Wheel joint. More...

#include <WheelJoint.hpp>

Public Member Functions
	WheelJoint (const WheelJointConf &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
	The local anchor point relative to body A's origin. More...

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

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

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

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

RotInertia	GetMotorMass () const noexcept
	Gets the computed motor mass. More...

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

AngularVelocity	GetMotorSpeed () const
	Get the angular motor speed. More...

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

Torque	GetMaxMotorTorque () const
	Gets the maximum motor torque. More...

void	SetSpringFrequency (Frequency frequency)
	Sets the spring frequency. More...

Frequency	GetSpringFrequency () const
	Gets the spring frequency. More...

void	SetSpringDampingRatio (Real ratio)
	Sets the spring damping ratio. More...

Real	GetSpringDampingRatio () const
	Gets the spring damping 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...

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 WheelJoint &joint) noexcept
	Get the current joint translation. More...

AngularVelocity	GetAngularVelocity (const WheelJoint &joint) noexcept
	Get the current joint translation speed. More...

WheelJointConf	GetWheelJointConf (const WheelJoint &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

Wheel joint.

This joint provides two degrees of freedom: translation along an axis fixed in body A and rotation in the plane. In other words, it is a point to line constraint with a rotational motor and a linear spring/damper.

Note: This joint is designed for vehicle suspensions.

Definition at line 43 of file WheelJoint.hpp.

Constructor & Destructor Documentation

◆ WheelJoint()

playrho::d2::WheelJoint::WheelJoint ( const WheelJointConf & 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 48 of file WheelJoint.cpp.

Member Function Documentation

◆ Accept() [1/2]

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

◆ Accept() [2/2]

void playrho::d2::WheelJoint::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 68 of file WheelJoint.cpp.

◆ GetAnchorA()

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

overridevirtual

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

Implements playrho::d2::Joint.

Definition at line 314 of file WheelJoint.cpp.

◆ GetAnchorB()

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

overridevirtual

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

Implements playrho::d2::Joint.

Definition at line 319 of file WheelJoint.cpp.

◆ GetLinearReaction()

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

overridevirtual

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

Implements playrho::d2::Joint.

Definition at line 324 of file WheelJoint.cpp.

◆ GetAngularReaction()

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

inlineoverridevirtual

Get the angular reaction on body-B.

Implements playrho::d2::Joint.

Definition at line 148 of file WheelJoint.hpp.

◆ GetLocalAnchorA()

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

inline

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

Definition at line 63 of file WheelJoint.hpp.

◆ GetLocalAnchorB()

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

inline

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

Definition at line 66 of file WheelJoint.hpp.

◆ GetLocalAxisA()

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

inline

The local joint axis relative to body-A.

Definition at line 69 of file WheelJoint.hpp.

◆ IsMotorEnabled()

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

inlinenoexcept

Is the joint motor enabled?

Definition at line 72 of file WheelJoint.hpp.

◆ EnableMotor()

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

Enable/disable the joint motor.

Definition at line 329 of file WheelJoint.cpp.

◆ GetMotorMass()

RotInertia playrho::d2::WheelJoint::GetMotorMass ( ) const

inlinenoexcept

Gets the computed motor mass.

Note: This is zero unless motor is enabled and either body has any rotational inertia.

Definition at line 79 of file WheelJoint.hpp.

◆ SetMotorSpeed()

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

Set the angular motor speed.

Definition at line 341 of file WheelJoint.cpp.

◆ GetMotorSpeed()

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

inline

Get the angular motor speed.

Definition at line 153 of file WheelJoint.hpp.

◆ SetMaxMotorTorque()

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

Sets the maximum motor torque.

Definition at line 353 of file WheelJoint.cpp.

◆ GetMaxMotorTorque()

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

inline

Gets the maximum motor torque.

Definition at line 158 of file WheelJoint.hpp.

◆ SetSpringFrequency()

void playrho::d2::WheelJoint::SetSpringFrequency ( Frequency frequency )

inline

Sets the spring frequency.

Note: Setting the frequency to zero disables the spring.

Definition at line 163 of file WheelJoint.hpp.

◆ GetSpringFrequency()

Frequency playrho::d2::WheelJoint::GetSpringFrequency ( ) const

inline

Gets the spring frequency.

Definition at line 168 of file WheelJoint.hpp.

◆ SetSpringDampingRatio()

void playrho::d2::WheelJoint::SetSpringDampingRatio ( Real ratio )

inline

Sets the spring damping ratio.

Definition at line 173 of file WheelJoint.hpp.

◆ GetSpringDampingRatio()

Real playrho::d2::WheelJoint::GetSpringDampingRatio ( ) const

inline

Gets the spring damping ratio.

Definition at line 178 of file WheelJoint.hpp.

Friends And Related Function Documentation

◆ GetJointTranslation()

Length GetJointTranslation ( const WheelJoint & joint )

Definition at line 365 of file WheelJoint.cpp.

◆ GetAngularVelocity()

AngularVelocity GetAngularVelocity ( const WheelJoint & joint )

Definition at line 374 of file WheelJoint.cpp.

◆ GetWheelJointConf()

WheelJointConf GetWheelJointConf ( const WheelJoint & joint )

Definition at line 39 of file WheelJointConf.cpp.

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

Dynamics/Joints/WheelJoint.hpp
Dynamics/Joints/WheelJoint.cpp
Dynamics/Joints/WheelJointConf.hpp

Public Member Functions

Related Functions

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ WheelJoint()

Member Function Documentation

◆ Accept() [1/2]

◆ Accept() [2/2]

◆ GetAnchorA()

◆ GetAnchorB()

◆ GetLinearReaction()

◆ GetAngularReaction()

◆ GetLocalAnchorA()

◆ GetLocalAnchorB()

◆ GetLocalAxisA()

◆ IsMotorEnabled()

◆ EnableMotor()

◆ GetMotorMass()

◆ SetMotorSpeed()

◆ GetMotorSpeed()

◆ SetMaxMotorTorque()

◆ GetMaxMotorTorque()

◆ SetSpringFrequency()

◆ GetSpringFrequency()

◆ SetSpringDampingRatio()

◆ GetSpringDampingRatio()

Friends And Related Function Documentation

◆ GetJointTranslation()

◆ GetAngularVelocity()

◆ GetWheelJointConf()