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 <span id="projectnumber">2.3.0</span>
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<div id="projectbrief">A 2D Physics Engine for Games</div>
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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_WHEEL_JOINT_H</span></div><div class="line"><a name="l00020"></a><span class="lineno"> 20</span> <span class="preprocessor">#define B2_WHEEL_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="l00030"></a><span class="lineno"><a class="line" href="structb2_wheel_joint_def.html"> 30</a></span> <span class="keyword">struct </span><a class="code" href="structb2_wheel_joint_def.html">b2WheelJointDef</a> : <span class="keyword">public</span> <a class="code" href="structb2_joint_def.html">b2JointDef</a></div><div class="line"><a name="l00031"></a><span class="lineno"> 31</span> {</div><div class="line"><a name="l00032"></a><span class="lineno"> 32</span>  <a class="code" href="structb2_wheel_joint_def.html">b2WheelJointDef</a>()</div><div class="line"><a name="l00033"></a><span class="lineno"> 33</span>  {</div><div class="line"><a name="l00034"></a><span class="lineno"> 34</span>  <a class="code" href="structb2_joint_def.html#a470f2879b24adb05facbd49f338856fb">type</a> = e_wheelJoint;</div><div class="line"><a name="l00035"></a><span class="lineno"> 35</span>  <a class="code" href="structb2_wheel_joint_def.html#a9429d2273bfdd8bdc0db416e73b89ae4">localAnchorA</a>.<a class="code" href="structb2_vec2.html#a5c6cbe27cfb29c6dbb29b9a3285b88d0">SetZero</a>();</div><div class="line"><a name="l00036"></a><span class="lineno"> 36</span>  <a class="code" href="structb2_wheel_joint_def.html#a88ba0f7108076b9d7ced68425be95c27">localAnchorB</a>.<a class="code" href="structb2_vec2.html#a5c6cbe27cfb29c6dbb29b9a3285b88d0">SetZero</a>();</div><div class="line"><a name="l00037"></a><span class="lineno"> 37</span>  <a class="code" href="structb2_wheel_joint_def.html#ad635ee7b77b50037dc0e021a0f5c93a6">localAxisA</a>.<a class="code" href="structb2_vec2.html#a4d61640a645e470a50b451307d8e94c3">Set</a>(1.0f, 0.0f);</div><div class="line"><a name="l00038"></a><span class="lineno"> 38</span>  <a class="code" href="structb2_wheel_joint_def.html#a8e7193d6c34c784ffd71e79d3a70acc6">enableMotor</a> = <span class="keyword">false</span>;</div><div class="line"><a name="l00039"></a><span class="lineno"> 39</span>  <a class="code" href="structb2_wheel_joint_def.html#ab658ce0fae40c6de09133659f7ffb829">maxMotorTorque</a> = 0.0f;</div><div class="line"><a name="l00040"></a><span class="lineno"> 40</span>  <a class="code" href="structb2_wheel_joint_def.html#a7248e25f2ca6b6c2a5f7079ce16e7748">motorSpeed</a> = 0.0f;</div><div class="line"><a name="l00041"></a><span class="lineno"> 41</span>  <a class="code" href="structb2_wheel_joint_def.html#acf3540f46eaf3bc91426386939bd37b1">frequencyHz</a> = 2.0f;</div><div class="line"><a name="l00042"></a><span class="lineno"> 42</span>  <a class="code" href="structb2_wheel_joint_def.html#a9976584bfee18b46dec355764797ce54">dampingRatio</a> = 0.7f;</div><div class="line"><a name="l00043"></a><span class="lineno"> 43</span>  }</div><div class="line"><a name="l00044"></a><span class="lineno"> 44</span> </div><div class="line"><a name="l00047"></a><span class="lineno"> 47</span>  <span class="keywordtype">void</span> <a class="code" href="structb2_wheel_joint_def.html#af26887092d36c3cd03898401a38783e2">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, <span class="keyword">const</span> <a class="code" href="structb2_vec2.html">b2Vec2</a>& axis);</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_wheel_joint_def.html#a9429d2273bfdd8bdc0db416e73b89ae4"> 50</a></span>  <a class="code" href="structb2_vec2.html">b2Vec2</a> <a class="code" href="structb2_wheel_joint_def.html#a9429d2273bfdd8bdc0db416e73b89ae4">localAnchorA</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_wheel_joint_def.html#a88ba0f7108076b9d7ced68425be95c27"> 