org.jbox2d.dynamics.joints
Class WeldJoint

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

public class WeldJoint
extends Joint

A weld joint essentially glues two bodies together. A weld joint may distort somewhat because the island constraint solver is approximate.

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

WeldJoint(IWorldPool argWorld, WeldJointDef 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.
float	getDampingRatio()
float	getFrequency()
Vec2	getLocalAnchorA()
Vec2	getLocalAnchorB()
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	getReferenceAngle()
void	initVelocityConstraints(SolverData data)
void	setDampingRatio(float dampingRatio)
void	setFrequency(float frequencyHz)
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

WeldJoint

protected WeldJoint(IWorldPool argWorld,
                    WeldJointDef def)

Method Detail

getReferenceAngle

public float getReferenceAngle()

getLocalAnchorA

public Vec2 getLocalAnchorA()

getLocalAnchorB

public Vec2 getLocalAnchorB()

getFrequency

public float getFrequency()

setFrequency

public void setFrequency(float frequencyHz)

getDampingRatio

public float getDampingRatio()

setDampingRatio

public void setDampingRatio(float dampingRatio)

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:

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: