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 <span id="projectnumber">2.3.0</span>
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<li class="navelem"><a class="el" href="dir_a7f953fea4e008d17e00594b3bbaff29.html">Box2D</a></li><li class="navelem"><a class="el" href="dir_54cad791c4d2b04cb4a0ba0bba686f79.html">Dynamics</a></li><li class="navelem"><a class="el" href="dir_b4ce54b79b9fedd1c216c802993ffbe1.html">Joints</a></li> </ul>
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<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno"> 1</span> <span class="comment">/*</span></div><div class="line"><a name="l00002"></a><span class="lineno"> 2</span> <span class="comment">* Copyright (c) 2006-2012 Erin Catto http://www.box2d.org</span></div><div class="line"><a name="l00003"></a><span class="lineno"> 3</span> <span class="comment">*</span></div><div class="line"><a name="l00004"></a><span class="lineno"> 4</span> <span class="comment">* This software is provided 'as-is', without any express or implied</span></div><div class="line"><a name="l00005"></a><span class="lineno"> 5</span> <span class="comment">* warranty. In no event will the authors be held liable for any damages</span></div><div class="line"><a name="l00006"></a><span class="lineno"> 6</span> <span class="comment">* arising from the use of this software.</span></div><div class="line"><a name="l00007"></a><span class="lineno"> 7</span> <span class="comment">* Permission is granted to anyone to use this software for any purpose,</span></div><div class="line"><a name="l00008"></a><span class="lineno"> 8</span> <span class="comment">* including commercial applications, and to alter it and redistribute it</span></div><div class="line"><a name="l00009"></a><span class="lineno"> 9</span> <span class="comment">* freely, subject to the following restrictions:</span></div><div class="line"><a name="l00010"></a><span class="lineno"> 10</span> <span class="comment">* 1. The origin of this software must not be misrepresented; you must not</span></div><div class="line"><a name="l00011"></a><span class="lineno"> 11</span> <span class="comment">* claim that you wrote the original software. If you use this software</span></div><div class="line"><a name="l00012"></a><span class="lineno"> 12</span> <span class="comment">* in a product, an acknowledgment in the product documentation would be</span></div><div class="line"><a name="l00013"></a><span class="lineno"> 13</span> <span class="comment">* appreciated but is not required.</span></div><div class="line"><a name="l00014"></a><span class="lineno"> 14</span> <span class="comment">* 2. Altered source versions must be plainly marked as such, and must not be</span></div><div class="line"><a name="l00015"></a><span class="lineno"> 15</span> <span class="comment">* misrepresented as being the original software.</span></div><div class="line"><a name="l00016"></a><span class="lineno"> 16</span> <span class="comment">* 3. This notice may not be removed or altered from any source distribution.</span></div><div class="line"><a name="l00017"></a><span class="lineno"> 17</span> <span class="comment">*/</span></div><div class="line"><a name="l00018"></a><span class="lineno"> 18</span> </div><div class="line"><a name="l00019"></a><span class="lineno"> 19</span> <span class="preprocessor">#ifndef B2_MOTOR_JOINT_H</span></div><div class="line"><a name="l00020"></a><span class="lineno"> 20</span> <span class="preprocessor">#define B2_MOTOR_JOINT_H</span></div><div class="line"><a name="l00021"></a><span class="lineno"> 21</span> </div><div class="line"><a