Prismatic Joint. More...

#include <PrismaticJoint.hpp>

Public Member Functions
	PrismaticJoint (const PrismaticJointConf &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	GetLocalAnchorA () const
	Gets the local anchor point relative to body A's origin. More...

Length2	GetLocalAnchorB () const
	Gets the local anchor point relative to body B's origin. More...

UnitVec	GetLocalAxisA () const
	Gets local joint axis relative to body-A. More...

Angle	GetReferenceAngle () const
	Gets the reference angle. More...

bool	IsLimitEnabled () const noexcept
	Is the joint limit enabled? More...

void	EnableLimit (bool flag) noexcept
	Enable/disable the joint limit. More...

Length	GetLowerLimit () const noexcept
	Gets the lower joint limit. More...

Length	GetUpperLimit () const noexcept
	Gets the upper joint limit. More...

void	SetLimits (Length lower, Length upper) noexcept
	Sets the joint limits. More...

bool	IsMotorEnabled () const noexcept
	Is the joint motor enabled? More...

void	EnableMotor (bool flag) noexcept
	Enable/disable the joint motor. More...

void	SetMotorSpeed (AngularVelocity speed) noexcept
	Sets the motor speed. More...

AngularVelocity	GetMotorSpeed () const noexcept
	Gets the motor speed. More...

void	SetMaxMotorForce (Force force) noexcept
	Sets the maximum motor force. More...

Force	GetMaxMotorForce () const noexcept
	Gets the maximum motor force. More...

Momentum	GetMotorImpulse () const noexcept
	Gets the current motor impulse. More...

LimitState	GetLimitState () const noexcept
	Gets the current limit state. 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.)
Length	GetJointTranslation (const PrismaticJoint &joint) noexcept
	Get the current joint translation. More...

LinearVelocity	GetLinearVelocity (const PrismaticJoint &joint) noexcept
	Get the current joint translation speed. More...

Force	GetMotorForce (const PrismaticJoint &joint, Frequency inv_dt) noexcept
	Gets the current motor force for the given joint, given the inverse time step. More...

PrismaticJointConf	GetPrismaticJointConf (const PrismaticJoint &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

Prismatic Joint.

This joint provides one degree of freedom: translation along an axis fixed in body-A. Relative rotation is prevented.

Note: You can use a joint limit to restrict the range of motion and a joint motor to drive the motion or to model joint friction.

See also: https://en.wikipedia.org/wiki/Prismatic_joint

Definition at line 46 of file PrismaticJoint.hpp.

Constructor & Destructor Documentation

◆ PrismaticJoint()

playrho::d2::PrismaticJoint::PrismaticJoint ( const PrismaticJointConf & 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 100 of file PrismaticJoint.cpp.

Member Function Documentation

◆ Accept() [1/2]

void playrho::d2::PrismaticJoint::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 117 of file PrismaticJoint.cpp.

◆ Accept() [2/2]

void playrho::d2::PrismaticJoint::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 122 of file PrismaticJoint.cpp.

◆ GetAnchorA()

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

overridevirtual

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

Implements playrho::d2::Joint.

Definition at line 524 of file PrismaticJoint.cpp.

◆ GetAnchorB()

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

overridevirtual

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

Implements playrho::d2::Joint.

Definition at line 529 of file PrismaticJoint.cpp.

◆ GetLinearReaction()

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

overridevirtual

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

Implements playrho::d2::Joint.

Definition at line 534 of file PrismaticJoint.cpp.

◆ GetAngularReaction()

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

overridevirtual

Get the angular reaction on body-B.

Implements playrho::d2::Joint.

Definition at line 541 of file PrismaticJoint.cpp.

◆ GetLocalAnchorA()

Length2 playrho::d2::PrismaticJoint::GetLocalAnchorA ( ) const

inline

Gets the local anchor point relative to body A's origin.

Definition at line 66 of file PrismaticJoint.hpp.

◆ GetLocalAnchorB()

Length2 playrho::d2::PrismaticJoint::GetLocalAnchorB ( ) const

inline

Gets the local anchor point relative to body B's origin.

Definition at line 69 of file PrismaticJoint.hpp.

◆ GetLocalAxisA()

UnitVec playrho::d2::PrismaticJoint::GetLocalAxisA ( ) const

inline

Gets local joint axis relative to body-A.

Definition at line 72 of file PrismaticJoint.hpp.

◆ GetReferenceAngle()

Angle playrho::d2::PrismaticJoint::GetReferenceAngle ( ) const

inline

Gets the reference angle.

Definition at line 75 of file PrismaticJoint.hpp.

◆ IsLimitEnabled()

bool playrho::d2::PrismaticJoint::IsLimitEnabled ( ) const

inlinenoexcept

Is the joint limit enabled?

Definition at line 162 of file PrismaticJoint.hpp.