53</a></span>  <a class="code" href="structb2_vec2.html">b2Vec2</a> <a class="code" href="structb2_wheel_joint_def.html#a88ba0f7108076b9d7ced68425be95c27">localAnchorB</a>;</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_wheel_joint_def.html#ad635ee7b77b50037dc0e021a0f5c93a6"> 56</a></span>  <a class="code" href="structb2_vec2.html">b2Vec2</a> <a class="code" href="structb2_wheel_joint_def.html#ad635ee7b77b50037dc0e021a0f5c93a6">localAxisA</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_wheel_joint_def.html#a8e7193d6c34c784ffd71e79d3a70acc6"> 59</a></span>  <span class="keywordtype">bool</span> <a class="code" href="structb2_wheel_joint_def.html#a8e7193d6c34c784ffd71e79d3a70acc6">enableMotor</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_wheel_joint_def.html#ab658ce0fae40c6de09133659f7ffb829"> 62</a></span>  float32 <a class="code" href="structb2_wheel_joint_def.html#ab658ce0fae40c6de09133659f7ffb829">maxMotorTorque</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_wheel_joint_def.html#a7248e25f2ca6b6c2a5f7079ce16e7748"> 65</a></span>  float32 <a class="code" href="structb2_wheel_joint_def.html#a7248e25f2ca6b6c2a5f7079ce16e7748">motorSpeed</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_wheel_joint_def.html#acf3540f46eaf3bc91426386939bd37b1"> 68</a></span>  float32 <a class="code" href="structb2_wheel_joint_def.html#acf3540f46eaf3bc91426386939bd37b1">frequencyHz</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_wheel_joint_def.html#a9976584bfee18b46dec355764797ce54"> 71</a></span>  float32 <a class="code" href="structb2_wheel_joint_def.html#a9976584bfee18b46dec355764797ce54">dampingRatio</a>;</div><div class="line"><a name="l00072"></a><span class="lineno"> 72</span> };</div><div class="line"><a name="l00073"></a><span class="lineno"> 73</span> </div><div class="line"><a name="l00079"></a><span class="lineno"><a class="line" href="classb2_wheel_joint.html"> 79</a></span> <span class="keyword">class </span><a class="code" href="classb2_wheel_joint.html">b2WheelJoint</a> : <span class="keyword">public</span> <a class="code" href="classb2_joint.html">b2Joint</a></div><div class="line"><a name="l00080"></a><span class="lineno"> 80</span> {</div><div class="line"><a name="l00081"></a><span class="lineno"> 81</span> <span class="keyword">public</span>:</div><div class="line"><a name="l00082"></a><span class="lineno"> 82</span>  <a class="code" href="structb2_vec2.html">b2Vec2</a> <a class="code" href="classb2_wheel_joint.html#a67682be41a793f54fd358f84d8e17a8b">GetAnchorA</a>() <span class="keyword">const</span>;</div><div class="line"><a name="l00083"></a><span class="lineno"> 83</span>  <a class="code" href="structb2_vec2.html">b2Vec2</a> <a class="code" href="classb2_wheel_joint.html#a073a74713e3bd821ff916c5407a91478">GetAnchorB</a>() <span class="keyword">const</span>;</div><div class="line"><a name="l00084"></a><span class="lineno"> 84</span> </div><div class="line"><a name="l00085"></a><span class="lineno"> 85</span>  <a class="code" href="structb2_vec2.html">b2Vec2</a> <a class="code" href="classb2_wheel_joint.html#a59dd617ec1dd65407ded4d04869909f3">GetReactionForce</a>(float32 inv_dt) <span class="keyword">const</span>;</div><div class="line"><a name="l00086"></a><span class="lineno"> 86</span>  float32 <a class="code" href="classb2_wheel_joint.html#a04f18585bc8fd209bfebff96c4b42c5a">GetReactionTorque</a>(float32 inv_dt) <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"><a class="line" href="classb2_wheel_joint.html#aaf132c39227962a0b0788558e7dd6662"> 89</a></span>  <span class="keyword">const</span> <a class="code" href="structb2_vec2.html">b2Vec2</a>& <a class="code" href="classb2_wheel_joint.html#aaf132c39227962a0b0788558e7dd6662">GetLocalAnchorA</a>()<span class="keyword"> const </span>{ <span class="keywordflow">return</span> m_localAnchorA; }</div><div class="line"><a