name="l00022"></a><span class="lineno"> 22</span> <span class="preprocessor">#include <Box2D/Dynamics/Joints/b2Joint.h></span></div><div class="line"><a name="l00023"></a><span class="lineno"> 23</span> </div><div class="line"><a name="l00025"></a><span class="lineno"><a class="line" href="structb2_motor_joint_def.html"> 25</a></span> <span class="keyword">struct </span><a class="code" href="structb2_motor_joint_def.html">b2MotorJointDef</a> : <span class="keyword">public</span> <a class="code" href="structb2_joint_def.html">b2JointDef</a></div><div class="line"><a name="l00026"></a><span class="lineno"> 26</span> {</div><div class="line"><a name="l00027"></a><span class="lineno"> 27</span>  <a class="code" href="structb2_motor_joint_def.html">b2MotorJointDef</a>()</div><div class="line"><a name="l00028"></a><span class="lineno"> 28</span>  {</div><div class="line"><a name="l00029"></a><span class="lineno"> 29</span>  <a class="code" href="structb2_joint_def.html#a470f2879b24adb05facbd49f338856fb">type</a> = e_motorJoint;</div><div class="line"><a name="l00030"></a><span class="lineno"> 30</span>  <a class="code" href="structb2_motor_joint_def.html#a2c957cffc2af66c6c8077c069b906bc4">linearOffset</a>.<a class="code" href="structb2_vec2.html#a5c6cbe27cfb29c6dbb29b9a3285b88d0">SetZero</a>();</div><div class="line"><a name="l00031"></a><span class="lineno"> 31</span>  <a class="code" href="structb2_motor_joint_def.html#abdb42eff4aeff1d48038e084c57e1cb0">angularOffset</a> = 0.0f;</div><div class="line"><a name="l00032"></a><span class="lineno"> 32</span>  <a class="code" href="structb2_motor_joint_def.html#a2f66d1b99c654e112dc68e15375d5ee7">maxForce</a> = 1.0f;</div><div class="line"><a name="l00033"></a><span class="lineno"> 33</span>  <a class="code" href="structb2_motor_joint_def.html#afcf5dd58166917a4574d1f28f6bb3660">maxTorque</a> = 1.0f;</div><div class="line"><a name="l00034"></a><span class="lineno"> 34</span>  <a class="code" href="structb2_motor_joint_def.html#ab282afdb92d07ead23530f57fd0eb9ea">correctionFactor</a> = 0.3f;</div><div class="line"><a name="l00035"></a><span class="lineno"> 35</span>  }</div><div class="line"><a name="l00036"></a><span class="lineno"> 36</span> </div><div class="line"><a name="l00038"></a><span class="lineno"> 38</span>  <span class="keywordtype">void</span> <a class="code" href="structb2_motor_joint_def.html#a90eb924b6e04da8d75d9cefad0655960">Initialize</a>(<a class="code" href="classb2_body.html">b2Body</a>* <a class="code" href="structb2_joint_def.html#a8cd54c93da396be75a9788f2c6897f05">bodyA</a>, <a class="code" href="classb2_body.html">b2Body</a>* <a class="code" href="structb2_joint_def.html#aa4f4dee2fbcd12187b19506b60e68e3d">bodyB</a>);</div><div class="line"><a name="l00039"></a><span class="lineno"> 39</span> </div><div class="line"><a name="l00041"></a><span class="lineno"><a class="line" href="structb2_motor_joint_def.html#a2c957cffc2af66c6c8077c069b906bc4"> 41</a></span>  <a class="code" href="structb2_vec2.html">b2Vec2</a> <a class="code" href="structb2_motor_joint_def.html#a2c957cffc2af66c6c8077c069b906bc4">linearOffset</a>;</div><div class="line"><a name="l00042"></a><span class="lineno"> 42</span> </div><div class="line"><a name="l00044"></a><span class="lineno"><a class="line" href="structb2_motor_joint_def.html#abdb42eff4aeff1d48038e084c57e1cb0"> 44</a></span>  float32 <a class="code" href="structb2_motor_joint_def.html#abdb42eff4aeff1d48038e084c57e1cb0">angularOffset</a>;</div><div class="line"><a name="l00045"></a><span class="lineno"> 45</span>  </div><div class="line"><a name="l00047"></a><span class="lineno"><a