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

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 Properties

Property	Type	Description
LocalAnchorA	Vector2
LocalAnchorB	Vector2

Public Methods

Method	Description
GetReactionForce ( float inv_dt ) : Vector2
GetReactionTorque ( float inv_dt ) : float
RevoluteJoint ( Body bodyA, Body bodyB, Vector2 localAnchorA, Vector2 localAnchorB ) : System	Initialize the bodies and local 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.

Private Methods

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

Method Details

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

RevoluteJoint() public method

Initialize the bodies and local 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 RevoluteJoint ( Body bodyA, Body bodyB, Vector2 localAnchorA, Vector2 localAnchorB ) : System
bodyA	Body	The first body.
bodyB	Body	The second body.
localAnchorA	Vector2	The first body anchor.
localAnchorB	Vector2	The second anchor.
return	System

Property Details

LocalAnchorA public property

public Vector2 LocalAnchorA
return	Vector2

LocalAnchorB public property

public Vector2 LocalAnchorB
return	Vector2