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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) 2006-2011 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_REVOLUTE_JOINT_H</span></div><div class="line"><a name="l00020"></a><span class="lineno"> 20</span> <span class="preprocessor">#define B2_REVOLUTE_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="l00035"></a><span class="lineno"><a class="line" href="structb2_revolute_joint_def.html"> 35</a></span> <span class="keyword">struct </span><a class="code" href="structb2_revolute_joint_def.html">b2RevoluteJointDef</a> : <span class="keyword">public</span> <a class="code" href="structb2_joint_def.html">b2JointDef</a></div><div class="line"><a name="l00036"></a><span class="lineno"> 36</span> {</div><div class="line"><a name="l00037"></a><span class="lineno"> 37</span>  <a class="code" href="structb2_revolute_joint_def.html">b2RevoluteJointDef</a>()</div><div class="line"><a name="l00038"></a><span class="lineno"> 38</span>  {</div><div class="line"><a name="l00039"></a><span class="lineno"> 39</span>  <a class="code" href="structb2_joint_def.html#a470f2879b24adb05facbd49f338856fb">type</a> = e_revoluteJoint;</div><div class="line"><a name="l00040"></a><span class="lineno"> 40</span>  <a class="code" href="structb2_revolute_joint_def.html#a76337d07aa63232a7b20d50decc862ae">localAnchorA</a>.<a class="code" href="structb2_vec2.html#a4d61640a645e470a50b451307d8e94c3">Set</a>(0.0f, 0.0f);</div><div class="line"><a name="l00041"></a><span class="lineno"> 41</span>  <a class="code" href="structb2_revolute_joint_def.html#a3f33bc1d9f6c22043a5ff2f1d89f04e0">localAnchorB</a>.<a class="code" href="structb2_vec2.html#a4d61640a645e470a50b451307d8e94c3">Set</a>(0.0f, 0.0f);</div><div class="line"><a name="l00042"></a><span class="lineno"> 42</span>  <a class="code" href="structb2_revolute_joint_def.html#a1858d897d5fea04c5e606a1ff73f64f8">referenceAngle</a> = 0.0f;</div><div class="line"><a name="l00043"></a><span class="lineno"> 43</span>  <a class="code" href="structb2_revolute_joint_def.html#a24d0b2638a01405c77bd1c0de3e53de8">lowerAngle</a> = 0.0f;</div><div class="line"><a name="l00044"></a><span class="lineno"> 44</span>  <a class="code" href="structb2_revolute_joint_def.html#a692cfe333ad12afd5753a6ec54e39a66">upperAngle</a> = 0.0f;</div><div class="line"><a name="l00045"></a><span class="lineno"> 45</span>  <a class="code" href="structb2_revolute_joint_def.html#a9fc1b67fe6d1bc31f88cc2cfd681fe30">maxMotorTorque</a> = 0.0f;</div><div class="line"><a name="l00046"></a><span class="lineno"> 46</span>  <a class="code" href="structb2_revolute_joint_def.html#aced7cf768f4dcc3561576a39c7b92ec4">motorSpeed</a> = 0.0f;</div><div class="line"><a name="l00047"></a><span class="lineno"> 47</span>  <a class="code" href="structb2_revolute_joint_def.html#a2eaefc5fc5caf879cfd59ebcd852b756">enableLimit</a> = <span class="keyword">false</span>;</div><div class="line"><a name="l00048"></a><span class="lineno"> 48</span>  <a class="code" href="structb2_revolute_joint_def.html#aa94d9e66be9f03818d0cfbd9c70b2996">enableMotor</a> = <span class="keyword">false</span>;</div><div class="line"><a name="l00049"></a><span class="lineno"> 49</span>  }</div><div class="line"><a name="l00050"></a><span class="lineno"> 50</span> </div><div class="line"><a name="l00053"></a><span class="lineno"> 53</span>  <span class="keywordtype">void</span> <a class="code" href="structb2_revolute_joint_def.html#a6401b2a663533415d032a525e4fa2806">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>, <span class="keyword">const</span> <a class="code" href="structb2_vec2.html">b2Vec2</a>& anchor);</div><div class="line"><a name="l00054"></a><span class="lineno"> 54</span> </div><div class="line"><a name="l00056"></a><span class="lineno"><a class="line" href="structb2_revolute_joint_def.html#a76337d07aa63232a7b20d50decc862ae"> 56</a></span>  <a class="code" href="structb2_vec2.html">b2Vec2</a> <a class="code" href="structb2_revolute_joint_def.html#a76337d07aa63232a7b20d50decc862ae">localAnchorA</a>;</div><div class="line"><a name="l00057"></a><span class="lineno"> 57</span> </div><div class="line"><a name="l00059"></a><span class="lineno"><a class="line" href="structb2_revolute_joint_def.html#a3f33bc1d9f6c22043a5ff2f1d89f04e0"> 59</a></span>  <a class="code" href="structb2_vec2.html">b2Vec2</a> <a