A wheel joint. This joint provides two degrees of freedom: translation along an axis fixed in bodyA and rotation in the plane. In other words, it is a point to line constraint with a rotational motor and a linear spring/damper. This joint is designed for vehicle suspensions. More...

#include <WheelJoint.hpp>

Inheritance diagram for box2d::WheelJoint:

Public Member Functions
	WheelJoint (const WheelJointDef &def)

Length2D	GetAnchorA () const override
	Get the anchor point on bodyA in world coordinates. More...

Length2D	GetAnchorB () const override
	Get the anchor point on bodyB in world coordinates. More...

Force2D	GetReactionForce (Frequency inv_dt) const override
	Get the reaction force on bodyB at the joint anchor in Newtons. More...

Torque	GetReactionTorque (Frequency inv_dt) const override
	Get the reaction torque on bodyB in N*m. More...

Length2D	GetLocalAnchorA () const
	The local anchor point relative to bodyA's origin. More...

Length2D	GetLocalAnchorB () const
	The local anchor point relative to bodyB's origin. More...

UnitVec2	GetLocalAxisA () const
	The local joint axis relative to bodyA. More...

Length	GetJointTranslation () const
	Get the current joint translation, usually in meters. More...

AngularVelocity	GetJointSpeed () const
	Get the current joint translation speed, in Angle per second. More...

bool	IsMotorEnabled () const noexcept
	Is the joint motor enabled? More...

void	EnableMotor (bool flag)
	Enable/disable the joint motor. More...

void	SetMotorSpeed (AngularVelocity speed)
	Set the motor speed, usually in radians per second. More...

AngularVelocity	GetMotorSpeed () const
	Get the motor speed, usually in radians per second. More...

void	SetMaxMotorTorque (Torque torque)
	Set/Get the maximum motor force, usually in N-m. More...

Torque	GetMaxMotorTorque () const

Torque	GetMotorTorque (Frequency inv_dt) const
	Get the current motor torque given the inverse time step, usually in N-m. More...

void	SetSpringFrequencyHz (Frequency hz)
	Set/Get the spring frequency in Hertz. Setting the frequency to zero disables the spring. More...

Frequency	GetSpringFrequencyHz () const

void	SetSpringDampingRatio (RealNum ratio)
	Set/Get the spring damping ratio. More...

RealNum	GetSpringDampingRatio () const

Public Member Functions inherited from box2d::Joint
JointType	GetType () const noexcept
	Get the type of the concrete joint. More...

Body *	GetBodyA () noexcept
	Get the first body attached to this joint. More...

Body *	GetBodyB () noexcept
	Get the second body attached to this joint. More...

const Body *	GetBodyA () const noexcept
	Get the first body attached to this joint. More...

const Body *	GetBodyB () const noexcept
	Get the second body attached to this joint. More...

void *	GetUserData () const noexcept
	Get the user data pointer. More...

void	SetUserData (void *data) noexcept
	Set the user data pointer. More...

bool	GetCollideConnected () const noexcept
	Get collide connected. Note: modifying the collide connect flag won't work correctly because the flag is only checked when fixture AABBs begin to overlap. More...

virtual void	ShiftOrigin (const Length2D newOrigin)
	Shift the origin for any points stored in world coordinates. More...

Additional Inherited Members
Public Types inherited from box2d::Joint
enum	LimitState { e_inactiveLimit, e_atLowerLimit, e_atUpperLimit, e_equalLimits }

using	index_t = size_t

Static Public Member Functions inherited from box2d::Joint
static bool	IsOkay (const JointDef &def) noexcept

Protected Member Functions inherited from box2d::Joint
	Joint (const JointDef &def)

virtual	~Joint () noexcept

void	SetBodyA (Body *value) noexcept

void	SetBodyB (Body *value) noexcept

Detailed Description

A wheel joint. This joint provides two degrees of freedom: translation along an axis fixed in bodyA and rotation in the plane. In other words, it is a point to line constraint with a rotational motor and a linear spring/damper. This joint is designed for vehicle suspensions.