name="l00090"></a><span class="lineno"> 90</span> </div><div class="line"><a name="l00092"></a><span class="lineno"><a class="line" href="classb2_wheel_joint.html#a78c56833f42bfc61998aa5ea8c876f3e"> 92</a></span>  <span class="keyword">const</span> <a class="code" href="structb2_vec2.html">b2Vec2</a>& <a class="code" href="classb2_wheel_joint.html#a78c56833f42bfc61998aa5ea8c876f3e">GetLocalAnchorB</a>()<span class="keyword"> const </span>{ <span class="keywordflow">return</span> m_localAnchorB; }</div><div class="line"><a name="l00093"></a><span class="lineno"> 93</span> </div><div class="line"><a name="l00095"></a><span class="lineno"><a class="line" href="classb2_wheel_joint.html#a86bf4dbf356f9095c05d62313810e602"> 95</a></span>  <span class="keyword">const</span> <a class="code" href="structb2_vec2.html">b2Vec2</a>& <a class="code" href="classb2_wheel_joint.html#a86bf4dbf356f9095c05d62313810e602">GetLocalAxisA</a>()<span class="keyword"> const </span>{ <span class="keywordflow">return</span> m_localXAxisA; }</div><div class="line"><a name="l00096"></a><span class="lineno"> 96</span> </div><div class="line"><a name="l00098"></a><span class="lineno"> 98</span>  float32 <a class="code" href="classb2_wheel_joint.html#a4cebb70f659344d5d93c1885d47000e3">GetJointTranslation</a>() <span class="keyword">const</span>;</div><div class="line"><a name="l00099"></a><span class="lineno"> 99</span> </div><div class="line"><a name="l00101"></a><span class="lineno"> 101</span>  float32 <a class="code" href="classb2_wheel_joint.html#a5503d957093b7abdcaa56916651ebdab">GetJointSpeed</a>() <span class="keyword">const</span>;</div><div class="line"><a name="l00102"></a><span class="lineno"> 102</span> </div><div class="line"><a name="l00104"></a><span class="lineno"> 104</span>  <span class="keywordtype">bool</span> <a class="code" href="classb2_wheel_joint.html#aef7948a18ec2784397a1d3745824cd78">IsMotorEnabled</a>() <span class="keyword">const</span>;</div><div class="line"><a name="l00105"></a><span class="lineno"> 105</span> </div><div class="line"><a name="l00107"></a><span class="lineno"> 107</span>  <span class="keywordtype">void</span> <a class="code" href="classb2_wheel_joint.html#a7a832d814bdda135a78fad41ba671da6">EnableMotor</a>(<span class="keywordtype">bool</span> flag);</div><div class="line"><a name="l00108"></a><span class="lineno"> 108</span> </div><div class="line"><a name="l00110"></a><span class="lineno"> 110</span>  <span class="keywordtype">void</span> <a class="code" href="classb2_wheel_joint.html#a6e3255fcf5c82b979ad7e3dc1c089c0b">SetMotorSpeed</a>(float32 speed);</div><div class="line"><a name="l00111"></a><span class="lineno"> 111</span> </div><div class="line"><a name="l00113"></a><span class="lineno"> 113</span>  float32 <a class="code" href="classb2_wheel_joint.html#a47774ba5dfc1a6a5f15bcc651eea8127">GetMotorSpeed</a>() <span class="keyword">const</span>;</div><div class="line"><a name="l00114"></a><span class="lineno"> 114</span> </div><div class="line"><a name="l00116"></a><span class="lineno"> 116</span>  <span class="keywordtype">void</span> <a class="code" href="classb2_wheel_joint.html#a8aae3cd624ec9d48fc86c325c4595edc">SetMaxMotorTorque</a>(float32 torque);</div><div class="line"><a name="l00117"></a><span class="lineno"> 117</span>  float32 GetMaxMotorTorque() <span class="keyword">const</span>;</div><div class="line"><a name="l00118"></a><span class="lineno"> 118</span> </div><div class="line"><a name="l00120"></a><span class="lineno"> 120</span>  float32 <a class="code" href="classb2_wheel_joint.html#a635497eba904925e06fd5316ddec4539">GetMotorTorque</a>(float32 inv_dt) <span class="keyword">const</span>;</div><div class="line"><a name="l00121"></a><span class="lineno"> 121</span> </div><div class="line"><a name="l00123"></a><span class="lineno"> 123</span>  <span class="keywordtype">void</span> <a class="code" href="classb2_wheel_joint.html#af9f8fada5cb30f83aa2fbf486e9d347b">SetSpringFrequencyHz</a>(float32 