org.jbox2d.dynamics.joints
Class PrismaticJoint

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

public class PrismaticJoint
extends Joint


Field Summary
 float m_a1
           
 float m_a2
           
 Vec2 m_axis
           
 boolean m_enableLimit
           
 boolean m_enableMotor
           
 Vec3 m_impulse
           
 Mat33 m_K
           
 LimitState m_limitState
           
 Vec2 m_localAnchor1
           
 Vec2 m_localAnchor2
           
 Vec2 m_localXAxis1
           
 Vec2 m_localYAxis1
           
 float m_lowerTranslation
           
 float m_maxMotorForce
           
 float m_motorImpulse
           
 float m_motorMass
           
 float m_motorSpeed
           
 Vec2 m_perp
           
 float m_refAngle
           
 float m_s1
           
 float m_s2
           
 float m_upperTranslation
           
 
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
PrismaticJoint(IWorldPool argWorld, PrismaticJointDef def)
           
 
Method Summary
 void enableLimit(boolean flag)
           
 void enableMotor(boolean flag)
           
 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.
 float getJointSpeed()
           
 float getJointTranslation()
           
 float getLowerLimit()
           
 float getMotorForce()
           
 float getMotorSpeed()
           
 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.
 float getUpperLimit()
           
 void initVelocityConstraints(TimeStep step)
           
 boolean isLimitEnabled()
           
 boolean isMotorEnabled()
           
 void setLimits(float lower, float upper)
           
 void setMaxMotorForce(float force)
           
 void setMotorSpeed(float speed)
           
 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

m_localXAxis1

public final Vec2 m_localXAxis1

m_localYAxis1

public final Vec2 m_localYAxis1

m_refAngle

public float m_refAngle

m_axis

public final Vec2 m_axis

m_perp

public final Vec2 m_perp

m_s1

public float m_s1

m_s2

public float m_s2

m_a1

public float m_a1

m_a2

public float m_a2

m_K

public final Mat33 m_K

m_impulse

public final Vec3 m_impulse

m_motorMass

public float m_motorMass

m_motorImpulse

public float m_motorImpulse

m_lowerTranslation

public float m_lowerTranslation

m_upperTranslation

public float m_upperTranslation

m_maxMotorForce

public float m_maxMotorForce

m_motorSpeed

public float m_motorSpeed

m_enableLimit

public boolean m_enableLimit

m_enableMotor

public boolean m_enableMotor

m_limitState

public LimitState m_limitState
Constructor Detail

PrismaticJoint

public PrismaticJoint(IWorldPool argWorld,
                      PrismaticJointDef 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

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

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

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:

getJointTranslation

public float getJointTranslation()

getJointSpeed

public float getJointSpeed()

isLimitEnabled

public boolean isLimitEnabled()

enableLimit

public void enableLimit(boolean flag)

getLowerLimit

public float getLowerLimit()

getUpperLimit

public float getUpperLimit()

setLimits

public void setLimits(float lower,
                      float upper)

isMotorEnabled

public boolean isMotorEnabled()

enableMotor

public void enableMotor(boolean flag)

setMotorSpeed

public void setMotorSpeed(float speed)

getMotorSpeed

public float getMotorSpeed()

setMaxMotorForce

public void setMaxMotorForce(float force)

getMotorForce

public float getMotorForce()

initVelocityConstraints

public void initVelocityConstraints(TimeStep step)
Specified by:
initVelocityConstraints in class Joint

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:

solveVelocityConstraints

public void solveVelocityConstraints(TimeStep step)
Specified by:
solveVelocityConstraints in class Joint


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