org.jbox2d.dynamics.joints
Class GearJoint

java.lang.Object
  extended by org.jbox2d.dynamics.joints.Joint
      extended by org.jbox2d.dynamics.joints.GearJoint

public class GearJoint
extends Joint

A gear joint is used to connect two joints together. Either joint can be a revolute or prismatic joint. You specify a gear ratio to bind the motions together: coordinate1 + ratio * coordinate2 = constant The ratio can be negative or positive. If one joint is a revolute joint and the other joint is a prismatic joint, then the ratio will have units of length or units of 1/length.

Author:
Daniel Murphy

Field Summary
 Vec2 m_localAnchor1
           
 Vec2 m_localAnchor2
           
 
Fields inherited from class org.jbox2d.dynamics.joints.Joint
m_bodyA, m_bodyB, m_collideConnected, m_edgeA, m_edgeB, m_islandFlag, m_next, m_prev, m_type, m_userData, pool
 
Constructor Summary
GearJoint(IWorldPool argWorldPool, GearJointDef def)
           
 
Method Summary
 void getAnchorA(Vec2 argOut)
          get the anchor point on bodyA in world coordinates.
 void getAnchorB(Vec2 argOut)
          get the anchor point on bodyB in world coordinates.
 Joint getJoint1()
           
 Joint getJoint2()
           
 float getRatio()
           
 void getReactionForce(float inv_dt, Vec2 argOut)
          get the reaction force on body2 at the joint anchor in Newtons.
 float getReactionTorque(float inv_dt)
          get the reaction torque on body2 in N*m.
 void initVelocityConstraints(TimeStep step)
           
 void setRatio(float argRatio)
           
 boolean solvePositionConstraints(float baumgarte)
          This returns true if the position errors are within tolerance.
 void solveVelocityConstraints(TimeStep step)
           
 
Methods inherited from class org.jbox2d.dynamics.joints.Joint
create, destroy, destructor, getBodyA, getBodyB, getNext, getType, getUserData, IsActive, setUserData
 
Methods inherited from class java.lang.Object
clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait
 

Field Detail

m_localAnchor1

public final Vec2 m_localAnchor1

m_localAnchor2

public final Vec2 m_localAnchor2
Constructor Detail

GearJoint

public GearJoint(IWorldPool argWorldPool,
                 GearJointDef def)
Parameters:
argWorldPool -
def -
Method Detail

getAnchorA

public void getAnchorA(Vec2 argOut)
Description copied from class: Joint
get the anchor point on bodyA in world coordinates.

Specified by:
getAnchorA in class Joint
See Also:
Joint.getAnchorA(org.jbox2d.common.Vec2)

getAnchorB

public void getAnchorB(Vec2 argOut)
Description copied from class: Joint
get the anchor point on bodyB in world coordinates.

Specified by:
getAnchorB in class Joint
See Also:
Joint.getAnchorB(org.jbox2d.common.Vec2)

getReactionForce

public void getReactionForce(float inv_dt,
                             Vec2 argOut)
Description copied from class: Joint
get the reaction force on body2 at the joint anchor in Newtons.

Specified by:
getReactionForce in class Joint
See Also:
Joint.getReactionForce(float, org.jbox2d.common.Vec2)

getReactionTorque

public float getReactionTorque(float inv_dt)
Description copied from class: Joint
get the reaction torque on body2 in N*m.

Specified by:
getReactionTorque in class Joint
Returns:
See Also:
Joint.getReactionTorque(float)

setRatio

public void setRatio(float argRatio)

getRatio

public float getRatio()

initVelocityConstraints

public void initVelocityConstraints(TimeStep step)
Specified by:
initVelocityConstraints in class Joint
See Also:
Joint.initVelocityConstraints(org.jbox2d.dynamics.TimeStep)

solveVelocityConstraints

public void solveVelocityConstraints(TimeStep step)
Specified by:
solveVelocityConstraints in class Joint
See Also:
Joint.solveVelocityConstraints(org.jbox2d.dynamics.TimeStep)

getJoint1

public Joint getJoint1()

getJoint2

public Joint getJoint2()

solvePositionConstraints

public boolean solvePositionConstraints(float baumgarte)
Description copied from class: Joint
This returns true if the position errors are within tolerance.

Specified by:
solvePositionConstraints in class Joint
Returns:
See Also:
Joint.solvePositionConstraints(float)


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