class="line" href="structb2_motor_joint_def.html#a2f66d1b99c654e112dc68e15375d5ee7"> 47</a></span>  float32 <a class="code" href="structb2_motor_joint_def.html#a2f66d1b99c654e112dc68e15375d5ee7">maxForce</a>;</div><div class="line"><a name="l00048"></a><span class="lineno"> 48</span> </div><div class="line"><a name="l00050"></a><span class="lineno"><a class="line" href="structb2_motor_joint_def.html#afcf5dd58166917a4574d1f28f6bb3660"> 50</a></span>  float32 <a class="code" href="structb2_motor_joint_def.html#afcf5dd58166917a4574d1f28f6bb3660">maxTorque</a>;</div><div class="line"><a name="l00051"></a><span class="lineno"> 51</span> </div><div class="line"><a name="l00053"></a><span class="lineno"><a class="line" href="structb2_motor_joint_def.html#ab282afdb92d07ead23530f57fd0eb9ea"> 53</a></span>  float32 <a class="code" href="structb2_motor_joint_def.html#ab282afdb92d07ead23530f57fd0eb9ea">correctionFactor</a>;</div><div class="line"><a name="l00054"></a><span class="lineno"> 54</span> };</div><div class="line"><a name="l00055"></a><span class="lineno"> 55</span> </div><div class="line"><a name="l00059"></a><span class="lineno"><a class="line" href="classb2_motor_joint.html"> 59</a></span> <span class="keyword">class </span><a class="code" href="classb2_motor_joint.html">b2MotorJoint</a> : <span class="keyword">public</span> <a class="code" href="classb2_joint.html">b2Joint</a></div><div class="line"><a name="l00060"></a><span class="lineno"> 60</span> {</div><div class="line"><a name="l00061"></a><span class="lineno"> 61</span> <span class="keyword">public</span>:</div><div class="line"><a name="l00062"></a><span class="lineno"> 62</span>  <a class="code" href="structb2_vec2.html">b2Vec2</a> <a class="code" href="classb2_motor_joint.html#ab902876885330a2e425dacbdd0c693c2">GetAnchorA</a>() <span class="keyword">const</span>;</div><div class="line"><a name="l00063"></a><span class="lineno"> 63</span>  <a class="code" href="structb2_vec2.html">b2Vec2</a> <a class="code" href="classb2_motor_joint.html#abfaf9096941fac445db50767f48528d0">GetAnchorB</a>() <span class="keyword">const</span>;</div><div class="line"><a name="l00064"></a><span class="lineno"> 64</span> </div><div class="line"><a name="l00065"></a><span class="lineno"> 65</span>  <a class="code" href="structb2_vec2.html">b2Vec2</a> <a class="code" href="classb2_motor_joint.html#a6829df5b057d2bf53d178195e307662a">GetReactionForce</a>(float32 inv_dt) <span class="keyword">const</span>;</div><div class="line"><a name="l00066"></a><span class="lineno"> 66</span>  float32 <a class="code" href="classb2_motor_joint.html#a1a2d06c0e7bd6e421d7c2b38fb03de3e">GetReactionTorque</a>(float32 inv_dt) <span class="keyword">const</span>;</div><div class="line"><a name="l00067"></a><span class="lineno"> 67</span> </div><div class="line"><a name="l00069"></a><span class="lineno"> 69</span>  <span class="keywordtype">void</span> <a class="code" href="classb2_motor_joint.html#a99254b5fc9ed9f2d0fdccada513000c3">SetLinearOffset</a>(<span class="keyword">const</span> <a class="code" href="structb2_vec2.html">b2Vec2</a>& linearOffset);</div><div class="line"><a name="l00070"></a><span class="lineno"> 70</span>  <span class="keyword">const</span> <a class="code" href="structb2_vec2.html">b2Vec2</a>& GetLinearOffset() <span class="keyword">const</span>;</div><div class="line"><a name="l00071"></a><span class="lineno"> 71</span> </div><div class="line"><a name="l00073"></a><span class="lineno"> 73</span>  <span class="keywordtype">void</span> <a class="code" href="classb2_motor_joint.html#a14d7dca1767548ddffe293e39cafc3c7">SetAngularOffset</a>(float32 