Motor joint. More...

#include <MotorJoint.hpp>

Public Member Functions
	MotorJoint (const MotorJointConf &def)
	Initializing constructor. More...

void	Accept (JointVisitor &visitor) const override
	Accepts a visitor. More...

void	Accept (JointVisitor &visitor) override
	Accepts a visitor. More...

Length2	GetAnchorA () const override
	Get the anchor point on body-A in world coordinates. More...

Length2	GetAnchorB () const override
	Get the anchor point on body-B in world coordinates. More...

Momentum2	GetLinearReaction () const override
	Get the linear reaction on body-B at the joint anchor. More...

AngularMomentum	GetAngularReaction () const override
	Get the angular reaction on body-B. More...

Length2	GetLinearOffset () const noexcept
	Gets the target linear offset, in frame A. More...

void	SetLinearOffset (const Length2 linearOffset)
	Sets the target linear offset, in frame A. More...

Angle	GetAngularOffset () const noexcept
	Gets the target angular offset. More...

void	SetAngularOffset (Angle angularOffset)
	Sets the target angular offset. More...

NonNegative< Force >	GetMaxForce () const noexcept
	Gets the maximum friction force. More...

void	SetMaxForce (NonNegative< Force > force)
	Sets the maximum friction force. More...

NonNegative< Torque >	GetMaxTorque () const noexcept
	Gets the maximum friction torque. More...

void	SetMaxTorque (NonNegative< Torque > torque)
	Sets the maximum friction torque. More...

Real	GetCorrectionFactor () const noexcept
	Gets the position correction factor in the range [0,1]. More...

void	SetCorrectionFactor (Real factor)
	Sets the position correction factor in the range [0,1]. More...

Length2	GetLinearError () const noexcept
	Gets the linear error. More...

Angle	GetAngularError () const noexcept
	Gets the angular error. More...

Public Member Functions inherited from playrho::d2::Joint
virtual	~Joint () noexcept=default

Body *	GetBodyA () const noexcept
	Gets the first body attached to this joint. More...

Body *	GetBodyB () const noexcept
	Gets the second body attached to this joint. More...

void *	GetUserData () const noexcept
	Get the user data pointer. More...

void	SetUserData (void *data) noexcept
	Set the user data pointer. More...

bool	GetCollideConnected () const noexcept
	Gets collide connected. More...

virtual bool	ShiftOrigin (const Length2)
	Shifts the origin for any points stored in world coordinates. More...

Related Functions
(Note that these are not member functions.)
MotorJointConf	GetMotorJointConf (const MotorJoint &joint) noexcept
	Gets the definition data for the given joint. More...

Related Functions inherited from playrho::d2::Joint
bool	IsEnabled (const Joint &j) noexcept
	Short-cut function to determine if both bodies are enabled. More...

void	SetAwake (Joint &j) noexcept
	Wakes up the joined bodies. More...

JointCounter	GetWorldIndex (const Joint *joint)
	Gets the world index of the given joint. More...

JointType	GetType (const Joint &joint) noexcept
	Gets the type of the given joint. More...

Additional Inherited Members
Public Types inherited from playrho::d2::Joint
enum	LimitState { e_inactiveLimit, e_atLowerLimit, e_atUpperLimit, e_equalLimits }
	Limit state. More...

Static Public Member Functions inherited from playrho::d2::Joint
static bool	IsOkay (const JointConf &def) noexcept
	Is the given definition okay. More...

Protected Member Functions inherited from playrho::d2::Joint
	Joint (const JointConf &def)
	Initializing constructor. More...

Detailed Description

Motor joint.

A motor joint is used to control the relative motion between two bodies. A typical usage is to control the movement of a dynamic body with respect to the ground.

Definition at line 38 of file MotorJoint.hpp.

Constructor & Destructor Documentation

◆ MotorJoint()

playrho::d2::MotorJoint::MotorJoint ( const MotorJointConf & def )

Initializing constructor.

Attention: To create or use the joint within a world instance, call that world instance's create joint method instead of calling this constructor directly.

See also: World::CreateJoint

Definition at line 46 of file MotorJoint.cpp.

Member Function Documentation

◆ Accept() [1/2]

void playrho::d2::MotorJoint::Accept ( JointVisitor & visitor ) const

overridevirtual

Accepts a visitor.

This is the Accept method definition of a "visitor design pattern" for for doing joint subclass specific types of processing for a constant joint.

See also: JointVisitor; https://en.wikipedia.org/wiki/Visitor_pattern

Implements playrho::d2::Joint.

Definition at line 57 of file MotorJoint.cpp.

◆ Accept() [2/2]

void playrho::d2::MotorJoint::Accept ( JointVisitor & visitor )

overridevirtual

Accepts a visitor.

This is the Accept method definition of a "visitor design pattern" for for doing joint subclass specific types of processing.

See also: JointVisitor; https://en.wikipedia.org/wiki/Visitor_pattern

Implements playrho::d2::Joint.

Definition at line 62 of file MotorJoint.cpp.

