org.jbox2d.dynamics.joints
Class PulleyJoint

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

public class PulleyJoint
extends Joint

Author:
Daniel Murphy

Field Summary
 Vec2 m_groundAnchor1
           
 Vec2 m_groundAnchor2
           
 Vec2 m_localAnchor1
           
 Vec2 m_localAnchor2
           
static float MIN_PULLEY_LENGTH
           
 
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
PulleyJoint(IWorldPool argWorldPool, PulleyJointDef 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.
 Vec2 getGroundAnchorA()
           
 Vec2 getGroundAnchorB()
           
 float getLength1()
           
 float getLength2()
           
 float getMaxLength1()
           
 float getMaxLength2()
           
 float getOrigLength1()
           
 float getOrigLength2()
           
 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)
           
 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

MIN_PULLEY_LENGTH

public static final float MIN_PULLEY_LENGTH
See Also:
Constant Field Values

m_groundAnchor1

public final Vec2 m_groundAnchor1

m_groundAnchor2

public final Vec2 m_groundAnchor2

m_localAnchor1

public final Vec2 m_localAnchor1

m_localAnchor2

public final Vec2 m_localAnchor2
Constructor Detail

PulleyJoint

public PulleyJoint(IWorldPool argWorldPool,
                   PulleyJointDef def)
Parameters:
argWorldPool -
def -
Method Detail

getOrigLength1

public float getOrigLength1()

getOrigLength2

public float getOrigLength2()

getMaxLength1

public float getMaxLength1()

getMaxLength2

public float getMaxLength2()

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)

getGroundAnchorA

public Vec2 getGroundAnchorA()

getGroundAnchorB

public Vec2 getGroundAnchorB()

getLength1

public float getLength1()

getLength2

public float getLength2()

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)

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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