org.jbox2d.dynamics.joints
Class FrictionJoint

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

public class FrictionJoint
extends Joint

Author:
Daniel Murphy

Field Summary
 float m_angularMass
           
 int m_indexA
           
 int m_indexB
           
 float m_invIA
           
 float m_invIB
           
 float m_invMassA
           
 float m_invMassB
           
 Mat22 m_linearMass
           
 Vec2 m_localCenterA
           
 Vec2 m_localCenterB
           
 Vec2 m_rA
           
 Vec2 m_rB
           
 
Fields inherited from class org.jbox2d.dynamics.joints.Joint
m_bodyA, m_bodyB, m_collideConnected, m_edgeA, m_edgeB, m_index, m_islandFlag, m_next, m_prev, m_type, m_userData, pool
 
Constructor Summary
FrictionJoint(IWorldPool argWorldPool, FrictionJointDef 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 getLocalAnchorA()
           
 Vec2 getLocalAnchorB()
           
 float getMaxForce()
           
 float getMaxTorque()
           
 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(SolverData data)
           
 void setMaxForce(float force)
           
 void setMaxTorque(float torque)
           
 boolean solvePositionConstraints(SolverData data)
          This returns true if the position errors are within tolerance.
 void solveVelocityConstraints(SolverData data)
           
 
Methods inherited from class org.jbox2d.dynamics.joints.Joint
create, destroy, destructor, getBodyA, getBodyB, getCollideConnected, 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_indexA

public int m_indexA

m_indexB

public int m_indexB

m_rA

public final Vec2 m_rA

m_rB

public final Vec2 m_rB

m_localCenterA

public final Vec2 m_localCenterA

m_localCenterB

public final Vec2 m_localCenterB

m_invMassA

public float m_invMassA

m_invMassB

public float m_invMassB

m_invIA

public float m_invIA

m_invIB

public float m_invIB

m_linearMass

public final Mat22 m_linearMass

m_angularMass

public float m_angularMass
Constructor Detail

FrictionJoint

public FrictionJoint(IWorldPool argWorldPool,
                     FrictionJointDef def)
Parameters:
argWorldPool -
def -
Method Detail

getLocalAnchorA

public Vec2 getLocalAnchorA()

getLocalAnchorB

public Vec2 getLocalAnchorB()

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:

setMaxForce

public void setMaxForce(float force)

getMaxForce

public float getMaxForce()

setMaxTorque

public void setMaxTorque(float torque)

getMaxTorque

public float getMaxTorque()

initVelocityConstraints

public void initVelocityConstraints(SolverData data)
Specified by:
initVelocityConstraints in class Joint
See Also:
org.jbox2d.dynamics.joints.Joint#initVelocityConstraints(org.jbox2d.dynamics.TimeStep)

solveVelocityConstraints

public void solveVelocityConstraints(SolverData data)
Specified by:
solveVelocityConstraints in class Joint

solvePositionConstraints

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

Specified by:
solvePositionConstraints in class Joint
Returns:


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