◆ EnableLimit()

void playrho::d2::PrismaticJoint::EnableLimit ( bool flag )

noexcept

Enable/disable the joint limit.

Definition at line 546 of file PrismaticJoint.cpp.

◆ GetLowerLimit()

Length playrho::d2::PrismaticJoint::GetLowerLimit ( ) const

inlinenoexcept

Gets the lower joint limit.

Definition at line 152 of file PrismaticJoint.hpp.

◆ GetUpperLimit()

Length playrho::d2::PrismaticJoint::GetUpperLimit ( ) const

inlinenoexcept

Gets the upper joint limit.

Definition at line 157 of file PrismaticJoint.hpp.

◆ SetLimits()

void playrho::d2::PrismaticJoint::SetLimits	(	Length	lower,
		Length	upper
	)

noexcept

Sets the joint limits.

Definition at line 558 of file PrismaticJoint.cpp.

◆ IsMotorEnabled()

bool playrho::d2::PrismaticJoint::IsMotorEnabled ( ) const

inlinenoexcept

Is the joint motor enabled?

Definition at line 167 of file PrismaticJoint.hpp.

◆ EnableMotor()

void playrho::d2::PrismaticJoint::EnableMotor ( bool flag )

noexcept

Enable/disable the joint motor.

Definition at line 572 of file PrismaticJoint.cpp.

◆ SetMotorSpeed()

void playrho::d2::PrismaticJoint::SetMotorSpeed ( AngularVelocity speed )

noexcept

Sets the motor speed.

Definition at line 584 of file PrismaticJoint.cpp.

◆ GetMotorSpeed()

AngularVelocity playrho::d2::PrismaticJoint::GetMotorSpeed ( ) const

inlinenoexcept

Gets the motor speed.

Definition at line 172 of file PrismaticJoint.hpp.

◆ SetMaxMotorForce()

void playrho::d2::PrismaticJoint::SetMaxMotorForce ( Force force )

noexcept

Sets the maximum motor force.

Definition at line 596 of file PrismaticJoint.cpp.

◆ GetMaxMotorForce()

Force playrho::d2::PrismaticJoint::GetMaxMotorForce ( ) const

inlinenoexcept

Gets the maximum motor force.

Definition at line 108 of file PrismaticJoint.hpp.

◆ GetMotorImpulse()

Momentum playrho::d2::PrismaticJoint::GetMotorImpulse ( ) const

inlinenoexcept

Gets the current motor impulse.

Definition at line 111 of file PrismaticJoint.hpp.

◆ GetLimitState()

Joint::LimitState playrho::d2::PrismaticJoint::GetLimitState ( ) const

inlinenoexcept

Gets the current limit state.

Note: This will be e_inactiveLimit unless the joint limit has been enabled.

Definition at line 177 of file PrismaticJoint.hpp.

Friends And Related Function Documentation

◆ GetJointTranslation()

Length GetJointTranslation ( const PrismaticJoint & joint )

Definition at line 608 of file PrismaticJoint.cpp.

◆ GetLinearVelocity()

LinearVelocity GetLinearVelocity ( const PrismaticJoint & joint )

Definition at line 615 of file PrismaticJoint.cpp.

◆ GetMotorForce()

Force GetMotorForce	(	const PrismaticJoint &	joint,
		Frequency	inv_dt
	)

Definition at line 192 of file PrismaticJoint.hpp.

◆ GetPrismaticJointConf()

PrismaticJointConf GetPrismaticJointConf ( const PrismaticJoint & joint )

Definition at line 40 of file PrismaticJointConf.cpp.

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

Dynamics/Joints/PrismaticJoint.hpp
Dynamics/Joints/PrismaticJoint.cpp
Dynamics/Joints/PrismaticJointConf.hpp

Public Member Functions

Related Functions

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ PrismaticJoint()

Member Function Documentation

◆ Accept() [1/2]

◆ Accept() [2/2]

◆ GetAnchorA()

◆ GetAnchorB()

◆ GetLinearReaction()

◆ GetAngularReaction()

◆ GetLocalAnchorA()

◆ GetLocalAnchorB()

◆ GetLocalAxisA()

◆ GetReferenceAngle()

◆ IsLimitEnabled()

◆ EnableLimit()

◆ GetLowerLimit()

◆ GetUpperLimit()

◆ SetLimits()

◆ IsMotorEnabled()

◆ EnableMotor()

◆ SetMotorSpeed()

◆ GetMotorSpeed()

◆ SetMaxMotorForce()

◆ GetMaxMotorForce()

◆ GetMotorImpulse()

◆ GetLimitState()

Friends And Related Function Documentation

◆ GetJointTranslation()

◆ GetLinearVelocity()

◆ GetMotorForce()

◆ GetPrismaticJointConf()