C# Class FarseerPhysics.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

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Public Properties

Property	Type	Description
localAnchorA	Vector2
localAnchorB	Vector2

Public Methods

Method	Description
RevoluteJoint ( Body bodyA, Body bodyB, Vector2 anchorA, Vector2 anchorB, bool useWorldCoordinates = false ) : System	Constructor of RevoluteJoint.
RevoluteJoint ( Body bodyA, Body bodyB, Vector2 anchor, bool useWorldCoordinates = false ) : System	Constructor of RevoluteJoint.
getMotorTorque ( float invDt ) : float	Gets the motor torque in N-m.
getReactionForce ( float invDt ) : Vector2
getReactionTorque ( float invDt ) : float
setLimits ( float lower, float upper ) : void	Set the joint limits, usually in meters.

Private Methods

Method	Description
RevoluteJoint ( ) : System
initVelocityConstraints ( SolverData &data ) : void
solvePositionConstraints ( SolverData &data ) : bool
solveVelocityConstraints ( SolverData &data ) : void

Method Details

RevoluteJoint() public method

Constructor of RevoluteJoint.

public RevoluteJoint ( Body bodyA, Body bodyB, Vector2 anchorA, Vector2 anchorB, bool useWorldCoordinates = false ) : System
bodyA	Body	The first body.
bodyB	Body	The second body.
anchorA	Vector2	The first body anchor.
anchorB	Vector2	The second anchor.
useWorldCoordinates	bool	Set to true if you are using world coordinates as anchors.
return	System

RevoluteJoint() public method

Constructor of RevoluteJoint.

public RevoluteJoint ( Body bodyA, Body bodyB, Vector2 anchor, bool useWorldCoordinates = false ) : System
bodyA	Body	The first body.
bodyB	Body	The second body.
anchor	Vector2	The shared anchor.
useWorldCoordinates	bool
return	System

getMotorTorque() public method

Gets the motor torque in N-m.

public getMotorTorque ( float invDt ) : float
invDt	float	The inverse delta time
return	float

getReactionForce() public method

public getReactionForce ( float invDt ) : Vector2
invDt	float
return	Vector2

getReactionTorque() public method

public getReactionTorque ( float invDt ) : float
invDt	float
return	float

setLimits() public method

Set the joint limits, usually in meters.

public setLimits ( float lower, float upper ) : void
lower	float	The lower limit
upper	float	The upper limit
return	void

Property Details

localAnchorA public_oe property

The local anchor point on BodyA

public Vector2 localAnchorA
return	Vector2

localAnchorB public_oe property

The local anchor point on BodyB

public Vector2 localAnchorB
return	Vector2