class="code" href="structb2_revolute_joint_def.html#a3f33bc1d9f6c22043a5ff2f1d89f04e0">localAnchorB</a>;</div><div class="line"><a name="l00060"></a><span class="lineno"> 60</span> </div><div class="line"><a name="l00062"></a><span class="lineno"><a class="line" href="structb2_revolute_joint_def.html#a1858d897d5fea04c5e606a1ff73f64f8"> 62</a></span>  float32 <a class="code" href="structb2_revolute_joint_def.html#a1858d897d5fea04c5e606a1ff73f64f8">referenceAngle</a>;</div><div class="line"><a name="l00063"></a><span class="lineno"> 63</span> </div><div class="line"><a name="l00065"></a><span class="lineno"><a class="line" href="structb2_revolute_joint_def.html#a2eaefc5fc5caf879cfd59ebcd852b756"> 65</a></span>  <span class="keywordtype">bool</span> <a class="code" href="structb2_revolute_joint_def.html#a2eaefc5fc5caf879cfd59ebcd852b756">enableLimit</a>;</div><div class="line"><a name="l00066"></a><span class="lineno"> 66</span> </div><div class="line"><a name="l00068"></a><span class="lineno"><a class="line" href="structb2_revolute_joint_def.html#a24d0b2638a01405c77bd1c0de3e53de8"> 68</a></span>  float32 <a class="code" href="structb2_revolute_joint_def.html#a24d0b2638a01405c77bd1c0de3e53de8">lowerAngle</a>;</div><div class="line"><a name="l00069"></a><span class="lineno"> 69</span> </div><div class="line"><a name="l00071"></a><span class="lineno"><a class="line" href="structb2_revolute_joint_def.html#a692cfe333ad12afd5753a6ec54e39a66"> 71</a></span>  float32 <a class="code" href="structb2_revolute_joint_def.html#a692cfe333ad12afd5753a6ec54e39a66">upperAngle</a>;</div><div class="line"><a name="l00072"></a><span class="lineno"> 72</span> </div><div class="line"><a name="l00074"></a><span class="lineno"><a class="line" href="structb2_revolute_joint_def.html#aa94d9e66be9f03818d0cfbd9c70b2996"> 74</a></span>  <span class="keywordtype">bool</span> <a class="code" href="structb2_revolute_joint_def.html#aa94d9e66be9f03818d0cfbd9c70b2996">enableMotor</a>;</div><div class="line"><a name="l00075"></a><span class="lineno"> 75</span> </div><div class="line"><a name="l00077"></a><span class="lineno"><a class="line" href="structb2_revolute_joint_def.html#aced7cf768f4dcc3561576a39c7b92ec4"> 77</a></span>  float32 <a class="code" href="structb2_revolute_joint_def.html#aced7cf768f4dcc3561576a39c7b92ec4">motorSpeed</a>;</div><div class="line"><a name="l00078"></a><span class="lineno"> 78</span> </div><div class="line"><a name="l00081"></a><span class="lineno"><a class="line" href="structb2_revolute_joint_def.html#a9fc1b67fe6d1bc31f88cc2cfd681fe30"> 81</a></span>  float32 <a class="code" href="structb2_revolute_joint_def.html#a9fc1b67fe6d1bc31f88cc2cfd681fe30">maxMotorTorque</a>;</div><div class="line"><a name="l00082"></a><span class="lineno"> 82</span> };</div><div class="line"><a name="l00083"></a><span class="lineno"> 83</span> </div><div class="line"><a name="l00090"></a><span class="lineno"><a class="line" href="classb2_revolute_joint.html"> 90</a></span> <span class="keyword">class </span><a class="code" href="classb2_revolute_joint.html">b2RevoluteJoint</a> : <span class="keyword">public</span> <a class="code" href="classb2_joint.html">b2Joint</a></div><div class="line"><a name="l00091"></a><span class="lineno"> 91</span> {</div><div class="line"><a name="l00092"></a><span class="lineno"> 92</span> <span class="keyword">public</span>:</div><div class="line"><a name="l00093"></a><span class="lineno"> 93</span>  <a class="code" href="structb2_vec2.html">b2Vec2</a> <a class="code" href="classb2_revolute_joint.html#a5c2f2baf0544e6c62b2ab3f0c9200b10">GetAnchorA</a>() <span class="keyword">const</span>;</div><div class="line"><a name="l00094"></a><span class="lineno"> 94</span>  <a class="code" href="structb2_vec2.html">b2Vec2</a> <a class="code" href="classb2_revolute_joint.html#ada46548d2167b4f9a63c0eddb7fae669">GetAnchorB</a>() <span class="keyword">const</span>;</div><div class="line"><a name="l00095"></a><span class="lineno"> 95</span> </div><div class="line"><a name="l00097"></a><span class="lineno"><a class="line" href="classb2_revolute_joint.html#af8cefd09d50a4e349613722809b8c823"> 97</a></span>  <span class="keyword">const</span> <a class="code" href="structb2_vec2.html">b2Vec2</a>& <a class="code" href="classb2_revolute_joint.html#af8cefd09d50a4e349613722809b8c823">GetLocalAnchorA</a>()<span