angularOffset);</div><div class="line"><a name="l00074"></a><span class="lineno"> 74</span>  float32 GetAngularOffset() <span class="keyword">const</span>;</div><div class="line"><a name="l00075"></a><span class="lineno"> 75</span> </div><div class="line"><a name="l00077"></a><span class="lineno"> 77</span>  <span class="keywordtype">void</span> <a class="code" href="classb2_motor_joint.html#a62f95f23d60123cebe14f2fcec155801">SetMaxForce</a>(float32 force);</div><div class="line"><a name="l00078"></a><span class="lineno"> 78</span> </div><div class="line"><a name="l00080"></a><span class="lineno"> 80</span>  float32 <a class="code" href="classb2_motor_joint.html#ac7353eace38d2593a523149abe8ec2b5">GetMaxForce</a>() <span class="keyword">const</span>;</div><div class="line"><a name="l00081"></a><span class="lineno"> 81</span> </div><div class="line"><a name="l00083"></a><span class="lineno"> 83</span>  <span class="keywordtype">void</span> <a class="code" href="classb2_motor_joint.html#a3e9a259d36c36e0dc078282e6799d625">SetMaxTorque</a>(float32 torque);</div><div class="line"><a name="l00084"></a><span class="lineno"> 84</span> </div><div class="line"><a name="l00086"></a><span class="lineno"> 86</span>  float32 <a class="code" href="classb2_motor_joint.html#a40d4e4e852a6a722708f0c47b5c9fd69">GetMaxTorque</a>() <span class="keyword">const</span>;</div><div class="line"><a name="l00087"></a><span class="lineno"> 87</span> </div><div class="line"><a name="l00089"></a><span class="lineno"> 89</span>  <span class="keywordtype">void</span> <a class="code" href="classb2_motor_joint.html#ae59e624b8a7b6f869ab5e6148352cb52">SetCorrectionFactor</a>(float32 factor);</div><div class="line"><a name="l00090"></a><span class="lineno"> 90</span> </div><div class="line"><a name="l00092"></a><span class="lineno"> 92</span>  float32 <a class="code" href="classb2_motor_joint.html#a429f9656d9f39e6e992de59c9620d6c6">GetCorrectionFactor</a>() <span class="keyword">const</span>;</div><div class="line"><a name="l00093"></a><span class="lineno"> 93</span> </div><div class="line"><a name="l00095"></a><span class="lineno"> 95</span>  <span class="keywordtype">void</span> <a class="code" href="classb2_motor_joint.html#a5d23974c2fc23f64426a8321520e45bb">Dump</a>();</div><div class="line"><a name="l00096"></a><span class="lineno"> 96</span> </div><div class="line"><a name="l00097"></a><span class="lineno"> 97</span> <span class="keyword">protected</span>:</div><div class="line"><a name="l00098"></a><span class="lineno"> 98</span> </div><div class="line"><a name="l00099"></a><span class="lineno"> 99</span>  <span class="keyword">friend</span> <span class="keyword">class </span><a class="code" href="classb2_joint.html">b2Joint</a>;</div><div class="line"><a name="l00100"></a><span class="lineno"> 100</span> </div><div class="line"><a name="l00101"></a><span class="lineno"> 101</span>  <a class="code" href="classb2_motor_joint.html">b2MotorJoint</a>(<span class="keyword">const</span> <a class="code" href="structb2_motor_joint_def.html">b2MotorJointDef</a>* def);</div><div class="line"><a name="l00102"></a><span class="lineno"> 102</span> </div><div class="line"><a name="l00103"></a><span class="lineno"> 103</span>  <span class="keywordtype">void</span> InitVelocityConstraints(<span class="keyword">const</span> <a class="code" href="structb2_solver_data.html">b2SolverData</a>& data);</div><div class="line"><a name="l00104"></a><span class="lineno"> 104</span>  <span class="keywordtype">void</span> SolveVelocityConstraints(<span class="keyword">const</span> <a