hz);</div><div class="line"><a name="l00124"></a><span class="lineno"> 124</span>  float32 GetSpringFrequencyHz() <span class="keyword">const</span>;</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">void</span> <a class="code" href="classb2_wheel_joint.html#a39b123ac045c8ec93faa65746e6655dc">SetSpringDampingRatio</a>(float32 ratio);</div><div class="line"><a name="l00128"></a><span class="lineno"> 128</span>  float32 GetSpringDampingRatio() <span class="keyword">const</span>;</div><div class="line"><a name="l00129"></a><span class="lineno"> 129</span> </div><div class="line"><a name="l00131"></a><span class="lineno"> 131</span>  <span class="keywordtype">void</span> <a class="code" href="classb2_wheel_joint.html#a09534b6f4c5d0254711e0bcc7cf3b0e4">Dump</a>();</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="keyword">protected</span>:</div><div class="line"><a name="l00134"></a><span class="lineno"> 134</span> </div><div class="line"><a name="l00135"></a><span class="lineno"> 135</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="l00136"></a><span class="lineno"> 136</span>  <a class="code" href="classb2_wheel_joint.html">b2WheelJoint</a>(<span class="keyword">const</span> <a class="code" href="structb2_wheel_joint_def.html">b2WheelJointDef</a>* def);</div><div class="line"><a name="l00137"></a><span class="lineno"> 137</span> </div><div class="line"><a name="l00138"></a><span class="lineno"> 138</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="l00139"></a><span class="lineno"> 139</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="l00140"></a><span class="lineno"> 140</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="l00141"></a><span class="lineno"> 141</span> </div><div class="line"><a name="l00142"></a><span class="lineno"> 142</span>  float32 m_frequencyHz;</div><div class="line"><a name="l00143"></a><span class="lineno"> 143</span>  float32 m_dampingRatio;</div><div class="line"><a name="l00144"></a><span class="lineno"> 144</span> </div><div class="line"><a name="l00145"></a><span class="lineno"> 145</span>  <span class="comment">// Solver shared</span></div><div class="line"><a name="l00146"></a><span class="lineno"> 146</span>  <a class="code" href="structb2_vec2.html">b2Vec2</a> m_localAnchorA;</div><div class="line"><a name="l00147"></a><span class="lineno"> 147</span>  <a class="code" href="structb2_vec2.html">b2Vec2</a> m_localAnchorB;</div><div class="line"><a name="l00148"></a><span class="lineno"> 148</span>  <a class="code" href="structb2_vec2.html">b2Vec2</a> m_localXAxisA;</div><div class="line"><a name="l00149"></a><span class="lineno"> 149</span>  <a class="code" href="structb2_vec2.html">b2Vec2</a> m_localYAxisA;</div><div class="line"><a name="l00150"></a><span class="lineno"> 150</span> </div><div class="line"><a name="l00151"></a><span class="lineno"> 151</span>  float32 m_impulse;</div><div class="line"><a name="l00152"></a><span class="lineno"> 152</span>  float32 m_motorImpulse;</div><div class="line"><a name="l00153"></a><span class="lineno"> 153</span>  float32 m_springImpulse;</div><div class="line"><a name="l00154"></a><span class="lineno"> 154</span> </div><div class="line"><a name="l00155"></a><span class="lineno"> 155</span>  float32 m_maxMotorTorque;</div><div class="line"><a name="l00156"></a><span class="lineno"> 156</span>  float32 m_motorSpeed;</div><div class="line"><a name="l00157"></a><span class="lineno"> 157</span>  <span class="keywordtype">bool</span> m_enableMotor;</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="comment">// Solver temp</span></div><div class="line"><a name="l00160"></a><span class="lineno"> 160</span>  int32 m_indexA;</div><div class="line"><a name="l00161"></a><span class="lineno"> 161</span>  int32 m_indexB;</div><div class="line"><a name="l00162"></a><span class="lineno"> 162</span>  <a