class="keyword"> const </span>{ <span class="keywordflow">return</span> m_localAnchorA; }</div><div class="line"><a name="l00098"></a><span class="lineno"> 98</span> </div><div class="line"><a name="l00100"></a><span class="lineno"><a class="line" href="classb2_revolute_joint.html#ac58e115df370181adc1ea1c486d84dc6"> 100</a></span>  <span class="keyword">const</span> <a class="code" href="structb2_vec2.html">b2Vec2</a>& <a class="code" href="classb2_revolute_joint.html#ac58e115df370181adc1ea1c486d84dc6">GetLocalAnchorB</a>()<span class="keyword"> const </span>{ <span class="keywordflow">return</span> m_localAnchorB; }</div><div class="line"><a name="l00101"></a><span class="lineno"> 101</span> </div><div class="line"><a name="l00103"></a><span class="lineno"><a class="line" href="classb2_revolute_joint.html#ae84b9659fe94f41f54f43d3f64ee0741"> 103</a></span>  float32 <a class="code" href="classb2_revolute_joint.html#ae84b9659fe94f41f54f43d3f64ee0741">GetReferenceAngle</a>()<span class="keyword"> const </span>{ <span class="keywordflow">return</span> m_referenceAngle; }</div><div class="line"><a name="l00104"></a><span class="lineno"> 104</span> </div><div class="line"><a name="l00106"></a><span class="lineno"> 106</span>  float32 <a class="code" href="classb2_revolute_joint.html#a2a83b2276c71bf287771004838f2b507">GetJointAngle</a>() <span class="keyword">const</span>;</div><div class="line"><a name="l00107"></a><span class="lineno"> 107</span> </div><div class="line"><a name="l00109"></a><span class="lineno"> 109</span>  float32 <a class="code" href="classb2_revolute_joint.html#a631b7bd2c72b61f03b6efc605308092f">GetJointSpeed</a>() <span class="keyword">const</span>;</div><div class="line"><a name="l00110"></a><span class="lineno"> 110</span> </div><div class="line"><a name="l00112"></a><span class="lineno"> 112</span>  <span class="keywordtype">bool</span> <a class="code" href="classb2_revolute_joint.html#a84ff9c4f82b3e7d27a4390164f81f3ab">IsLimitEnabled</a>() <span class="keyword">const</span>;</div><div class="line"><a name="l00113"></a><span class="lineno"> 113</span> </div><div class="line"><a name="l00115"></a><span class="lineno"> 115</span>  <span class="keywordtype">void</span> <a class="code" href="classb2_revolute_joint.html#a56bdfdd04e906e52d0258f6a481b9093">EnableLimit</a>(<span class="keywordtype">bool</span> flag);</div><div class="line"><a name="l00116"></a><span class="lineno"> 116</span> </div><div class="line"><a name="l00118"></a><span class="lineno"> 118</span>  float32 <a class="code" href="classb2_revolute_joint.html#a1e34ad0cc3289d90bff8140c5d6261d2">GetLowerLimit</a>() <span class="keyword">const</span>;</div><div class="line"><a name="l00119"></a><span class="lineno"> 119</span> </div><div class="line"><a name="l00121"></a><span class="lineno"> 121</span>  float32 <a class="code" href="classb2_revolute_joint.html#a5c30cf83116841607d4d819985732efb">GetUpperLimit</a>() <span class="keyword">const</span>;</div><div class="line"><a name="l00122"></a><span class="lineno"> 122</span> </div><div class="line"><a name="l00124"></a><span class="lineno"> 124</span>  <span class="keywordtype">void</span> <a class="code" href="classb2_revolute_joint.html#a32f9393d8a6b993fd523f0f643c28107">SetLimits</a>(float32 lower, float32 upper);</div><div class="line"><a name="l00125"></a><span class="lineno"> 125</span> </div><div class="line"><a name="l00127"></a><span class="lineno"> 127</span>  <span class="keywordtype">bool</span> <a class="code" href="classb2_revolute_joint.html#a37d5744e89991ebe01b974c4d15a21b5">IsMotorEnabled</a>() <span class="keyword">const</span>;</div><div class="line"><a name="l00128"></a><span class="lineno"> 128</span> </div><div class="line"><a name="l00130"></a><span class="lineno"> 130</span>  <span class="keywordtype">void</span> <a class="code" href="classb2_revolute_joint.html#a80ed5a07d9a0e07d010808a73ffae6ff">EnableMotor</a>(<span class="keywordtype">bool</span> flag);</div><div class="line"><a name="l00131"></a><span class="lineno"> 131</span> </div><div class="line"><a name="l00133"></a><span class="lineno"> 133</span>  <span class="keywordtype">void</span> <a class="code" href="classb2_revolute_joint.html#a56f60bb1ea69048c8a455da49d62bf65">SetMotorSpeed</a>(float32 speed);</div><div class="line"><a name="l00134"></a><span