class="code" href="structb2_solver_data.html">b2SolverData</a>& data);</div><div class="line"><a name="l00105"></a><span class="lineno"> 105</span>  <span class="keywordtype">bool</span> SolvePositionConstraints(<span class="keyword">const</span> <a class="code" href="structb2_solver_data.html">b2SolverData</a>& data);</div><div class="line"><a name="l00106"></a><span class="lineno"> 106</span> </div><div class="line"><a name="l00107"></a><span class="lineno"> 107</span>  <span class="comment">// Solver shared</span></div><div class="line"><a name="l00108"></a><span class="lineno"> 108</span>  <a class="code" href="structb2_vec2.html">b2Vec2</a> m_linearOffset;</div><div class="line"><a name="l00109"></a><span class="lineno"> 109</span>  float32 m_angularOffset;</div><div class="line"><a name="l00110"></a><span class="lineno"> 110</span>  <a class="code" href="structb2_vec2.html">b2Vec2</a> m_linearImpulse;</div><div class="line"><a name="l00111"></a><span class="lineno"> 111</span>  float32 m_angularImpulse;</div><div class="line"><a name="l00112"></a><span class="lineno"> 112</span>  float32 m_maxForce;</div><div class="line"><a name="l00113"></a><span class="lineno"> 113</span>  float32 m_maxTorque;</div><div class="line"><a name="l00114"></a><span class="lineno"> 114</span>  float32 m_correctionFactor;</div><div class="line"><a name="l00115"></a><span class="lineno"> 115</span> </div><div class="line"><a name="l00116"></a><span class="lineno"> 116</span>  <span class="comment">// Solver temp</span></div><div class="line"><a name="l00117"></a><span class="lineno"> 117</span>  int32 m_indexA;</div><div class="line"><a name="l00118"></a><span class="lineno"> 118</span>  int32 m_indexB;</div><div class="line"><a name="l00119"></a><span class="lineno"> 119</span>  <a class="code" href="structb2_vec2.html">b2Vec2</a> m_rA;</div><div class="line"><a name="l00120"></a><span class="lineno"> 120</span>  <a class="code" href="structb2_vec2.html">b2Vec2</a> m_rB;</div><div class="line"><a name="l00121"></a><span class="lineno"> 121</span>  <a class="code" href="structb2_vec2.html">b2Vec2</a> m_localCenterA;</div><div class="line"><a name="l00122"></a><span class="lineno"> 122</span>  <a class="code" href="structb2_vec2.html">b2Vec2</a> m_localCenterB;</div><div class="line"><a name="l00123"></a><span class="lineno"> 123</span>  <a class="code" href="structb2_vec2.html">b2Vec2</a> m_linearError;</div><div class="line"><a name="l00124"></a><span class="lineno"> 124</span>  float32 m_angularError;</div><div class="line"><a name="l00125"></a><span class="lineno"> 125</span>  float32 m_invMassA;</div><div class="line"><a name="l00126"></a><span class="lineno"> 126</span>  float32 m_invMassB;</div><div class="line"><a name="l00127"></a><span class="lineno"> 127</span>  float32 m_invIA;</div><div class="line"><a name="l00128"></a><span class="lineno"> 128</span>  float32 m_invIB;</div><div class="line"><a name="l00129"></a><span class="lineno"> 129</span>  <a class="code" href="structb2_mat22.html">b2Mat22</a> m_linearMass;</div><div class="line"><a name="l00130"></a><span class="lineno"> 130</span>  float32 m_angularMass;</div><div class="line"><a name="l00131"></a><span class="lineno"> 131</span> };</div><div class="line"><a name="l00132"></a><span class="lineno"> 132</span> </div><div class="line"><a name="l00133"></a><span class="lineno"> 133</span> <span class="preprocessor">#endif</span></div><div class="ttc" id="classb2_motor_joint_html_a1a2d06c0e7bd6e421d7c2b38fb03de3e"><div class="ttname"><a href="classb2_motor_joint.html#a1a2d06c0e7bd6e421d7c2b38fb03de3e">b2MotorJoint::GetReactionTorque</a></div><div class="ttdeci">float32 GetReactionTorque(float32 inv_dt) const</div><div class="ttdoc">Get the reaction torque on bodyB in N*m. </div><div class="ttdef"><b>Definition:</b> b2MotorJoint.cpp:221</div></div>