Constructor & Destructor Documentation

◆ WheelJoint()

WheelJoint::WheelJoint ( const WheelJointDef & def )

Member Function Documentation

◆ EnableMotor()

void WheelJoint::EnableMotor ( bool flag )

Enable/disable the joint motor.

◆ GetAnchorA()

Length2D WheelJoint::GetAnchorA ( ) const

overridevirtual

Get the anchor point on bodyA in world coordinates.

Implements box2d::Joint.

◆ GetAnchorB()

Length2D WheelJoint::GetAnchorB ( ) const

overridevirtual

Get the anchor point on bodyB in world coordinates.

Implements box2d::Joint.

◆ GetJointSpeed()

AngularVelocity WheelJoint::GetJointSpeed ( ) const

Get the current joint translation speed, in Angle per second.

◆ GetJointTranslation()

Length WheelJoint::GetJointTranslation ( ) const

Get the current joint translation, usually in meters.

◆ GetLocalAnchorA()

Length2D box2d::WheelJoint::GetLocalAnchorA ( ) const

inline

The local anchor point relative to bodyA's origin.

◆ GetLocalAnchorB()

Length2D box2d::WheelJoint::GetLocalAnchorB ( ) const

inline

The local anchor point relative to bodyB's origin.

◆ GetLocalAxisA()

UnitVec2 box2d::WheelJoint::GetLocalAxisA ( ) const

inline

The local joint axis relative to bodyA.

◆ GetMaxMotorTorque()

Torque box2d::WheelJoint::GetMaxMotorTorque ( ) const

inline

◆ GetMotorSpeed()

AngularVelocity box2d::WheelJoint::GetMotorSpeed ( ) const

inline

Get the motor speed, usually in radians per second.

◆ GetMotorTorque()

Torque WheelJoint::GetMotorTorque ( Frequency inv_dt ) const

Get the current motor torque given the inverse time step, usually in N-m.

◆ GetReactionForce()

Force2D WheelJoint::GetReactionForce ( Frequency inv_dt ) const

overridevirtual

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

Implements box2d::Joint.

◆ GetReactionTorque()

Torque WheelJoint::GetReactionTorque ( Frequency inv_dt ) const

overridevirtual

Get the reaction torque on bodyB in N*m.

Implements box2d::Joint.

◆ GetSpringDampingRatio()

RealNum box2d::WheelJoint::GetSpringDampingRatio ( ) const

inline

◆ GetSpringFrequencyHz()

Frequency box2d::WheelJoint::GetSpringFrequencyHz ( ) const

inline

◆ IsMotorEnabled()

bool box2d::WheelJoint::IsMotorEnabled ( ) const

inlinenoexcept

Is the joint motor enabled?

◆ SetMaxMotorTorque()

void WheelJoint::SetMaxMotorTorque ( Torque torque )

Set/Get the maximum motor force, usually in N-m.

◆ SetMotorSpeed()

void WheelJoint::SetMotorSpeed ( AngularVelocity speed )

Set the motor speed, usually in radians per second.

◆ SetSpringDampingRatio()

void box2d::WheelJoint::SetSpringDampingRatio ( RealNum ratio )

inline

Set/Get the spring damping ratio.

◆ SetSpringFrequencyHz()

void box2d::WheelJoint::SetSpringFrequencyHz ( Frequency hz )

inline

Set/Get the spring frequency in Hertz. Setting the frequency to zero disables the spring.

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

Public Member Functions

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ WheelJoint()

Member Function Documentation

◆ EnableMotor()

◆ GetAnchorA()

◆ GetAnchorB()

◆ GetJointSpeed()

◆ GetJointTranslation()

◆ GetLocalAnchorA()

◆ GetLocalAnchorB()

◆ GetLocalAxisA()

◆ GetMaxMotorTorque()

◆ GetMotorSpeed()

◆ GetMotorTorque()

◆ GetReactionForce()

◆ GetReactionTorque()

◆ GetSpringDampingRatio()

◆ GetSpringFrequencyHz()

◆ IsMotorEnabled()

◆ SetMaxMotorTorque()

◆ SetMotorSpeed()

◆ SetSpringDampingRatio()

◆ SetSpringFrequencyHz()