org.jbox2d.dynamics.joints
Class RevoluteJointDef

java.lang.Object
  extended by org.jbox2d.dynamics.joints.JointDef
      extended by org.jbox2d.dynamics.joints.RevoluteJointDef

public class RevoluteJointDef
extends JointDef

Revolute joint definition. This requires defining an anchor point where the bodies are joined. The definition uses local anchor points so that the initial configuration can violate the constraint slightly. You also need to specify the initial relative angle for joint limits. This helps when saving and loading a game. The local anchor points are measured from the body's origin rather than the center of mass because:


Field Summary
 boolean enableLimit
          A flag to enable joint limits.
 boolean enableMotor
          A flag to enable the joint motor.
 Vec2 localAnchorA
          The local anchor point relative to body1's origin.
 Vec2 localAnchorB
          The local anchor point relative to body2's origin.
 float lowerAngle
          The lower angle for the joint limit (radians).
 float maxMotorTorque
          The maximum motor torque used to achieve the desired motor speed.
 float motorSpeed
          The desired motor speed.
 float referenceAngle
          The body2 angle minus body1 angle in the reference state (radians).
 float upperAngle
          The upper angle for the joint limit (radians).
 
Fields inherited from class org.jbox2d.dynamics.joints.JointDef
bodyA, bodyB, collideConnected, type, userData
 
Constructor Summary
RevoluteJointDef()
           
 
Method Summary
 void initialize(Body b1, Body b2, Vec2 anchor)
          Initialize the bodies, anchors, and reference angle using the world anchor.
 
Methods inherited from class java.lang.Object
clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait
 

Field Detail

localAnchorA

public Vec2 localAnchorA
The local anchor point relative to body1's origin.


localAnchorB

public Vec2 localAnchorB
The local anchor point relative to body2's origin.


referenceAngle

public float referenceAngle
The body2 angle minus body1 angle in the reference state (radians).


enableLimit

public boolean enableLimit
A flag to enable joint limits.


lowerAngle

public float lowerAngle
The lower angle for the joint limit (radians).


upperAngle

public float upperAngle
The upper angle for the joint limit (radians).


enableMotor

public boolean enableMotor
A flag to enable the joint motor.


motorSpeed

public float motorSpeed
The desired motor speed. Usually in radians per second.


maxMotorTorque

public float maxMotorTorque
The maximum motor torque used to achieve the desired motor speed. Usually in N-m.

Constructor Detail

RevoluteJointDef

public RevoluteJointDef()
Method Detail

initialize

public void initialize(Body b1,
                       Body b2,
                       Vec2 anchor)
Initialize the bodies, anchors, and reference angle using the world anchor.

Parameters:
b1 -
b2 -
anchor -


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