Pulley joint. More...

#include <PulleyJoint.hpp>

Public Member Functions
	PulleyJoint (const PulleyJointConf &data)
	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...

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

Length2	GetLocalAnchorA () const noexcept
	Gets the local anchor A. More...

Length2	GetLocalAnchorB () const noexcept
	Gets the local anchor B. More...

Length2	GetGroundAnchorA () const noexcept
	Get the first ground anchor. More...

Length2	GetGroundAnchorB () const noexcept
	Get the second ground anchor. More...

Length	GetLengthA () const noexcept
	Get the current length of the segment attached to body-A. More...

Length	GetLengthB () const noexcept
	Get the current length of the segment attached to body-B. More...

Real	GetRatio () const noexcept
	Get the pulley ratio. 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...

Related Functions
(Note that these are not member functions.)
Length	GetCurrentLengthA (const PulleyJoint &joint)
	Get the current length of the segment attached to body-A. More...

Length	GetCurrentLengthB (const PulleyJoint &joint)
	Get the current length of the segment attached to body-B. More...

PulleyJointConf	GetPulleyJointConf (const PulleyJoint &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

Pulley joint.

The pulley joint is connected to two bodies and two fixed ground points. The pulley supports a ratio such that: length1 + ratio * length2 <= constant.

Note: The force transmitted is scaled by the ratio.

Warning: the pulley joint can get a bit squirrelly by itself. They often work better when combined with prismatic joints. You should also cover the the anchor points with static shapes to prevent one side from going to zero length.

Definition at line 47 of file PulleyJoint.hpp.

Constructor & Destructor Documentation

◆ PulleyJoint()

playrho::d2::PulleyJoint::PulleyJoint ( const PulleyJointConf & data )

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 44 of file PulleyJoint.cpp.

Member Function Documentation

◆ Accept() [1/2]

void playrho::d2::PulleyJoint::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 58 of file PulleyJoint.cpp.

◆ Accept() [2/2]

void playrho::d2::PulleyJoint::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 63 of file PulleyJoint.cpp.

◆ GetAnchorA()

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

overridevirtual

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

Implements playrho::d2::Joint.

Definition at line 218 of file PulleyJoint.cpp.

◆ GetAnchorB()

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

overridevirtual

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

Implements playrho::d2::Joint.

Definition at line 223 of file PulleyJoint.cpp.

◆ GetLinearReaction()

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

overridevirtual

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

Implements playrho::d2::Joint.

Definition at line 228 of file PulleyJoint.cpp.

◆ GetAngularReaction()

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

overridevirtual

Get the angular reaction on body-B.

Implements playrho::d2::Joint.

Definition at line 233 of file PulleyJoint.cpp.

◆ ShiftOrigin()

bool playrho::d2::PulleyJoint::ShiftOrigin ( const Length2 Length2 )

overridevirtual

Shifts the origin for any points stored in world coordinates.

Returns: true if shift done, false otherwise.

Reimplemented from playrho::d2::Joint.

Definition at line 238 of file PulleyJoint.cpp.

◆ GetLocalAnchorA()

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

inlinenoexcept

Gets the local anchor A.

Definition at line 115 of file PulleyJoint.hpp.

◆ GetLocalAnchorB()

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

inlinenoexcept

Gets the local anchor B.

Definition at line 120 of file PulleyJoint.hpp.

◆ GetGroundAnchorA()

Length2 playrho::d2::PulleyJoint::GetGroundAnchorA ( ) const

inlinenoexcept

Get the first ground anchor.

Definition at line 125 of file PulleyJoint.hpp.

◆ GetGroundAnchorB()

Length2 playrho::d2::PulleyJoint::GetGroundAnchorB ( ) const

inlinenoexcept

Get the second ground anchor.

Definition at line 130 of file PulleyJoint.hpp.

◆ GetLengthA()

Length playrho::d2::PulleyJoint::GetLengthA ( ) const

inlinenoexcept

Get the current length of the segment attached to body-A.

Definition at line 135 of file PulleyJoint.hpp.

◆ GetLengthB()

Length playrho::d2::PulleyJoint::GetLengthB ( ) const

inlinenoexcept

Get the current length of the segment attached to body-B.

Definition at line 140 of file PulleyJoint.hpp.

◆ GetRatio()

Real playrho::d2::PulleyJoint::GetRatio ( ) const

inlinenoexcept

Get the pulley ratio.

Definition at line 145 of file PulleyJoint.hpp.

Friends And Related Function Documentation

◆ GetCurrentLengthA()

Length GetCurrentLengthA ( const PulleyJoint & joint )

Definition at line 245 of file PulleyJoint.cpp.

◆ GetCurrentLengthB()

Length GetCurrentLengthB ( const PulleyJoint & joint )

Definition at line 251 of file PulleyJoint.cpp.

◆ GetPulleyJointConf()

PulleyJointConf GetPulleyJointConf ( const PulleyJoint & joint )

Definition at line 43 of file PulleyJointConf.cpp.

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

Dynamics/Joints/PulleyJoint.hpp
Dynamics/Joints/PulleyJoint.cpp
Dynamics/Joints/PulleyJointConf.hpp

Public Member Functions

Related Functions

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ PulleyJoint()

Member Function Documentation

◆ Accept() [1/2]

◆ Accept() [2/2]

◆ GetAnchorA()

◆ GetAnchorB()

◆ GetLinearReaction()

◆ GetAngularReaction()

◆ ShiftOrigin()

◆ GetLocalAnchorA()

◆ GetLocalAnchorB()

◆ GetGroundAnchorA()

◆ GetGroundAnchorB()

◆ GetLengthA()

◆ GetLengthB()

◆ GetRatio()

Friends And Related Function Documentation

◆ GetCurrentLengthA()

◆ GetCurrentLengthB()

◆ GetPulleyJointConf()