class="lineno"> 134</span> </div><div class="line"><a name="l00136"></a><span class="lineno"> 136</span>  float32 <a class="code" href="classb2_revolute_joint.html#abb1fa43d5779a1164ddfedf6130d7ff2">GetMotorSpeed</a>() <span class="keyword">const</span>;</div><div class="line"><a name="l00137"></a><span class="lineno"> 137</span> </div><div class="line"><a name="l00139"></a><span class="lineno"> 139</span>  <span class="keywordtype">void</span> <a class="code" href="classb2_revolute_joint.html#a41779d7ec05be33e6368ef00123a3581">SetMaxMotorTorque</a>(float32 torque);</div><div class="line"><a name="l00140"></a><span class="lineno"> 140</span>  float32 GetMaxMotorTorque()<span class="keyword"> const </span>{ <span class="keywordflow">return</span> m_maxMotorTorque; }</div><div class="line"><a name="l00141"></a><span class="lineno"> 141</span> </div><div class="line"><a name="l00144"></a><span class="lineno"> 144</span>  <a class="code" href="structb2_vec2.html">b2Vec2</a> <a class="code" href="classb2_revolute_joint.html#a75d097d273af5f15994cfa5109039ac6">GetReactionForce</a>(float32 inv_dt) <span class="keyword">const</span>;</div><div class="line"><a name="l00145"></a><span class="lineno"> 145</span> </div><div class="line"><a name="l00148"></a><span class="lineno"> 148</span>  float32 <a class="code" href="classb2_revolute_joint.html#af068e495214c92316d02130ba0a568b7">GetReactionTorque</a>(float32 inv_dt) <span class="keyword">const</span>;</div><div class="line"><a name="l00149"></a><span class="lineno"> 149</span> </div><div class="line"><a name="l00152"></a><span class="lineno"> 152</span>  float32 <a class="code" href="classb2_revolute_joint.html#a5abafb4d0c1df642f73a5d9faf615e26">GetMotorTorque</a>(float32 inv_dt) <span class="keyword">const</span>;</div><div class="line"><a name="l00153"></a><span class="lineno"> 153</span> </div><div class="line"><a name="l00155"></a><span class="lineno"> 155</span>  <span class="keywordtype">void</span> <a class="code" href="classb2_revolute_joint.html#aa9d88f5476c77a5c4a6ef5b2ad0d3e6f">Dump</a>();</div><div class="line"><a name="l00156"></a><span class="lineno"> 156</span> </div><div class="line"><a name="l00157"></a><span class="lineno"> 157</span> <span class="keyword">protected</span>:</div><div class="line"><a name="l00158"></a><span class="lineno"> 158</span>  </div><div class="line"><a name="l00159"></a><span class="lineno"> 159</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="l00160"></a><span class="lineno"> 160</span>  <span class="keyword">friend</span> <span class="keyword">class </span><a class="code" href="classb2_gear_joint.html">b2GearJoint</a>;</div><div class="line"><a name="l00161"></a><span class="lineno"> 161</span> </div><div class="line"><a name="l00162"></a><span class="lineno"> 162</span>  <a class="code" href="classb2_revolute_joint.html">b2RevoluteJoint</a>(<span class="keyword">const</span> <a class="code" href="structb2_revolute_joint_def.html">b2RevoluteJointDef</a>* def);</div><div class="line"><a name="l00163"></a><span class="lineno"> 163</span> </div><div class="line"><a name="l00164"></a><span class="lineno"> 164</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="l00165"></a><span class="lineno"> 165</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="l00166"></a><span class="lineno"> 166</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="l00167"></a><span class="lineno"> 167</span> </div><div class="line"><a name="l00168"></a><span class="lineno"> 168</span>  <span class="comment">// Solver shared</span></div><div class="line"><a name="l00169"></a><span class="lineno"> 169</span>  <a class="code" href="structb2_vec2.html">b2Vec2</a> m_localAnchorA;</div><div class="line"><a name="l00170"></a><span class="lineno"> 170</span>  <a class="code" href="structb2_vec2.html">b2Vec2</a> m_localAnchorB;</div><div class="line"><a name="l00171"></a><span class="lineno"> 171</span>  <a class="code" href="structb2_vec3.html">b2Vec3</a> m_impulse;</div><div class="line"><a name="l00172"></a><span class="lineno"> 172</span>  float32 m_motorImpulse;</div><div class="line"><a name="l00173"></a><span class="lineno"> 173</span> </div><div class="line"><a name="l00174"></a><span class="lineno"> 174</span>  <span class="keywordtype">bool</span> m_enableMotor;</div><div class="line"><a name="l00175"></a><span