class="code" href="structb2_vec2.html">b2Vec2</a> m_localCenterA;</div><div class="line"><a name="l00163"></a><span class="lineno"> 163</span>  <a class="code" href="structb2_vec2.html">b2Vec2</a> m_localCenterB;</div><div class="line"><a name="l00164"></a><span class="lineno"> 164</span>  float32 m_invMassA;</div><div class="line"><a name="l00165"></a><span class="lineno"> 165</span>  float32 m_invMassB;</div><div class="line"><a name="l00166"></a><span class="lineno"> 166</span>  float32 m_invIA;</div><div class="line"><a name="l00167"></a><span class="lineno"> 167</span>  float32 m_invIB;</div><div class="line"><a name="l00168"></a><span class="lineno"> 168</span> </div><div class="line"><a name="l00169"></a><span class="lineno"> 169</span>  <a class="code" href="structb2_vec2.html">b2Vec2</a> m_ax, m_ay;</div><div class="line"><a name="l00170"></a><span class="lineno"> 170</span>  float32 m_sAx, m_sBx;</div><div class="line"><a name="l00171"></a><span class="lineno"> 171</span>  float32 m_sAy, m_sBy;</div><div class="line"><a name="l00172"></a><span class="lineno"> 172</span> </div><div class="line"><a name="l00173"></a><span class="lineno"> 173</span>  float32 m_mass;</div><div class="line"><a name="l00174"></a><span class="lineno"> 174</span>  float32 m_motorMass;</div><div class="line"><a name="l00175"></a><span class="lineno"> 175</span>  float32 m_springMass;</div><div class="line"><a name="l00176"></a><span class="lineno"> 176</span> </div><div class="line"><a name="l00177"></a><span class="lineno"> 177</span>  float32 m_bias;</div><div class="line"><a name="l00178"></a><span class="lineno"> 178</span>  float32 m_gamma;</div><div class="line"><a name="l00179"></a><span class="lineno"> 179</span> };</div><div class="line"><a name="l00180"></a><span class="lineno"> 180</span> </div><div class="line"><a name="l00181"></a><span class="lineno"><a class="line" href="classb2_wheel_joint.html#a47774ba5dfc1a6a5f15bcc651eea8127"> 181</a></span> <span class="keyword">inline</span> float32 <a class="code" href="classb2_wheel_joint.html#a47774ba5dfc1a6a5f15bcc651eea8127">b2WheelJoint::GetMotorSpeed</a>()<span class="keyword"> const</span></div><div class="line"><a name="l00182"></a><span class="lineno"> 182</span> <span class="keyword"></span>{</div><div class="line"><a name="l00183"></a><span class="lineno"> 183</span>  <span class="keywordflow">return</span> m_motorSpeed;</div><div class="line"><a name="l00184"></a><span class="lineno"> 184</span> }</div><div class="line"><a name="l00185"></a><span class="lineno"> 185</span> </div><div class="line"><a name="l00186"></a><span class="lineno"> 186</span> <span class="keyword">inline</span> float32 b2WheelJoint::GetMaxMotorTorque()<span class="keyword"> const</span></div><div class="line"><a name="l00187"></a><span class="lineno"> 187</span> <span class="keyword"></span>{</div><div class="line"><a name="l00188"></a><span class="lineno"> 188</span>  <span class="keywordflow">return</span> m_maxMotorTorque;</div><div class="line"><a name="l00189"></a><span class="lineno"> 189</span> }</div><div class="line"><a name="l00190"></a><span class="lineno"> 190</span> </div><div class="line"><a name="l00191"></a><span class="lineno"><a class="line" href="classb2_wheel_joint.html#af9f8fada5cb30f83aa2fbf486e9d347b"> 191</a></span> <span class="keyword">inline</span> <span class="keywordtype">void</span> <a class="code" href="classb2_wheel_joint.html#af9f8fada5cb30f83aa2fbf486e9d347b">b2WheelJoint::SetSpringFrequencyHz</a>(float32 hz)</div><div class="line"><a name="l00192"></a><span class="lineno"> 192</span> {</div><div class="line"><a name="l00193"></a><span class="lineno"> 193</span>  m_frequencyHz = hz;</div><div class="line"><a name="l00194"></a><span class="lineno"> 194</span> }</div><div class="line"><a name="l00195"></a><span class="lineno"> 195</span> </div><div class="line"><a name="l00196"></a><span class="lineno"> 196</span> <span class="keyword">inline</span> float32 