Revolute joint definition. More...

#include <RevoluteJointConf.hpp>

Public Types
using	super = JointBuilder< RevoluteJointConf >
	Super type. More...

Public Types inherited from playrho::d2::JointBuilder< RevoluteJointConf >
using	value_type = RevoluteJointConf
	Value type. More...

using	reference = value_type &
	Reference type. More...

Public Member Functions
PLAYRHO_CONSTEXPR	RevoluteJointConf () noexcept

	RevoluteJointConf (NonNull< Body * > bodyA, NonNull< Body * > bodyB, const Length2 anchor) noexcept
	Initialize the bodies, anchors, and reference angle using a world anchor point. More...

PLAYRHO_CONSTEXPR RevoluteJointConf &	UseEnableLimit (bool v) noexcept
	Uses the given enable limit state value. More...

PLAYRHO_CONSTEXPR RevoluteJointConf &	UseLowerAngle (Angle v) noexcept
	Uses the given lower angle value. More...

PLAYRHO_CONSTEXPR RevoluteJointConf &	UseUpperAngle (Angle v) noexcept
	Uses the given upper angle value. More...

PLAYRHO_CONSTEXPR RevoluteJointConf &	UseEnableMotor (bool v) noexcept
	Uses the given enable motor state value. More...

Public Member Functions inherited from playrho::d2::JointBuilder< RevoluteJointConf >
PLAYRHO_CONSTEXPR	JointBuilder (JointType t) noexcept
	Initializing constructor. More...

PLAYRHO_CONSTEXPR reference	UseBodyA (Body *b) noexcept
	Use value for body A setting. More...

PLAYRHO_CONSTEXPR reference	UseBodyB (Body *b) noexcept
	Use value for body B setting. More...

PLAYRHO_CONSTEXPR reference	UseCollideConnected (bool v) noexcept
	Use value for collide connected setting. More...

PLAYRHO_CONSTEXPR reference	UseUserData (void *v) noexcept
	Use value for user data setting. More...

Public Member Functions inherited from playrho::d2::JointConf
	JointConf ()=delete
	Deleted default constructor for abstract base class. More...

PLAYRHO_CONSTEXPR	JointConf (JointType t) noexcept
	Initializing constructor. More...

Public Attributes
Length2	localAnchorA = Length2{}
	Local anchor point relative to body A's origin. More...

Length2	localAnchorB = Length2{}
	Local anchor point relative to body B's origin. More...

Angle	referenceAngle = 0_deg
	Reference angle. More...

bool	enableLimit = false
	Flag to enable joint limits. More...

Angle	lowerAngle = 0_deg
	Lower angle for the joint limit. More...

Angle	upperAngle = 0_deg
	Upper angle for the joint limit. More...

bool	enableMotor = false
	Flag to enable the joint motor. More...

AngularVelocity	motorSpeed = 0_rpm
	Desired motor speed. More...

Torque	maxMotorTorque = 0
	Maximum motor torque used to achieve the desired motor speed. More...

Public Attributes inherited from playrho::d2::JointConf
JointType	type = JointType::Unknown
	Type of the joint is set automatically for concrete joint types. More...

Body *	bodyA = nullptr
	1st attached body. More...

Body *	bodyB = nullptr
	2nd attached body. More...

bool	collideConnected = false
	Collide connected. More...

void *	userData = nullptr
	User data. More...

Additional Inherited Members
Related Functions inherited from playrho::d2::JointConf
void	Set (JointConf &def, const Joint &joint) noexcept
	Sets the joint definition data for the given joint. More...

Detailed Description

Revolute joint definition.

This requires defining an anchor point where the bodies are joined. The definition uses local anchor points so that the initial configuration can violate the constraint slightly. You also need to specify the initial relative angle for joint limits. This helps when saving and loading a game.

Note

The local anchor points are measured from the body's origin rather than the center of mass because:

you might not know where the center of mass will be;
if you add/remove shapes from a body and recompute the mass, the joints will be broken.

Examples: World.cpp.

Definition at line 46 of file RevoluteJointConf.hpp.

Member Typedef Documentation

◆ super

using playrho::d2::RevoluteJointConf::super = JointBuilder<RevoluteJointConf>

Super type.

Definition at line 49 of file RevoluteJointConf.hpp.