class="lineno"> 175</span>  float32 m_maxMotorTorque;</div><div class="line"><a name="l00176"></a><span class="lineno"> 176</span>  float32 m_motorSpeed;</div><div class="line"><a name="l00177"></a><span class="lineno"> 177</span> </div><div class="line"><a name="l00178"></a><span class="lineno"> 178</span>  <span class="keywordtype">bool</span> m_enableLimit;</div><div class="line"><a name="l00179"></a><span class="lineno"> 179</span>  float32 m_referenceAngle;</div><div class="line"><a name="l00180"></a><span class="lineno"> 180</span>  float32 m_lowerAngle;</div><div class="line"><a name="l00181"></a><span class="lineno"> 181</span>  float32 m_upperAngle;</div><div class="line"><a name="l00182"></a><span class="lineno"> 182</span> </div><div class="line"><a name="l00183"></a><span class="lineno"> 183</span>  <span class="comment">// Solver temp</span></div><div class="line"><a name="l00184"></a><span class="lineno"> 184</span>  int32 m_indexA;</div><div class="line"><a name="l00185"></a><span class="lineno"> 185</span>  int32 m_indexB;</div><div class="line"><a name="l00186"></a><span class="lineno"> 186</span>  <a class="code" href="structb2_vec2.html">b2Vec2</a> m_rA;</div><div class="line"><a name="l00187"></a><span class="lineno"> 187</span>  <a class="code" href="structb2_vec2.html">b2Vec2</a> m_rB;</div><div class="line"><a name="l00188"></a><span class="lineno"> 188</span>  <a class="code" href="structb2_vec2.html">b2Vec2</a> m_localCenterA;</div><div class="line"><a name="l00189"></a><span class="lineno"> 189</span>  <a class="code" href="structb2_vec2.html">b2Vec2</a> m_localCenterB;</div><div class="line"><a name="l00190"></a><span class="lineno"> 190</span>  float32 m_invMassA;</div><div class="line"><a name="l00191"></a><span class="lineno"> 191</span>  float32 m_invMassB;</div><div class="line"><a name="l00192"></a><span class="lineno"> 192</span>  float32 m_invIA;</div><div class="line"><a name="l00193"></a><span class="lineno"> 193</span>  float32 m_invIB;</div><div class="line"><a name="l00194"></a><span class="lineno"> 194</span>  <a class="code" href="structb2_mat33.html">b2Mat33</a> m_mass; <span class="comment">// effective mass for point-to-point constraint.</span></div><div class="line"><a name="l00195"></a><span class="lineno"> 195</span>  float32 m_motorMass; <span class="comment">// effective mass for motor/limit angular constraint.</span></div><div class="line"><a name="l00196"></a><span class="lineno"> 196</span>  b2LimitState m_limitState;</div><div class="line"><a name="l00197"></a><span class="lineno"> 197</span> };</div><div class="line"><a name="l00198"></a><span class="lineno"> 198</span> </div><div class="line"><a name="l00199"></a><span class="lineno"><a class="line" href="classb2_revolute_joint.html#abb1fa43d5779a1164ddfedf6130d7ff2"> 199</a></span> <span class="keyword">inline</span> float32 <a class="code" href="classb2_revolute_joint.html#abb1fa43d5779a1164ddfedf6130d7ff2">b2RevoluteJoint::GetMotorSpeed</a>()<span class="keyword"> const</span></div><div class="line"><a name="l00200"></a><span class="lineno"> 200</span> <span class="keyword"></span>{</div><div class="line"><a name="l00201"></a><span class="lineno"> 201</span>  <span class="keywordflow">return</span> m_motorSpeed;</div><div class="line"><a name="l00202"></a><span class="lineno"> 202</span> }</div><div class="line"><a name="l00203"></a><span class="lineno"> 203</span> </div><div class="line"><a name="l00204"></a><span class="lineno"> 204</span> <span class="preprocessor">#endif</span></div><div class="ttc" id="classb2_revolute_joint_html_a75d097d273af5f15994cfa5109039ac6"><div class="ttname"><a href="classb2_revolute_joint.html#a75d097d273af5f15994cfa5109039ac6">b2RevoluteJoint::GetReactionForce</a></div><div class="ttdeci">b2Vec2 GetReactionForce(float32 inv_dt) const</div><div class="ttdef"><b>Definition:</b> b2RevoluteJoint.cpp:387</div></div>
<div class="ttc" id="classb2_revolute_joint_html_a2a83b2276c71bf287771004838f2b507"><div class="ttname"><a href="classb2_revolute_joint.html#a2a83b2276c71bf287771004838f2b507">b2RevoluteJoint::GetJointAngle</a></div><div class="ttdeci">float32 GetJointAngle() const</div><div class="ttdoc">Get the current joint angle in radians. </div><div class="ttdef"><b>Definition:</b> b2RevoluteJoint.cpp:398</div></div>