b2WheelJoint::GetSpringFrequencyHz()<span class="keyword"> const</span></div><div class="line"><a name="l00197"></a><span class="lineno"> 197</span> <span class="keyword"></span>{</div><div class="line"><a name="l00198"></a><span class="lineno"> 198</span>  <span class="keywordflow">return</span> m_frequencyHz;</div><div class="line"><a name="l00199"></a><span class="lineno"> 199</span> }</div><div class="line"><a name="l00200"></a><span class="lineno"> 200</span> </div><div class="line"><a name="l00201"></a><span class="lineno"><a class="line" href="classb2_wheel_joint.html#a39b123ac045c8ec93faa65746e6655dc"> 201</a></span> <span class="keyword">inline</span> <span class="keywordtype">void</span> <a class="code" href="classb2_wheel_joint.html#a39b123ac045c8ec93faa65746e6655dc">b2WheelJoint::SetSpringDampingRatio</a>(float32 ratio)</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>  m_dampingRatio = ratio;</div><div class="line"><a name="l00204"></a><span class="lineno"> 204</span> }</div><div class="line"><a name="l00205"></a><span class="lineno"> 205</span> </div><div class="line"><a name="l00206"></a><span class="lineno"> 206</span> <span class="keyword">inline</span> float32 b2WheelJoint::GetSpringDampingRatio()<span class="keyword"> const</span></div><div class="line"><a name="l00207"></a><span class="lineno"> 207</span> <span class="keyword"></span>{</div><div class="line"><a name="l00208"></a><span class="lineno"> 208</span>  <span class="keywordflow">return</span> m_dampingRatio;</div><div class="line"><a name="l00209"></a><span class="lineno"> 209</span> }</div><div class="line"><a name="l00210"></a><span class="lineno"> 210</span> </div><div class="line"><a name="l00211"></a><span class="lineno"> 211</span> <span class="preprocessor">#endif</span></div><div class="ttc" id="classb2_wheel_joint_html_a39b123ac045c8ec93faa65746e6655dc"><div class="ttname"><a href="classb2_wheel_joint.html#a39b123ac045c8ec93faa65746e6655dc">b2WheelJoint::SetSpringDampingRatio</a></div><div class="ttdeci">void SetSpringDampingRatio(float32 ratio)</div><div class="ttdoc">Set/Get the spring damping ratio. </div><div class="ttdef"><b>Definition:</b> b2WheelJoint.h:201</div></div>
<div class="ttc" id="structb2_wheel_joint_def_html"><div class="ttname"><a href="structb2_wheel_joint_def.html">b2WheelJointDef</a></div><div class="ttdef"><b>Definition:</b> b2WheelJoint.h:30</div></div>
<div class="ttc" id="classb2_wheel_joint_html_a5503d957093b7abdcaa56916651ebdab"><div class="ttname"><a href="classb2_wheel_joint.html#a5503d957093b7abdcaa56916651ebdab">b2WheelJoint::GetJointSpeed</a></div><div class="ttdeci">float32 GetJointSpeed() const</div><div class="ttdoc">Get the current joint translation speed, usually in meters per second. </div><div class="ttdef"><b>Definition:</b> b2WheelJoint.cpp:363</div></div>
<div class="ttc" id="classb2_wheel_joint_html_a073a74713e3bd821ff916c5407a91478"><div class="ttname"><a href="classb2_wheel_joint.html#a073a74713e3bd821ff916c5407a91478">b2WheelJoint::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> b2WheelJoint.cpp:334</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_wheel_joint_html_a09534b6f4c5d0254711e0bcc7cf3b0e4"><div class="ttname"><a href="classb2_wheel_joint.html#a09534b6f4c5d0254711e0bcc7cf3b0e4">b2WheelJoint::Dump</a></div><div class="ttdeci">void Dump()</div><div class="ttdoc">Dump to b2Log. </div><div class="ttdef"><b>Definition:</b> b2WheelJoint.cpp:401</div></div>
<div class="ttc" id="structb2_wheel_joint_def_html_a9429d2273bfdd8bdc0db416e73b89ae4"><div class="ttname"><a href="structb2_wheel_joint_def.html#a9429d2273bfdd8bdc0db416e73b89ae4">b2WheelJointDef::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> b2WheelJoint.h:50</div></div>