<div class="ttc" id="structb2_joint_def_html_a8cd54c93da396be75a9788f2c6897f05"><div class="ttname"><a href="structb2_joint_def.html#a8cd54c93da396be75a9788f2c6897f05">b2JointDef::bodyA</a></div><div class="ttdeci">b2Body * bodyA</div><div class="ttdoc">The first attached body. </div><div class="ttdef"><b>Definition:</b> b2Joint.h:92</div></div>
<div class="ttc" id="classb2_motor_joint_html"><div class="ttname"><a href="classb2_motor_joint.html">b2MotorJoint</a></div><div class="ttdef"><b>Definition:</b> b2MotorJoint.h:59</div></div>
<div class="ttc" id="classb2_motor_joint_html_a429f9656d9f39e6e992de59c9620d6c6"><div class="ttname"><a href="classb2_motor_joint.html#a429f9656d9f39e6e992de59c9620d6c6">b2MotorJoint::GetCorrectionFactor</a></div><div class="ttdeci">float32 GetCorrectionFactor() const</div><div class="ttdoc">Get the position correction factor in the range [0,1]. </div><div class="ttdef"><b>Definition:</b> b2MotorJoint.cpp:254</div></div>
<div class="ttc" id="classb2_motor_joint_html_a3e9a259d36c36e0dc078282e6799d625"><div class="ttname"><a href="classb2_motor_joint.html#a3e9a259d36c36e0dc078282e6799d625">b2MotorJoint::SetMaxTorque</a></div><div class="ttdeci">void SetMaxTorque(float32 torque)</div><div class="ttdoc">Set the maximum friction torque in N*m. </div><div class="ttdef"><b>Definition:</b> b2MotorJoint.cpp:237</div></div>
<div class="ttc" id="classb2_motor_joint_html_a5d23974c2fc23f64426a8321520e45bb"><div class="ttname"><a href="classb2_motor_joint.html#a5d23974c2fc23f64426a8321520e45bb">b2MotorJoint::Dump</a></div><div class="ttdeci">void Dump()</div><div class="ttdoc">Dump to b2Log. </div><div class="ttdef"><b>Definition:</b> b2MotorJoint.cpp:289</div></div>
<div class="ttc" id="classb2_motor_joint_html_a99254b5fc9ed9f2d0fdccada513000c3"><div class="ttname"><a href="classb2_motor_joint.html#a99254b5fc9ed9f2d0fdccada513000c3">b2MotorJoint::SetLinearOffset</a></div><div class="ttdeci">void SetLinearOffset(const b2Vec2 &linearOffset)</div><div class="ttdoc">Set/get the target linear offset, in frame A, in meters. </div><div class="ttdef"><b>Definition:</b> b2MotorJoint.cpp:259</div></div>
<div class="ttc" id="structb2_joint_def_html_aa4f4dee2fbcd12187b19506b60e68e3d"><div class="ttname"><a href="structb2_joint_def.html#aa4f4dee2fbcd12187b19506b60e68e3d">b2JointDef::bodyB</a></div><div class="ttdeci">b2Body * bodyB</div><div class="ttdoc">The second attached body. </div><div class="ttdef"><b>Definition:</b> b2Joint.h:95</div></div>
<div class="ttc" id="classb2_motor_joint_html_a62f95f23d60123cebe14f2fcec155801"><div class="ttname"><a href="classb2_motor_joint.html#a62f95f23d60123cebe14f2fcec155801">b2MotorJoint::SetMaxForce</a></div><div class="ttdeci">void SetMaxForce(float32 force)</div><div class="ttdoc">Set the maximum friction force in N. </div><div class="ttdef"><b>Definition:</b> b2MotorJoint.cpp:226</div></div>
<div class="ttc" id="structb2_motor_joint_def_html_afcf5dd58166917a4574d1f28f6bb3660"><div class="ttname"><a href="structb2_motor_joint_def.html#afcf5dd58166917a4574d1f28f6bb3660">b2MotorJointDef::maxTorque</a></div><div class="ttdeci">float32 maxTorque</div><div class="ttdoc">The maximum motor torque in N-m. </div><div class="ttdef"><b>Definition:</b> b2MotorJoint.h:50</div></div>