<div class="ttc" id="structb2_vec3_html"><div class="ttname"><a href="structb2_vec3.html">b2Vec3</a></div><div class="ttdoc">A 2D column vector with 3 elements. </div><div class="ttdef"><b>Definition:</b> b2Math.h:144</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="structb2_revolute_joint_def_html_aced7cf768f4dcc3561576a39c7b92ec4"><div class="ttname"><a href="structb2_revolute_joint_def.html#aced7cf768f4dcc3561576a39c7b92ec4">b2RevoluteJointDef::motorSpeed</a></div><div class="ttdeci">float32 motorSpeed</div><div class="ttdoc">The desired motor speed. Usually in radians per second. </div><div class="ttdef"><b>Definition:</b> b2RevoluteJoint.h:77</div></div>
<div class="ttc" id="structb2_revolute_joint_def_html_a6401b2a663533415d032a525e4fa2806"><div class="ttname"><a href="structb2_revolute_joint_def.html#a6401b2a663533415d032a525e4fa2806">b2RevoluteJointDef::Initialize</a></div><div class="ttdeci">void Initialize(b2Body *bodyA, b2Body *bodyB, const b2Vec2 &anchor)</div><div class="ttdef"><b>Definition:</b> b2RevoluteJoint.cpp:36</div></div>
<div class="ttc" id="classb2_revolute_joint_html_a1e34ad0cc3289d90bff8140c5d6261d2"><div class="ttname"><a href="classb2_revolute_joint.html#a1e34ad0cc3289d90bff8140c5d6261d2">b2RevoluteJoint::GetLowerLimit</a></div><div class="ttdeci">float32 GetLowerLimit() const</div><div class="ttdoc">Get the lower joint limit in radians. </div><div class="ttdef"><b>Definition:</b> b2RevoluteJoint.cpp:459</div></div>
<div class="ttc" id="structb2_mat33_html"><div class="ttname"><a href="structb2_mat33.html">b2Mat33</a></div><div class="ttdoc">A 3-by-3 matrix. Stored in column-major order. </div><div class="ttdef"><b>Definition:</b> b2Math.h:257</div></div>
<div class="ttc" id="classb2_revolute_joint_html_af068e495214c92316d02130ba0a568b7"><div class="ttname"><a href="classb2_revolute_joint.html#af068e495214c92316d02130ba0a568b7">b2RevoluteJoint::GetReactionTorque</a></div><div class="ttdeci">float32 GetReactionTorque(float32 inv_dt) const</div><div class="ttdef"><b>Definition:</b> b2RevoluteJoint.cpp:393</div></div>
<div class="ttc" id="classb2_revolute_joint_html_a80ed5a07d9a0e07d010808a73ffae6ff"><div class="ttname"><a href="classb2_revolute_joint.html#a80ed5a07d9a0e07d010808a73ffae6ff">b2RevoluteJoint::EnableMotor</a></div><div class="ttdeci">void EnableMotor(bool flag)</div><div class="ttdoc">Enable/disable the joint motor. </div><div class="ttdef"><b>Definition:</b> b2RevoluteJoint.cpp:417</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_revolute_joint_html_ae84b9659fe94f41f54f43d3f64ee0741"><div class="ttname"><a href="classb2_revolute_joint.html#ae84b9659fe94f41f54f43d3f64ee0741">b2RevoluteJoint::GetReferenceAngle</a></div><div class="ttdeci">float32 GetReferenceAngle() const</div><div class="ttdoc">Get the reference angle. </div><div class="ttdef"><b>Definition:</b> b2RevoluteJoint.h:103</div></div>
<div class="ttc" id="classb2_revolute_joint_html_abb1fa43d5779a1164ddfedf6130d7ff2"><div class="ttname"><a href="classb2_revolute_joint.html#abb1fa43d5779a1164ddfedf6130d7ff2">b2RevoluteJoint::GetMotorSpeed</a></div><div class="ttdeci">float32 GetMotorSpeed() const</div><div class="ttdoc">Get the motor speed in radians per second. </div><div class="ttdef"><b>Definition:</b> b2RevoluteJoint.h:199</div></div>
<div class="ttc" id="classb2_revolute_joint_html_a5c2f2baf0544e6c62b2ab3f0c9200b10"><div class="ttname"><a href="classb2_revolute_joint.html#a5c2f2baf0544e6c62b2ab3f0c9200b10">b2RevoluteJoint::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> b2RevoluteJoint.cpp:377</div></div>
<div class="ttc" id="structb2_revolute_joint_def_html_aa94d9e66be9f03818d0cfbd9c70b2996"><div class="ttname"><a href="structb2_revolute_joint_def.html#aa94d9e66be9f03818d0cfbd9c70b2996">b2RevoluteJointDef::enableMotor</a></div><div class="ttdeci">bool enableMotor</div><div class="ttdoc">A flag to enable the joint motor. </div><div class="ttdef"><b>Definition:</b> b2RevoluteJoint.h:74</div></div>
<div class="ttc" id="classb2_revolute_joint_html_a41779d7ec05be33e6368ef00123a3581"><div class="ttname"><a href="classb2_revolute_joint.html#a41779d7ec05be33e6368ef00123a3581">b2RevoluteJoint::SetMaxMotorTorque</a></div><div class="ttdeci">void SetMaxMotorTorque(float32 torque)</div><div class="ttdoc">Set the maximum motor torque, usually in N-m. </div><div class="ttdef"><b>Definition:</b> b2RevoluteJoint.cpp:436</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_revolute_joint_html_ada46548d2167b4f9a63c0eddb7fae669"><div class="ttname"><a href="classb2_revolute_joint.html#ada46548d2167b4f9a63c0eddb7fae669">b2RevoluteJoint::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> b2RevoluteJoint.cpp:382</div></div>