<div class="ttc" id="classb2_wheel_joint_html_a86bf4dbf356f9095c05d62313810e602"><div class="ttname"><a href="classb2_wheel_joint.html#a86bf4dbf356f9095c05d62313810e602">b2WheelJoint::GetLocalAxisA</a></div><div class="ttdeci">const b2Vec2 & GetLocalAxisA() const</div><div class="ttdoc">The local joint axis relative to bodyA. </div><div class="ttdef"><b>Definition:</b> b2WheelJoint.h:95</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_wheel_joint_html_a7a832d814bdda135a78fad41ba671da6"><div class="ttname"><a href="classb2_wheel_joint.html#a7a832d814bdda135a78fad41ba671da6">b2WheelJoint::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> b2WheelJoint.cpp:375</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_wheel_joint_html_a59dd617ec1dd65407ded4d04869909f3"><div class="ttname"><a href="classb2_wheel_joint.html#a59dd617ec1dd65407ded4d04869909f3">b2WheelJoint::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> b2WheelJoint.cpp:339</div></div>
<div class="ttc" id="structb2_wheel_joint_def_html_acf3540f46eaf3bc91426386939bd37b1"><div class="ttname"><a href="structb2_wheel_joint_def.html#acf3540f46eaf3bc91426386939bd37b1">b2WheelJointDef::frequencyHz</a></div><div class="ttdeci">float32 frequencyHz</div><div class="ttdoc">Suspension frequency, zero indicates no suspension. </div><div class="ttdef"><b>Definition:</b> b2WheelJoint.h:68</div></div>
<div class="ttc" id="classb2_wheel_joint_html_a4cebb70f659344d5d93c1885d47000e3"><div class="ttname"><a href="classb2_wheel_joint.html#a4cebb70f659344d5d93c1885d47000e3">b2WheelJoint::GetJointTranslation</a></div><div class="ttdeci">float32 GetJointTranslation() const</div><div class="ttdoc">Get the current joint translation, usually in meters. </div><div class="ttdef"><b>Definition:</b> b2WheelJoint.cpp:349</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="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="classb2_wheel_joint_html_a04f18585bc8fd209bfebff96c4b42c5a"><div class="ttname"><a href="classb2_wheel_joint.html#a04f18585bc8fd209bfebff96c4b42c5a">b2WheelJoint::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> b2WheelJoint.cpp:344</div></div>
<div class="ttc" id="classb2_wheel_joint_html_aaf132c39227962a0b0788558e7dd6662"><div class="ttname"><a href="classb2_wheel_joint.html#aaf132c39227962a0b0788558e7dd6662">b2WheelJoint::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> b2WheelJoint.h:89</div></div>
<div class="ttc" id="structb2_wheel_joint_def_html_a8e7193d6c34c784ffd71e79d3a70acc6"><div class="ttname"><a href="structb2_wheel_joint_def.html#a8e7193d6c34c784ffd71e79d3a70acc6">b2WheelJointDef::enableMotor</a></div><div class="ttdeci">bool enableMotor</div><div class="ttdoc">Enable/disable the joint motor. </div><div class="ttdef"><b>Definition:</b> b2WheelJoint.h:59</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="structb2_wheel_joint_def_html_ab658ce0fae40c6de09133659f7ffb829"><div class="ttname"><a href="structb2_wheel_joint_def.html#ab658ce0fae40c6de09133659f7ffb829">b2WheelJointDef::maxMotorTorque</a></div><div class="ttdeci">float32 maxMotorTorque</div><div class="ttdoc">The maximum motor torque, usually in N-m. </div><div class="ttdef"><b>Definition:</b> b2WheelJoint.h:62</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="structb2_wheel_joint_def_html_a88ba0f7108076b9d7ced68425be95c27"><div class="ttname"><a href="structb2_wheel_joint_def.html#a88ba0f7108076b9d7ced68425be95c27">b2WheelJointDef::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> b2WheelJoint.h:53</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_wheel_joint_html_aef7948a18ec2784397a1d3745824cd78"><div class="ttname"><a href="classb2_wheel_joint.html#aef7948a18ec2784397a1d3745824cd78">b2WheelJoint::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> b2WheelJoint.cpp:370</div></div>
<div class="ttc" id="classb2_wheel_joint_html_a67682be41a793f54fd358f84d8e17a8b"><div class="ttname"><a href="classb2_wheel_joint.html#a67682be41a793f54fd358f84d8e17a8b">b2WheelJoint::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> b2WheelJoint.cpp:329</div></div>
