Revolute Joint. More...

#include <RevoluteJoint.hpp>

Public Member Functions
	RevoluteJoint (const RevoluteJointConf &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...

Length2	GetLocalAnchorA () const noexcept
	The local anchor point relative to body A's origin. More...

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

Angle	GetReferenceAngle () const noexcept
	Get the reference angle. More...

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

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

Angle	GetLowerLimit () const noexcept
	Get the lower joint limit. More...

Angle	GetUpperLimit () const noexcept
	Get the upper joint limit. More...

void	SetLimits (Angle lower, Angle upper)
	Set the joint limits. More...

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

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

void	SetMotorSpeed (AngularVelocity speed)
	Set the angular motor speed. More...

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

void	SetMaxMotorTorque (Torque torque)
	Set the maximum motor torque. More...

Torque	GetMaxMotorTorque () const noexcept
	Gets the max motor torque. More...

Momentum2	GetLinearReaction () const override
	Get the linear reaction. More...

AngularMomentum	GetAngularReaction () const override
	Get the angular reaction due to the joint limit. More...

AngularMomentum	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.)
Angle	GetJointAngle (const RevoluteJoint &joint)
	Gets the current joint angle. More...

AngularVelocity	GetAngularVelocity (const RevoluteJoint &joint)
	Gets the current joint angle speed. More...

Torque	GetMotorTorque (const RevoluteJoint &joint, Frequency inv_dt) noexcept
	Gets the current motor torque for the given joint given the inverse time step. More...

RevoluteJointConf	GetRevoluteJointConf (const RevoluteJoint &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

Revolute Joint.

A revolute joint constrains two bodies to share a common point while they are free to rotate about the point. The relative rotation about the shared point is the joint angle.

Note: You can limit the relative rotation with a joint limit that specifies a lower and upper angle. You can use a motor to drive the relative rotation about the shared point. A maximum motor torque is provided so that infinite forces are not generated.

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

Definition at line 48 of file RevoluteJoint.hpp.

Constructor & Destructor Documentation

◆ RevoluteJoint()

playrho::d2::RevoluteJoint::RevoluteJoint ( const RevoluteJointConf & 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 90 of file RevoluteJoint.cpp.

Member Function Documentation

◆ Accept() [1/2]

void playrho::d2::RevoluteJoint::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 105 of file RevoluteJoint.cpp.

◆ Accept() [2/2]

void playrho::d2::RevoluteJoint::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 110 of file RevoluteJoint.cpp.

◆ GetAnchorA()

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

overridevirtual

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

Implements playrho::d2::Joint.

Definition at line 453 of file RevoluteJoint.cpp.

◆ GetAnchorB()

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

overridevirtual

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

Implements playrho::d2::Joint.

Definition at line 458 of file RevoluteJoint.cpp.

◆ GetLocalAnchorA()

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

inlinenoexcept

The local anchor point relative to body A's origin.

Definition at line 65 of file RevoluteJoint.hpp.

◆ GetLocalAnchorB()

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

inlinenoexcept

The local anchor point relative to body B's origin.

Definition at line 68 of file RevoluteJoint.hpp.

◆ GetReferenceAngle()

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

inlinenoexcept

Get the reference angle.

Definition at line 71 of file RevoluteJoint.hpp.

◆ IsLimitEnabled()

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

inlinenoexcept

Is the joint limit enabled?

Definition at line 162 of file RevoluteJoint.hpp.

◆ EnableLimit()

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

Enable/disable the joint limit.

Definition at line 510 of file RevoluteJoint.cpp.

◆ GetLowerLimit()

Angle playrho::d2::RevoluteJoint::GetLowerLimit ( ) const

inlinenoexcept

Get the lower joint limit.

Definition at line 167 of file RevoluteJoint.hpp.

◆ GetUpperLimit()

Angle playrho::d2::RevoluteJoint::GetUpperLimit ( ) const

inlinenoexcept

Get the upper joint limit.

Definition at line 172 of file RevoluteJoint.hpp.