<div class="ttc" id="structb2_revolute_joint_def_html_a3f33bc1d9f6c22043a5ff2f1d89f04e0"><div class="ttname"><a href="structb2_revolute_joint_def.html#a3f33bc1d9f6c22043a5ff2f1d89f04e0">b2RevoluteJointDef::localAnchorB</a></div><div class="ttdeci">b2Vec2 localAnchorB</div><div class="ttdoc">The local anchor point relative to bodyB&#39;s origin. </div><div class="ttdef"><b>Definition:</b> b2RevoluteJoint.h:59</div></div>
<div class="ttc" id="structb2_revolute_joint_def_html_a24d0b2638a01405c77bd1c0de3e53de8"><div class="ttname"><a href="structb2_revolute_joint_def.html#a24d0b2638a01405c77bd1c0de3e53de8">b2RevoluteJointDef::lowerAngle</a></div><div class="ttdeci">float32 lowerAngle</div><div class="ttdoc">The lower angle for the joint limit (radians). </div><div class="ttdef"><b>Definition:</b> b2RevoluteJoint.h:68</div></div>
<div class="ttc" id="classb2_revolute_joint_html_a84ff9c4f82b3e7d27a4390164f81f3ab"><div class="ttname"><a href="classb2_revolute_joint.html#a84ff9c4f82b3e7d27a4390164f81f3ab">b2RevoluteJoint::IsLimitEnabled</a></div><div class="ttdeci">bool IsLimitEnabled() const</div><div class="ttdoc">Is the joint limit enabled? </div><div class="ttdef"><b>Definition:</b> b2RevoluteJoint.cpp:443</div></div>
<div class="ttc" id="structb2_vec2_html_a4d61640a645e470a50b451307d8e94c3"><div class="ttname"><a href="structb2_vec2.html#a4d61640a645e470a50b451307d8e94c3">b2Vec2::Set</a></div><div class="ttdeci">void Set(float32 x_, float32 y_)</div><div class="ttdoc">Set this vector to some specified coordinates. </div><div class="ttdef"><b>Definition:</b> b2Math.h:65</div></div>
<div class="ttc" id="classb2_revolute_joint_html_aa9d88f5476c77a5c4a6ef5b2ad0d3e6f"><div class="ttname"><a href="classb2_revolute_joint.html#aa9d88f5476c77a5c4a6ef5b2ad0d3e6f">b2RevoluteJoint::Dump</a></div><div class="ttdeci">void Dump()</div><div class="ttdoc">Dump to b2Log. </div><div class="ttdef"><b>Definition:</b> b2RevoluteJoint.cpp:483</div></div>
<div class="ttc" id="classb2_revolute_joint_html_a56f60bb1ea69048c8a455da49d62bf65"><div class="ttname"><a href="classb2_revolute_joint.html#a56f60bb1ea69048c8a455da49d62bf65">b2RevoluteJoint::SetMotorSpeed</a></div><div class="ttdeci">void SetMotorSpeed(float32 speed)</div><div class="ttdoc">Set the motor speed in radians per second. </div><div class="ttdef"><b>Definition:</b> b2RevoluteJoint.cpp:429</div></div>
<div class="ttc" id="classb2_gear_joint_html"><div class="ttname"><a href="classb2_gear_joint.html">b2GearJoint</a></div><div class="ttdef"><b>Definition:</b> b2GearJoint.h:56</div></div>
<div class="ttc" id="structb2_revolute_joint_def_html_a1858d897d5fea04c5e606a1ff73f64f8"><div class="ttname"><a href="structb2_revolute_joint_def.html#a1858d897d5fea04c5e606a1ff73f64f8">b2RevoluteJointDef::referenceAngle</a></div><div class="ttdeci">float32 referenceAngle</div><div class="ttdoc">The bodyB angle minus bodyA angle in the reference state (radians). </div><div class="ttdef"><b>Definition:</b> b2RevoluteJoint.h:62</div></div>
<div class="ttc" id="structb2_revolute_joint_def_html_a76337d07aa63232a7b20d50decc862ae"><div class="ttname"><a href="structb2_revolute_joint_def.html#a76337d07aa63232a7b20d50decc862ae">b2RevoluteJointDef::localAnchorA</a></div><div class="ttdeci">b2Vec2 localAnchorA</div><div class="ttdoc">The local anchor point relative to bodyA&#39;s origin. </div><div class="ttdef"><b>Definition:</b> b2RevoluteJoint.h:56</div></div>
<div class="ttc" id="classb2_revolute_joint_html_a37d5744e89991ebe01b974c4d15a21b5"><div class="ttname"><a href="classb2_revolute_joint.html#a37d5744e89991ebe01b974c4d15a21b5">b2RevoluteJoint::IsMotorEnabled</a></div><div class="ttdeci">bool IsMotorEnabled() const</div><div class="ttdoc">Is the joint motor enabled? </div><div class="ttdef"><b>Definition:</b> b2RevoluteJoint.cpp:412</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_revolute_joint_html_a5c30cf83116841607d4d819985732efb"><div class="ttname"><a href="classb2_revolute_joint.html#a5c30cf83116841607d4d819985732efb">b2RevoluteJoint::GetUpperLimit</a></div><div class="ttdeci">float32 GetUpperLimit() const</div><div class="ttdoc">Get the upper joint limit in radians. </div><div class="ttdef"><b>Definition:</b> b2RevoluteJoint.cpp:464</div></div>
