org.jbox2d.dynamics.joints
Class RopeJoint

java.lang.Object
  org.jbox2d.dynamics.joints.Joint
      org.jbox2d.dynamics.joints.RopeJoint

public class RopeJoint
extends Joint

A rope joint enforces a maximum distance between two points on two bodies. It has no other effect. Warning: if you attempt to change the maximum length during the simulation you will get some non-physical behavior. A model that would allow you to dynamically modify the length would have some sponginess, so I chose not to implement it that way. See DistanceJoint if you want to dynamically control length.

Author:

Daniel Murphy

Field Summary

Fields inherited from class org.jbox2d.dynamics.joints.Joint

m_bodyA, m_bodyB, m_edgeA, m_edgeB, m_islandFlag, m_next, m_prev, m_userData, pool

Constructor Summary

protected

RopeJoint(IWorldPool worldPool, RopeJointDef 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.
LimitState	getLimitState()
Vec2	getLocalAnchorA()
Vec2	getLocalAnchorB()
float	getMaxLength()
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	setMaxLength(float maxLength)
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

Constructor Detail

RopeJoint

protected RopeJoint(IWorldPool worldPool,
                    RopeJointDef def)

Method Detail

initVelocityConstraints

public void initVelocityConstraints(SolverData data)

Specified by:

initVelocityConstraints in class Joint

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:

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:

getLocalAnchorA

public Vec2 getLocalAnchorA()

getLocalAnchorB

public Vec2 getLocalAnchorB()

getMaxLength

public float getMaxLength()

setMaxLength

public void setMaxLength(float maxLength)

getLimitState

public LimitState getLimitState()