Constructor & Destructor Documentation

◆ RevoluteJointConf() [1/2]

PLAYRHO_CONSTEXPR playrho::d2::RevoluteJointConf::RevoluteJointConf ( )

inlinenoexcept

Definition at line 51 of file RevoluteJointConf.hpp.

◆ RevoluteJointConf() [2/2]

playrho::d2::RevoluteJointConf::RevoluteJointConf	(	NonNull< Body * >	bodyA,
		NonNull< Body * >	bodyB,
		const Length2	anchor
	)

noexcept

Initialize the bodies, anchors, and reference angle using a world anchor point.

Definition at line 29 of file RevoluteJointConf.cpp.

Member Function Documentation

◆ UseEnableLimit()

PLAYRHO_CONSTEXPR RevoluteJointConf & playrho::d2::RevoluteJointConf::UseEnableLimit ( bool v )

inlinenoexcept

Uses the given enable limit state value.

Definition at line 97 of file RevoluteJointConf.hpp.

◆ UseLowerAngle()

PLAYRHO_CONSTEXPR RevoluteJointConf & playrho::d2::RevoluteJointConf::UseLowerAngle ( Angle v )

inlinenoexcept

Uses the given lower angle value.

Definition at line 103 of file RevoluteJointConf.hpp.

◆ UseUpperAngle()

PLAYRHO_CONSTEXPR RevoluteJointConf & playrho::d2::RevoluteJointConf::UseUpperAngle ( Angle v )

inlinenoexcept

Uses the given upper angle value.

Definition at line 109 of file RevoluteJointConf.hpp.

◆ UseEnableMotor()

PLAYRHO_CONSTEXPR RevoluteJointConf & playrho::d2::RevoluteJointConf::UseEnableMotor ( bool v )

inlinenoexcept

Uses the given enable motor state value.

Definition at line 115 of file RevoluteJointConf.hpp.

Member Data Documentation

◆ localAnchorA

Length2 playrho::d2::RevoluteJointConf::localAnchorA = Length2{}

Local anchor point relative to body A's origin.

Definition at line 69 of file RevoluteJointConf.hpp.

◆ localAnchorB

Length2 playrho::d2::RevoluteJointConf::localAnchorB = Length2{}

Local anchor point relative to body B's origin.

Definition at line 72 of file RevoluteJointConf.hpp.

◆ referenceAngle

Angle playrho::d2::RevoluteJointConf::referenceAngle = 0_deg

Reference angle.

This is the body-B angle minus body-A angle in the reference state (radians).

Definition at line 76 of file RevoluteJointConf.hpp.

◆ enableLimit

bool playrho::d2::RevoluteJointConf::enableLimit = false

Flag to enable joint limits.

Definition at line 79 of file RevoluteJointConf.hpp.

◆ lowerAngle

Angle playrho::d2::RevoluteJointConf::lowerAngle = 0_deg

Lower angle for the joint limit.

Definition at line 82 of file RevoluteJointConf.hpp.

◆ upperAngle

Angle playrho::d2::RevoluteJointConf::upperAngle = 0_deg

Upper angle for the joint limit.

Definition at line 85 of file RevoluteJointConf.hpp.

◆ enableMotor

bool playrho::d2::RevoluteJointConf::enableMotor = false

Flag to enable the joint motor.

Definition at line 88 of file RevoluteJointConf.hpp.

◆ motorSpeed

AngularVelocity playrho::d2::RevoluteJointConf::motorSpeed = 0_rpm

Desired motor speed.

Definition at line 91 of file RevoluteJointConf.hpp.

◆ maxMotorTorque

Torque playrho::d2::RevoluteJointConf::maxMotorTorque = 0

Maximum motor torque used to achieve the desired motor speed.

Definition at line 94 of file RevoluteJointConf.hpp.

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

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

Public Types

Public Member Functions

Public Attributes

Additional Inherited Members

Detailed Description

Member Typedef Documentation

◆ super

Constructor & Destructor Documentation

◆ RevoluteJointConf() [1/2]

◆ RevoluteJointConf() [2/2]

Member Function Documentation

◆ UseEnableLimit()

◆ UseLowerAngle()

◆ UseUpperAngle()

◆ UseEnableMotor()

Member Data Documentation

◆ localAnchorA

◆ localAnchorB

◆ referenceAngle

◆ enableLimit

◆ lowerAngle

◆ upperAngle

◆ enableMotor

◆ motorSpeed

◆ maxMotorTorque