Android Open Source - gameengine Wheel Joint Def

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Apache License

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Java Source Code

/*******************************************************************************
 * Copyright 2011 See AUTHORS file./*from w w w  .j  ava 2  s. c  om*/
 * 
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 * 
 *   http://www.apache.org/licenses/LICENSE-2.0
 * 
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 ******************************************************************************/
package com.badlogic.gdx.physics.box2d.joints;

import com.badlogic.gdx.math.Vector2;
import com.badlogic.gdx.physics.box2d.Body;
import com.badlogic.gdx.physics.box2d.JointDef;

/**
 * Wheel joint definition. This requires defining a line of motion using an axis
 * and an anchor point. The definition uses local anchor points and a local axis
 * so that the initial configuration can violate the constraint slightly. The
 * joint translation is zero when the local anchor points coincide in world
 * space. Using local anchors and a local axis helps when saving and loading a
 * game.
 */
public class WheelJointDef extends JointDef {
    public WheelJointDef() {
        type = JointType.WheelJoint;
    }

    public void initialize(Body bodyA, Body bodyB, Vector2 anchor, Vector2 axis) {
        this.bodyA = bodyA;
        this.bodyB = bodyB;
        localAnchorA.set(bodyA.getLocalPoint(anchor));
        localAnchorB.set(bodyB.getLocalPoint(anchor));
        localAxisA.set(bodyA.getLocalVector(axis));
    }

    /** The local anchor point relative to body1's origin. **/
    public final Vector2 localAnchorA = new Vector2();

    /** The local anchor point relative to body2's origin. **/
    public final Vector2 localAnchorB = new Vector2();

    /** The local translation axis in body1. **/
    public final Vector2 localAxisA = new Vector2(1, 0);

    /** Enable/disable the joint motor. **/
    public boolean enableMotor = false;

    /** The maximum motor torque, usually in N-m. */
    public float maxMotorTorque = 0;

    /** The desired motor speed in radians per second. */
    public float motorSpeed = 0;

    /** Suspension frequency, zero indicates no suspension */
    public float frequencyHz = 2;

    /** Suspension damping ratio, one indicates critical damping */
    public float dampingRatio = 0.7f;
}

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