◆ SetLimits()

void playrho::d2::RevoluteJoint::SetLimits	(	Angle	lower,
		Angle	upper
	)

Set the joint limits.

Definition at line 522 of file RevoluteJoint.cpp.

◆ IsMotorEnabled()

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

inlinenoexcept

Is the joint motor enabled?

Definition at line 177 of file RevoluteJoint.hpp.

◆ EnableMotor()

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

Enable/disable the joint motor.

Definition at line 474 of file RevoluteJoint.cpp.

◆ SetMotorSpeed()

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

Set the angular motor speed.

Definition at line 486 of file RevoluteJoint.cpp.

◆ GetMotorSpeed()

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

inlinenoexcept

Gets the angular motor speed.

Definition at line 182 of file RevoluteJoint.hpp.

◆ SetMaxMotorTorque()

void playrho::d2::RevoluteJoint::SetMaxMotorTorque ( Torque torque )

Set the maximum motor torque.

Definition at line 498 of file RevoluteJoint.cpp.

◆ GetMaxMotorTorque()

Torque playrho::d2::RevoluteJoint::GetMaxMotorTorque ( ) const

inlinenoexcept

Gets the max motor torque.

Definition at line 187 of file RevoluteJoint.hpp.

◆ GetLinearReaction()

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

overridevirtual

Get the linear reaction.

Implements playrho::d2::Joint.

Definition at line 463 of file RevoluteJoint.cpp.

◆ GetAngularReaction()

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

overridevirtual

Get the angular reaction due to the joint limit.

Implements playrho::d2::Joint.

Definition at line 468 of file RevoluteJoint.cpp.

◆ GetMotorImpulse()

AngularMomentum playrho::d2::RevoluteJoint::GetMotorImpulse ( ) const

inlinenoexcept

Gets the current motor impulse.

Definition at line 197 of file RevoluteJoint.hpp.

◆ GetLimitState()

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

inlinenoexcept

Gets the current limit state.

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

Definition at line 192 of file RevoluteJoint.hpp.

Friends And Related Function Documentation

◆ GetJointAngle()

Angle GetJointAngle ( const RevoluteJoint & joint )

Definition at line 537 of file RevoluteJoint.cpp.

◆ GetAngularVelocity()

AngularVelocity GetAngularVelocity ( const RevoluteJoint & joint )

Definition at line 542 of file RevoluteJoint.cpp.

◆ GetMotorTorque()

Torque GetMotorTorque	(	const RevoluteJoint &	joint,
		Frequency	inv_dt
	)

Definition at line 214 of file RevoluteJoint.hpp.

◆ GetRevoluteJointConf()

RevoluteJointConf GetRevoluteJointConf ( const RevoluteJoint & joint )

Definition at line 39 of file RevoluteJointConf.cpp.

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

Dynamics/Joints/RevoluteJoint.hpp
Dynamics/Joints/RevoluteJoint.cpp
Dynamics/Joints/RevoluteJointConf.hpp

Public Member Functions

Related Functions

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ RevoluteJoint()

Member Function Documentation

◆ Accept() [1/2]

◆ Accept() [2/2]

◆ GetAnchorA()

◆ GetAnchorB()

◆ GetLocalAnchorA()

◆ GetLocalAnchorB()

◆ GetReferenceAngle()

◆ IsLimitEnabled()

◆ EnableLimit()

◆ GetLowerLimit()

◆ GetUpperLimit()

◆ SetLimits()

◆ IsMotorEnabled()

◆ EnableMotor()

◆ SetMotorSpeed()

◆ GetMotorSpeed()

◆ SetMaxMotorTorque()

◆ GetMaxMotorTorque()

◆ GetLinearReaction()

◆ GetAngularReaction()

◆ GetMotorImpulse()

◆ GetLimitState()

Friends And Related Function Documentation

◆ GetJointAngle()

◆ GetAngularVelocity()

◆ GetMotorTorque()

◆ GetRevoluteJointConf()