◆ GetAnchorA()

Length2 playrho::d2::MotorJoint::GetAnchorA ( ) const

overridevirtual

Get the anchor point on body-A in world coordinates.

Implements playrho::d2::Joint.

Definition at line 227 of file MotorJoint.cpp.

◆ GetAnchorB()

Length2 playrho::d2::MotorJoint::GetAnchorB ( ) const

overridevirtual

Get the anchor point on body-B in world coordinates.

Implements playrho::d2::Joint.

Definition at line 232 of file MotorJoint.cpp.

◆ GetLinearReaction()

Momentum2 playrho::d2::MotorJoint::GetLinearReaction ( ) const

inlineoverridevirtual

Get the linear reaction on body-B at the joint anchor.

Implements playrho::d2::Joint.

Definition at line 151 of file MotorJoint.hpp.

◆ GetAngularReaction()

AngularMomentum playrho::d2::MotorJoint::GetAngularReaction ( ) const

inlineoverridevirtual

Get the angular reaction on body-B.

Implements playrho::d2::Joint.

Definition at line 156 of file MotorJoint.hpp.

◆ GetLinearOffset()

Length2 playrho::d2::MotorJoint::GetLinearOffset ( ) const

inlinenoexcept

Gets the target linear offset, in frame A.

Definition at line 141 of file MotorJoint.hpp.

◆ SetLinearOffset()

void playrho::d2::MotorJoint::SetLinearOffset ( const Length2 linearOffset )

Sets the target linear offset, in frame A.

Definition at line 243 of file MotorJoint.cpp.

◆ GetAngularOffset()

Angle playrho::d2::MotorJoint::GetAngularOffset ( ) const

inlinenoexcept

Gets the target angular offset.

Definition at line 146 of file MotorJoint.hpp.

◆ SetAngularOffset()

void playrho::d2::MotorJoint::SetAngularOffset ( Angle angularOffset )

Sets the target angular offset.

Definition at line 253 of file MotorJoint.cpp.

◆ GetMaxForce()

NonNegative< Force > playrho::d2::MotorJoint::GetMaxForce ( ) const

inlinenoexcept

Gets the maximum friction force.

Definition at line 121 of file MotorJoint.hpp.

◆ SetMaxForce()

void playrho::d2::MotorJoint::SetMaxForce ( NonNegative< Force > force )

inline

Sets the maximum friction force.

Definition at line 126 of file MotorJoint.hpp.

◆ GetMaxTorque()

NonNegative< Torque > playrho::d2::MotorJoint::GetMaxTorque ( ) const

inlinenoexcept

Gets the maximum friction torque.

Definition at line 131 of file MotorJoint.hpp.

◆ SetMaxTorque()

void playrho::d2::MotorJoint::SetMaxTorque ( NonNegative< Torque > torque )

inline

Sets the maximum friction torque.

Definition at line 136 of file MotorJoint.hpp.

◆ GetCorrectionFactor()

Real playrho::d2::MotorJoint::GetCorrectionFactor ( ) const

inlinenoexcept

Gets the position correction factor in the range [0,1].

Definition at line 161 of file MotorJoint.hpp.

◆ SetCorrectionFactor()

void playrho::d2::MotorJoint::SetCorrectionFactor ( Real factor )

Sets the position correction factor in the range [0,1].

Definition at line 237 of file MotorJoint.cpp.

◆ GetLinearError()

Length2 playrho::d2::MotorJoint::GetLinearError ( ) const

inlinenoexcept

Gets the linear error.

Note: This is calculated by the InitVelocityConstraints method.

Definition at line 166 of file MotorJoint.hpp.

◆ GetAngularError()

Angle playrho::d2::MotorJoint::GetAngularError ( ) const

inlinenoexcept

Gets the angular error.

Note: This is calculated by the InitVelocityConstraints method.

Definition at line 171 of file MotorJoint.hpp.

Friends And Related Function Documentation

◆ GetMotorJointConf()

MotorJointConf GetMotorJointConf ( const MotorJoint & joint )

Definition at line 37 of file MotorJointConf.cpp.

The documentation for this class was generated from the following files:

Dynamics/Joints/MotorJoint.hpp
Dynamics/Joints/MotorJoint.cpp
Dynamics/Joints/MotorJointConf.hpp

Public Member Functions

Related Functions

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ MotorJoint()

Member Function Documentation

◆ Accept() [1/2]

◆ Accept() [2/2]

◆ GetAnchorA()

◆ GetAnchorB()

◆ GetLinearReaction()

◆ GetAngularReaction()

◆ GetLinearOffset()

◆ SetLinearOffset()

◆ GetAngularOffset()

◆ SetAngularOffset()

◆ GetMaxForce()

◆ SetMaxForce()

◆ GetMaxTorque()

◆ SetMaxTorque()

◆ GetCorrectionFactor()

◆ SetCorrectionFactor()

◆ GetLinearError()

◆ GetAngularError()

Friends And Related Function Documentation

◆ GetMotorJointConf()