<div class="ttc" id="structb2_motor_joint_def_html"><div class="ttname"><a href="structb2_motor_joint_def.html">b2MotorJointDef</a></div><div class="ttdoc">Motor joint definition. </div><div class="ttdef"><b>Definition:</b> b2MotorJoint.h:25</div></div>
<div class="ttc" id="classb2_joint_html"><div class="ttname"><a href="classb2_joint.html">b2Joint</a></div><div class="ttdef"><b>Definition:</b> b2Joint.h:103</div></div>
<div class="ttc" id="classb2_motor_joint_html_a40d4e4e852a6a722708f0c47b5c9fd69"><div class="ttname"><a href="classb2_motor_joint.html#a40d4e4e852a6a722708f0c47b5c9fd69">b2MotorJoint::GetMaxTorque</a></div><div class="ttdeci">float32 GetMaxTorque() const</div><div class="ttdoc">Get the maximum friction torque in N*m. </div><div class="ttdef"><b>Definition:</b> b2MotorJoint.cpp:243</div></div>
<div class="ttc" id="classb2_motor_joint_html_ab902876885330a2e425dacbdd0c693c2"><div class="ttname"><a href="classb2_motor_joint.html#ab902876885330a2e425dacbdd0c693c2">b2MotorJoint::GetAnchorA</a></div><div class="ttdeci">b2Vec2 GetAnchorA() const</div><div class="ttdoc">Get the anchor point on bodyA in world coordinates. </div><div class="ttdef"><b>Definition:</b> b2MotorJoint.cpp:206</div></div>
<div class="ttc" id="structb2_vec2_html_a5c6cbe27cfb29c6dbb29b9a3285b88d0"><div class="ttname"><a href="structb2_vec2.html#a5c6cbe27cfb29c6dbb29b9a3285b88d0">b2Vec2::SetZero</a></div><div class="ttdeci">void SetZero()</div><div class="ttdoc">Set this vector to all zeros. </div><div class="ttdef"><b>Definition:</b> b2Math.h:62</div></div>
<div class="ttc" id="structb2_motor_joint_def_html_abdb42eff4aeff1d48038e084c57e1cb0"><div class="ttname"><a href="structb2_motor_joint_def.html#abdb42eff4aeff1d48038e084c57e1cb0">b2MotorJointDef::angularOffset</a></div><div class="ttdeci">float32 angularOffset</div><div class="ttdoc">The bodyB angle minus bodyA angle in radians. </div><div class="ttdef"><b>Definition:</b> b2MotorJoint.h:44</div></div>
<div class="ttc" id="structb2_joint_def_html_a470f2879b24adb05facbd49f338856fb"><div class="ttname"><a href="structb2_joint_def.html#a470f2879b24adb05facbd49f338856fb">b2JointDef::type</a></div><div class="ttdeci">b2JointType type</div><div class="ttdoc">The joint type is set automatically for concrete joint types. </div><div class="ttdef"><b>Definition:</b> b2Joint.h:86</div></div>
<div class="ttc" id="structb2_solver_data_html"><div class="ttname"><a href="structb2_solver_data.html">b2SolverData</a></div><div class="ttdoc">Solver Data. </div><div class="ttdef"><b>Definition:</b> b2TimeStep.h:63</div></div>
<div class="ttc" id="classb2_motor_joint_html_a6829df5b057d2bf53d178195e307662a"><div class="ttname"><a href="classb2_motor_joint.html#a6829df5b057d2bf53d178195e307662a">b2MotorJoint::GetReactionForce</a></div><div class="ttdeci">b2Vec2 GetReactionForce(float32 inv_dt) const</div><div class="ttdoc">Get the reaction force on bodyB at the joint anchor in Newtons. </div><div class="ttdef"><b>Definition:</b> b2MotorJoint.cpp:216</div></div>
<div class="ttc" id="structb2_motor_joint_def_html_a2f66d1b99c654e112dc68e15375d5ee7"><div class="ttname"><a href="structb2_motor_joint_def.html#a2f66d1b99c654e112dc68e15375d5ee7">b2MotorJointDef::maxForce</a></div><div class="ttdeci">float32 maxForce</div><div class="ttdoc">The maximum motor force in N. </div><div class="ttdef"><b>Definition:</b> b2MotorJoint.h:47</div></div>
<div class="ttc" id="classb2_motor_joint_html_abfaf9096941fac445db50767f48528d0"><div class="ttname"><a href="classb2_motor_joint.html#abfaf9096941fac445db50767f48528d0">b2MotorJoint::GetAnchorB</a></div><div class="ttdeci">b2Vec2 GetAnchorB() const</div><div class="ttdoc">Get the anchor point on bodyB in world coordinates. </div><div class="ttdef"><b>Definition:</b> b2MotorJoint.cpp:211</div></div>
