Box2D: b2RevoluteJoint.h Source File

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b2RevoluteJoint.h
1 /*
2 * Copyright (c) 2006-2011 Erin Catto http://www.box2d.org
3 *
4 * This software is provided 'as-is', without any express or implied
5 * warranty. In no event will the authors be held liable for any damages
6 * arising from the use of this software.
7 * Permission is granted to anyone to use this software for any purpose,
8 * including commercial applications, and to alter it and redistribute it
9 * freely, subject to the following restrictions:
10 * 1. The origin of this software must not be misrepresented; you must not
11 * claim that you wrote the original software. If you use this software
12 * in a product, an acknowledgment in the product documentation would be
13 * appreciated but is not required.
14 * 2. Altered source versions must be plainly marked as such, and must not be
15 * misrepresented as being the original software.
16 * 3. This notice may not be removed or altered from any source distribution.
17 */
18
19 #ifndef B2_REVOLUTE_JOINT_H
20 #define B2_REVOLUTE_JOINT_H
21
22 #include <Box2D/Dynamics/Joints/b2Joint.h>
23
35 struct b2RevoluteJointDef : public b2JointDef
36 {
37 b2RevoluteJointDef()
38 {
39 type = e_revoluteJoint;
40 localAnchorA.Set(0.0f, 0.0f);
41 localAnchorB.Set(0.0f, 0.0f);
42 referenceAngle = 0.0f;
43 lowerAngle = 0.0f;
44 upperAngle = 0.0f;
45 maxMotorTorque = 0.0f;
46 motorSpeed = 0.0f;
47 enableLimit = false;
48 enableMotor = false;
49 }
50
53 void Initialize(b2Body* bodyA, b2Body* bodyB, const b2Vec2& anchor);
54
56 b2Vec2 localAnchorA;
57
59 b2Vec2 localAnchorB;
60
62 float32 referenceAngle;
63
65 bool enableLimit;
66
68 float32 lowerAngle;
69
71 float32 upperAngle;
72
74 bool enableMotor;
75
77 float32 motorSpeed;
78
81 float32 maxMotorTorque;
82 };
83
90 class b2RevoluteJoint : public b2Joint
91 {
92 public:
93 b2Vec2 GetAnchorA() const;
94 b2Vec2 GetAnchorB() const;
95
97 const b2Vec2& GetLocalAnchorA() const { return m_localAnchorA; }
98
100 const b2Vec2& GetLocalAnchorB() const { return m_localAnchorB; }
101
103 float32 GetReferenceAngle() const { return m_referenceAngle; }
104
106 float32 GetJointAngle() const;
107
109 float32 GetJointSpeed() const;
110
112 bool IsLimitEnabled() const;
113
115 void EnableLimit(bool flag);
116
118 float32 GetLowerLimit() const;
119
121 float32 GetUpperLimit() const;
122
124 void SetLimits(float32 lower, float32 upper);
125
127 bool IsMotorEnabled() const;
128
130 void EnableMotor(bool flag);
131
133 void SetMotorSpeed(float32 speed);
134
136 float32 GetMotorSpeed() const;
137
139 void SetMaxMotorTorque(float32 torque);
140 float32 GetMaxMotorTorque() const { return m_maxMotorTorque; }
141
144 b2Vec2 GetReactionForce(float32 inv_dt) const;
145
148 float32 GetReactionTorque(float32 inv_dt) const;
149
152 float32 GetMotorTorque(float32 inv_dt) const;
153
155 void Dump();
156
157 protected:
158
159 friend class b2Joint;
160 friend class b2GearJoint;
161
162 b2RevoluteJoint(const b2RevoluteJointDef* def);
163
164 void InitVelocityConstraints(const b2SolverData& data);
165 void SolveVelocityConstraints(const b2SolverData& data);
166 bool SolvePositionConstraints(const b2SolverData& data);
167
168 // Solver shared
169 b2Vec2 m_localAnchorA;
170 b2Vec2 m_localAnchorB;
171 b2Vec3 m_impulse;
172 float32 m_motorImpulse;
173
174 bool m_enableMotor;
175 float32 m_maxMotorTorque;
176 float32 m_motorSpeed;
177
178 bool m_enableLimit;
179 float32 m_referenceAngle;
180 float32 m_lowerAngle;
181 float32 m_upperAngle;
182
183 // Solver temp
184 int32 m_indexA;
185 int32 m_indexB;
186 b2Vec2 m_rA;
187 b2Vec2 m_rB;
188 b2Vec2 m_localCenterA;
189 b2Vec2 m_localCenterB;
190 float32 m_invMassA;
191 float32 m_invMassB;
192 float32 m_invIA;
193 float32 m_invIB;
194 b2Mat33 m_mass; // effective mass for point-to-point constraint.