<div class="ttc" id="structb2_revolute_joint_def_html_a692cfe333ad12afd5753a6ec54e39a66"><div class="ttname"><a href="structb2_revolute_joint_def.html#a692cfe333ad12afd5753a6ec54e39a66">b2RevoluteJointDef::upperAngle</a></div><div class="ttdeci">float32 upperAngle</div><div class="ttdoc">The upper angle for the joint limit (radians). </div><div class="ttdef"><b>Definition:</b> b2RevoluteJoint.h:71</div></div>
<div class="ttc" id="classb2_revolute_joint_html_a56bdfdd04e906e52d0258f6a481b9093"><div class="ttname"><a href="classb2_revolute_joint.html#a56bdfdd04e906e52d0258f6a481b9093">b2RevoluteJoint::EnableLimit</a></div><div class="ttdeci">void EnableLimit(bool flag)</div><div class="ttdoc">Enable/disable the joint limit. </div><div class="ttdef"><b>Definition:</b> b2RevoluteJoint.cpp:448</div></div>
<div class="ttc" id="classb2_revolute_joint_html_af8cefd09d50a4e349613722809b8c823"><div class="ttname"><a href="classb2_revolute_joint.html#af8cefd09d50a4e349613722809b8c823">b2RevoluteJoint::GetLocalAnchorA</a></div><div class="ttdeci">const b2Vec2 & GetLocalAnchorA() const</div><div class="ttdoc">The local anchor point relative to bodyA&#39;s origin. </div><div class="ttdef"><b>Definition:</b> b2RevoluteJoint.h:97</div></div>
<div class="ttc" id="classb2_revolute_joint_html_a5abafb4d0c1df642f73a5d9faf615e26"><div class="ttname"><a href="classb2_revolute_joint.html#a5abafb4d0c1df642f73a5d9faf615e26">b2RevoluteJoint::GetMotorTorque</a></div><div class="ttdeci">float32 GetMotorTorque(float32 inv_dt) const</div><div class="ttdef"><b>Definition:</b> b2RevoluteJoint.cpp:424</div></div>
<div class="ttc" id="classb2_revolute_joint_html"><div class="ttname"><a href="classb2_revolute_joint.html">b2RevoluteJoint</a></div><div class="ttdef"><b>Definition:</b> b2RevoluteJoint.h:90</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_revolute_joint_html_a631b7bd2c72b61f03b6efc605308092f"><div class="ttname"><a href="classb2_revolute_joint.html#a631b7bd2c72b61f03b6efc605308092f">b2RevoluteJoint::GetJointSpeed</a></div><div class="ttdeci">float32 GetJointSpeed() const</div><div class="ttdoc">Get the current joint angle speed in radians per second. </div><div class="ttdef"><b>Definition:</b> b2RevoluteJoint.cpp:405</div></div>
<div class="ttc" id="structb2_revolute_joint_def_html_a2eaefc5fc5caf879cfd59ebcd852b756"><div class="ttname"><a href="structb2_revolute_joint_def.html#a2eaefc5fc5caf879cfd59ebcd852b756">b2RevoluteJointDef::enableLimit</a></div><div class="ttdeci">bool enableLimit</div><div class="ttdoc">A flag to enable joint limits. </div><div class="ttdef"><b>Definition:</b> b2RevoluteJoint.h:65</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="structb2_revolute_joint_def_html"><div class="ttname"><a href="structb2_revolute_joint_def.html">b2RevoluteJointDef</a></div><div class="ttdef"><b>Definition:</b> b2RevoluteJoint.h:35</div></div>
<div class="ttc" id="structb2_revolute_joint_def_html_a9fc1b67fe6d1bc31f88cc2cfd681fe30"><div class="ttname"><a href="structb2_revolute_joint_def.html#a9fc1b67fe6d1bc31f88cc2cfd681fe30">b2RevoluteJointDef::maxMotorTorque</a></div><div class="ttdeci">float32 maxMotorTorque</div><div class="ttdef"><b>Definition:</b> b2RevoluteJoint.h:81</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_revolute_joint_html_ac58e115df370181adc1ea1c486d84dc6"><div class="ttname"><a href="classb2_revolute_joint.html#ac58e115df370181adc1ea1c486d84dc6">b2RevoluteJoint::GetLocalAnchorB</a></div><div class="ttdeci">const b2Vec2 & GetLocalAnchorB() const</div><div class="ttdoc">The local anchor point relative to bodyB&#39;s origin. </div><div class="ttdef"><b>Definition:</b> b2RevoluteJoint.h:100</div></div>
<div class="ttc" id="classb2_revolute_joint_html_a32f9393d8a6b993fd523f0f643c28107"><div class="ttname"><a href="classb2_revolute_joint.html#a32f9393d8a6b993fd523f0f643c28107">b2RevoluteJoint::SetLimits</a></div><div class="ttdeci">void SetLimits(float32 lower, float32 upper)</div><div class="ttdoc">Set the joint limits in radians. </div><div class="ttdef"><b>Definition:</b> b2RevoluteJoint.cpp:469</div></div>
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