<div class="ttc" id="structb2_mat22_html"><div class="ttname"><a href="structb2_mat22.html">b2Mat22</a></div><div class="ttdoc">A 2-by-2 matrix. Stored in column-major order. </div><div class="ttdef"><b>Definition:</b> b2Math.h:183</div></div>
<div class="ttc" id="structb2_motor_joint_def_html_ab282afdb92d07ead23530f57fd0eb9ea"><div class="ttname"><a href="structb2_motor_joint_def.html#ab282afdb92d07ead23530f57fd0eb9ea">b2MotorJointDef::correctionFactor</a></div><div class="ttdeci">float32 correctionFactor</div><div class="ttdoc">Position correction factor in the range [0,1]. </div><div class="ttdef"><b>Definition:</b> b2MotorJoint.h:53</div></div>
<div class="ttc" id="structb2_joint_def_html"><div class="ttname"><a href="structb2_joint_def.html">b2JointDef</a></div><div class="ttdoc">Joint definitions are used to construct joints. </div><div class="ttdef"><b>Definition:</b> b2Joint.h:74</div></div>
<div class="ttc" id="classb2_body_html"><div class="ttname"><a href="classb2_body.html">b2Body</a></div><div class="ttdoc">A rigid body. These are created via b2World::CreateBody. </div><div class="ttdef"><b>Definition:</b> b2Body.h:126</div></div>
<div class="ttc" id="classb2_motor_joint_html_ae59e624b8a7b6f869ab5e6148352cb52"><div class="ttname"><a href="classb2_motor_joint.html#ae59e624b8a7b6f869ab5e6148352cb52">b2MotorJoint::SetCorrectionFactor</a></div><div class="ttdeci">void SetCorrectionFactor(float32 factor)</div><div class="ttdoc">Set the position correction factor in the range [0,1]. </div><div class="ttdef"><b>Definition:</b> b2MotorJoint.cpp:248</div></div>
<div class="ttc" id="structb2_vec2_html"><div class="ttname"><a href="structb2_vec2.html">b2Vec2</a></div><div class="ttdoc">A 2D column vector. </div><div class="ttdef"><b>Definition:</b> b2Math.h:53</div></div>
<div class="ttc" id="classb2_motor_joint_html_a14d7dca1767548ddffe293e39cafc3c7"><div class="ttname"><a href="classb2_motor_joint.html#a14d7dca1767548ddffe293e39cafc3c7">b2MotorJoint::SetAngularOffset</a></div><div class="ttdeci">void SetAngularOffset(float32 angularOffset)</div><div class="ttdoc">Set/get the target angular offset, in radians. </div><div class="ttdef"><b>Definition:</b> b2MotorJoint.cpp:274</div></div>
<div class="ttc" id="structb2_motor_joint_def_html_a2c957cffc2af66c6c8077c069b906bc4"><div class="ttname"><a href="structb2_motor_joint_def.html#a2c957cffc2af66c6c8077c069b906bc4">b2MotorJointDef::linearOffset</a></div><div class="ttdeci">b2Vec2 linearOffset</div><div class="ttdoc">Position of bodyB minus the position of bodyA, in bodyA&#39;s frame, in meters. </div><div class="ttdef"><b>Definition:</b> b2MotorJoint.h:41</div></div>
<div class="ttc" id="classb2_motor_joint_html_ac7353eace38d2593a523149abe8ec2b5"><div class="ttname"><a href="classb2_motor_joint.html#ac7353eace38d2593a523149abe8ec2b5">b2MotorJoint::GetMaxForce</a></div><div class="ttdeci">float32 GetMaxForce() const</div><div class="ttdoc">Get the maximum friction force in N. </div><div class="ttdef"><b>Definition:</b> b2MotorJoint.cpp:232</div></div>
<div class="ttc" id="structb2_motor_joint_def_html_a90eb924b6e04da8d75d9cefad0655960"><div class="ttname"><a href="structb2_motor_joint_def.html#a90eb924b6e04da8d75d9cefad0655960">b2MotorJointDef::Initialize</a></div><div class="ttdeci">void Initialize(b2Body *bodyA, b2Body *bodyB)</div><div class="ttdoc">Initialize the bodies and offsets using the current transforms. </div><div class="ttdef"><b>Definition:</b> b2MotorJoint.cpp:35</div></div>
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