195 float32 m_motorMass; // effective mass for motor/limit angular constraint.
196 b2LimitState m_limitState;
197 };
198
199 inline float32 b2RevoluteJoint::GetMotorSpeed() const
200 {
201 return m_motorSpeed;
202 }
203
204 #endif
b2Vec3
A 2D column vector with 3 elements.
Definition: b2Math.h:144
b2RevoluteJoint::IsLimitEnabled
bool IsLimitEnabled() const
Is the joint limit enabled?
Definition: b2RevoluteJoint.cpp:443
b2JointDef::bodyA
b2Body * bodyA
The first attached body.
Definition: b2Joint.h:92
b2RevoluteJoint::GetJointSpeed
float32 GetJointSpeed() const
Get the current joint angle speed in radians per second.
Definition: b2RevoluteJoint.cpp:405
b2RevoluteJointDef::motorSpeed
float32 motorSpeed
The desired motor speed. Usually in radians per second.
Definition: b2RevoluteJoint.h:77
b2RevoluteJointDef::Initialize
void Initialize(b2Body *bodyA, b2Body *bodyB, const b2Vec2 &anchor)
Definition: b2RevoluteJoint.cpp:36
b2Mat33
A 3-by-3 matrix. Stored in column-major order.
Definition: b2Math.h:257
b2RevoluteJoint::EnableMotor
void EnableMotor(bool flag)
Enable/disable the joint motor.
Definition: b2RevoluteJoint.cpp:417
b2JointDef::bodyB
b2Body * bodyB
The second attached body.
Definition: b2Joint.h:95
b2RevoluteJoint::GetUpperLimit
float32 GetUpperLimit() const
Get the upper joint limit in radians.
Definition: b2RevoluteJoint.cpp:464
b2RevoluteJoint::GetAnchorB
b2Vec2 GetAnchorB() const
Get the anchor point on bodyB in world coordinates.
Definition: b2RevoluteJoint.cpp:382
b2RevoluteJointDef::enableMotor
bool enableMotor
A flag to enable the joint motor.
Definition: b2RevoluteJoint.h:74
b2RevoluteJoint::SetMaxMotorTorque
void SetMaxMotorTorque(float32 torque)
Set the maximum motor torque, usually in N-m.
Definition: b2RevoluteJoint.cpp:436
b2RevoluteJoint::GetJointAngle
float32 GetJointAngle() const
Get the current joint angle in radians.
Definition: b2RevoluteJoint.cpp:398
b2Joint
Definition: b2Joint.h:103
b2RevoluteJointDef::localAnchorB
b2Vec2 localAnchorB
The local anchor point relative to bodyB's origin.
Definition: b2RevoluteJoint.h:59
b2RevoluteJointDef::lowerAngle
float32 lowerAngle
The lower angle for the joint limit (radians).
Definition: b2RevoluteJoint.h:68
b2Vec2::Set
void Set(float32 x_, float32 y_)
Set this vector to some specified coordinates.
