C# Class Project290.Physics.Dynamics.Joints.FixedRevoluteJoint

A revolute joint rains to bodies to share a common point while they are free to rotate about the point. The relative rotation about the shared point is the joint angle. You can limit the relative rotation with a joint limit that specifies a lower and upper angle. You can use a motor to drive the relative rotation about the shared point. A maximum motor torque is provided so that infinite forces are not generated.
Inheritance: Joint
Show file Open project: scastle/Solitude Class Usage Examples

Public Methods

Method Description
FixedRevoluteJoint ( Body body, Vector2 bodyAnchor, Vector2 worldAnchor ) : System

Initialize the bodies, anchors, and reference angle using the world anchor. This requires defining an anchor point where the bodies are joined. The definition uses local anchor points so that the initial configuration can violate the constraint slightly. You also need to specify the initial relative angle for joint limits. This helps when saving and loading a game. The local anchor points are measured from the body's origin rather than the center of mass because: 1. you might not know where the center of mass will be. 2. if you add/remove shapes from a body and recompute the mass, the joints will be broken.
GetReactionForce ( float inv_dt ) : Vector2
GetReactionTorque ( float inv_dt ) : float

Private Methods

Method Description
InitVelocityConstraints ( TimeStep &step ) : void
SolvePositionConstraints ( ) : bool
SolveVelocityConstraints ( TimeStep &step ) : void

Method Details

FixedRevoluteJoint() public method

Initialize the bodies, anchors, and reference angle using the world anchor. This requires defining an anchor point where the bodies are joined. The definition uses local anchor points so that the initial configuration can violate the constraint slightly. You also need to specify the initial relative angle for joint limits. This helps when saving and loading a game. The local anchor points are measured from the body's origin rather than the center of mass because: 1. you might not know where the center of mass will be. 2. if you add/remove shapes from a body and recompute the mass, the joints will be broken.
public FixedRevoluteJoint ( Body body, Vector2 bodyAnchor, Vector2 worldAnchor ) : System
body Body The body.
bodyAnchor Vector2 The body anchor.
worldAnchor Vector2 The world anchor.
return System

GetReactionForce() public method

public GetReactionForce ( float inv_dt ) : Vector2
inv_dt float
return Vector2

GetReactionTorque() public method

public GetReactionTorque ( float inv_dt ) : float
inv_dt float
return float