b2SolverData &data)
Protected Attributes
b2Vec2	m_localAnchorA
b2Vec2	m_localAnchorB
b2Vec2	m_localXAxisA
b2Vec2	m_localYAxisA
float32	m_referenceAngle
b2Vec3	m_impulse
float32	m_motorImpulse
float32	m_lowerTranslation
float32	m_upperTranslation
float32	m_maxMotorForce
float32	m_motorSpeed
bool	m_enableLimit
bool	m_enableMotor
b2LimitState	m_limitState
int32	m_indexA
int32	m_indexB
b2Vec2	m_localCenterA
b2Vec2	m_localCenterB
float32	m_invMassA
float32	m_invMassB
float32	m_invIA
float32	m_invIB
b2Vec2	m_axis
b2Vec2	m_perp
float32	m_s1
float32	m_s2
float32	m_a1
float32	m_a2
b2Mat33	m_K
float32	m_motorMass
Friends
class	b2Joint
class	b2GearJoint

---

Detailed Description

A prismatic joint. This joint provides one degree of freedom: translation along an axis fixed in bodyA. Relative rotation is prevented. You can use a joint limit to restrict the range of motion and a joint motor to drive the motion or to model joint friction.

---

Member Function Documentation

void b2PrismaticJoint::Dump

(

)

[virtual]

Dump to b2Log.

Reimplemented from b2Joint.

void b2PrismaticJoint::EnableLimit

(

bool

flag

)

Enable/disable the joint limit.

void b2PrismaticJoint::EnableMotor

(

bool

flag

)

Enable/disable the joint motor.

b2Vec2 b2PrismaticJoint::GetAnchorA

(

)

const [virtual]

Get the anchor point on bodyA in world coordinates.

Implements b2Joint.

b2Vec2 b2PrismaticJoint::GetAnchorB

(

)

const [virtual]

Get the anchor point on bodyB in world coordinates.

Implements b2Joint.

float32 b2PrismaticJoint::GetJointSpeed

(

)

const

Get the current joint translation speed, usually in meters per second.

float32 b2PrismaticJoint::GetJointTranslation

(

)

const

Get the current joint translation, usually in meters.

const b2Vec2& b2PrismaticJoint::GetLocalAnchorA

(

)

const [inline]

The local anchor point relative to bodyA's origin.

const b2Vec2& b2PrismaticJoint::GetLocalAnchorB

(

)

const [inline]

The local anchor point relative to bodyB's origin.

const b2Vec2& b2PrismaticJoint::GetLocalAxisA

(

)

const [inline]

The local joint axis relative to bodyA.

float32 b2PrismaticJoint::GetLowerLimit

(

)

const

Get the lower joint limit, usually in meters.

float32 b2PrismaticJoint::GetMotorForce

(

float32

inv_dt

)

const

Get the current motor force given the inverse time step, usually in N.

float32 b2PrismaticJoint::GetMotorSpeed

(

)

const [inline]

Get the motor speed, usually in meters per second.

b2Vec2 b2PrismaticJoint::GetReactionForce

(

float32

inv_dt

)

const [virtual]

Get the reaction force on bodyB at the joint anchor in Newtons.

Implements b2Joint.

float32 b2PrismaticJoint::GetReactionTorque

(

float32

inv_dt

)

const [virtual]

Get the reaction torque on bodyB in N*m.

Implements b2Joint.

float32 b2PrismaticJoint::GetReferenceAngle

(

)

const [inline]

Get the reference angle.

float32 b2PrismaticJoint::GetUpperLimit

(

)

const

Get the upper joint limit, usually in meters.

bool b2PrismaticJoint::IsLimitEnabled

(

)

const

Is the joint limit enabled?

bool b2PrismaticJoint::IsMotorEnabled

(

)

const

Is the joint motor enabled?

void b2PrismaticJoint::SetLimits	(	float32	lower,
		float32	upper
	)

Set the joint limits, usually in meters.

void b2PrismaticJoint::SetMaxMotorForce

(

float32

force

)

Set the maximum motor force, usually in N.

void b2PrismaticJoint::SetMotorSpeed

(

float32

speed

)

Set the motor speed, usually in meters per second.

---

The documentation for this class was generated from the following file:

• b2PrismaticJoint.h