Definition: b2Math.h:65
b2RevoluteJoint::Dump
void Dump()
Dump to b2Log.
Definition: b2RevoluteJoint.cpp:483
b2RevoluteJoint::GetLocalAnchorA
const b2Vec2 & GetLocalAnchorA() const
The local anchor point relative to bodyA's origin.
Definition: b2RevoluteJoint.h:97
b2RevoluteJoint::GetReferenceAngle
float32 GetReferenceAngle() const
Get the reference angle.
Definition: b2RevoluteJoint.h:103
b2RevoluteJoint::SetMotorSpeed
void SetMotorSpeed(float32 speed)
Set the motor speed in radians per second.
Definition: b2RevoluteJoint.cpp:429
b2RevoluteJoint::GetMotorSpeed
float32 GetMotorSpeed() const
Get the motor speed in radians per second.
Definition: b2RevoluteJoint.h:199
b2GearJoint
Definition: b2GearJoint.h:56
b2RevoluteJointDef::referenceAngle
float32 referenceAngle
The bodyB angle minus bodyA angle in the reference state (radians).
Definition: b2RevoluteJoint.h:62
b2RevoluteJointDef::localAnchorA
b2Vec2 localAnchorA
The local anchor point relative to bodyA's origin.
Definition: b2RevoluteJoint.h:56
b2JointDef::type
b2JointType type
The joint type is set automatically for concrete joint types.
Definition: b2Joint.h:86
b2RevoluteJoint::GetAnchorA
b2Vec2 GetAnchorA() const
Get the anchor point on bodyA in world coordinates.
Definition: b2RevoluteJoint.cpp:377
b2SolverData
Solver Data.
Definition: b2TimeStep.h:63
b2RevoluteJoint::IsMotorEnabled
bool IsMotorEnabled() const
Is the joint motor enabled?
Definition: b2RevoluteJoint.cpp:412
b2RevoluteJoint::GetLocalAnchorB
const b2Vec2 & GetLocalAnchorB() const
The local anchor point relative to bodyB's origin.
Definition: b2RevoluteJoint.h:100
b2RevoluteJointDef::upperAngle
float32 upperAngle
The upper angle for the joint limit (radians).
Definition: b2RevoluteJoint.h:71
b2RevoluteJoint::EnableLimit
void EnableLimit(bool flag)
Enable/disable the joint limit.
Definition: b2RevoluteJoint.cpp:448
b2RevoluteJoint
Definition: b2RevoluteJoint.h:90
b2JointDef
Joint definitions are used to construct joints.
Definition: b2Joint.h:74
b2RevoluteJointDef::enableLimit
bool enableLimit
A flag to enable joint limits.
Definition: b2RevoluteJoint.h:65
b2Body
A rigid body. These are created via b2World::CreateBody.
Definition: b2Body.h:126
b2RevoluteJointDef
Definition: b2RevoluteJoint.h:35
b2RevoluteJoint::GetLowerLimit
float32 GetLowerLimit() const
Get the lower joint limit in radians.
Definition: b2RevoluteJoint.cpp:459
b2RevoluteJointDef::maxMotorTorque
float32 maxMotorTorque
Definition: b2RevoluteJoint.h:81
b2Vec2
A 2D column vector.
Definition: b2Math.h:53
b2RevoluteJoint::GetMotorTorque
float32 GetMotorTorque(float32 inv_dt) const
Definition: b2RevoluteJoint.cpp:424
b2RevoluteJoint::SetLimits
void SetLimits(float32 lower, float32 upper)
Set the joint limits in radians.
Definition: b2RevoluteJoint.cpp:469
b2RevoluteJoint::GetReactionForce
b2Vec2 GetReactionForce(float32 inv_dt) const
Definition: b2RevoluteJoint.cpp:387
b2RevoluteJoint::GetReactionTorque
float32 GetReactionTorque(float32 inv_dt) const
Definition: b2RevoluteJoint.cpp:393