<div class="ttc" id="structb2_wheel_joint_def_html_a7248e25f2ca6b6c2a5f7079ce16e7748"><div class="ttname"><a href="structb2_wheel_joint_def.html#a7248e25f2ca6b6c2a5f7079ce16e7748">b2WheelJointDef::motorSpeed</a></div><div class="ttdeci">float32 motorSpeed</div><div class="ttdoc">The desired motor speed in radians per second. </div><div class="ttdef"><b>Definition:</b> b2WheelJoint.h:65</div></div>
<div class="ttc" id="classb2_wheel_joint_html_a47774ba5dfc1a6a5f15bcc651eea8127"><div class="ttname"><a href="classb2_wheel_joint.html#a47774ba5dfc1a6a5f15bcc651eea8127">b2WheelJoint::GetMotorSpeed</a></div><div class="ttdeci">float32 GetMotorSpeed() const</div><div class="ttdoc">Get the motor speed, usually in radians per second. </div><div class="ttdef"><b>Definition:</b> b2WheelJoint.h:181</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_wheel_joint_html_a78c56833f42bfc61998aa5ea8c876f3e"><div class="ttname"><a href="classb2_wheel_joint.html#a78c56833f42bfc61998aa5ea8c876f3e">b2WheelJoint::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> b2WheelJoint.h:92</div></div>
<div class="ttc" id="classb2_wheel_joint_html_a6e3255fcf5c82b979ad7e3dc1c089c0b"><div class="ttname"><a href="classb2_wheel_joint.html#a6e3255fcf5c82b979ad7e3dc1c089c0b">b2WheelJoint::SetMotorSpeed</a></div><div class="ttdeci">void SetMotorSpeed(float32 speed)</div><div class="ttdoc">Set the motor speed, usually in radians per second. </div><div class="ttdef"><b>Definition:</b> b2WheelJoint.cpp:382</div></div>
<div class="ttc" id="structb2_wheel_joint_def_html_af26887092d36c3cd03898401a38783e2"><div class="ttname"><a href="structb2_wheel_joint_def.html#af26887092d36c3cd03898401a38783e2">b2WheelJointDef::Initialize</a></div><div class="ttdeci">void Initialize(b2Body *bodyA, b2Body *bodyB, const b2Vec2 &anchor, const b2Vec2 &axis)</div><div class="ttdef"><b>Definition:</b> b2WheelJoint.cpp:39</div></div>
<div class="ttc" id="classb2_wheel_joint_html"><div class="ttname"><a href="classb2_wheel_joint.html">b2WheelJoint</a></div><div class="ttdef"><b>Definition:</b> b2WheelJoint.h:79</div></div>
<div class="ttc" id="structb2_wheel_joint_def_html_a9976584bfee18b46dec355764797ce54"><div class="ttname"><a href="structb2_wheel_joint_def.html#a9976584bfee18b46dec355764797ce54">b2WheelJointDef::dampingRatio</a></div><div class="ttdeci">float32 dampingRatio</div><div class="ttdoc">Suspension damping ratio, one indicates critical damping. </div><div class="ttdef"><b>Definition:</b> b2WheelJoint.h:71</div></div>
<div class="ttc" id="structb2_wheel_joint_def_html_ad635ee7b77b50037dc0e021a0f5c93a6"><div class="ttname"><a href="structb2_wheel_joint_def.html#ad635ee7b77b50037dc0e021a0f5c93a6">b2WheelJointDef::localAxisA</a></div><div class="ttdeci">b2Vec2 localAxisA</div><div class="ttdoc">The local translation axis in bodyA. </div><div class="ttdef"><b>Definition:</b> b2WheelJoint.h:56</div></div>
<div class="ttc" id="classb2_wheel_joint_html_a8aae3cd624ec9d48fc86c325c4595edc"><div class="ttname"><a href="classb2_wheel_joint.html#a8aae3cd624ec9d48fc86c325c4595edc">b2WheelJoint::SetMaxMotorTorque</a></div><div class="ttdeci">void SetMaxMotorTorque(float32 torque)</div><div class="ttdoc">Set/Get the maximum motor force, usually in N-m. </div><div class="ttdef"><b>Definition:</b> b2WheelJoint.cpp:389</div></div>
<div class="ttc" id="classb2_wheel_joint_html_a635497eba904925e06fd5316ddec4539"><div class="ttname"><a href="classb2_wheel_joint.html#a635497eba904925e06fd5316ddec4539">b2WheelJoint::GetMotorTorque</a></div><div class="ttdeci">float32 GetMotorTorque(float32 inv_dt) const</div><div class="ttdoc">Get the current motor torque given the inverse time step, usually in N-m. </div><div class="ttdef"><b>Definition:</b> b2WheelJoint.cpp:396</div></div>
<div class="ttc" id="classb2_wheel_joint_html_af9f8fada5cb30f83aa2fbf486e9d347b"><div class="ttname"><a href="classb2_wheel_joint.html#af9f8fada5cb30f83aa2fbf486e9d347b">b2WheelJoint::SetSpringFrequencyHz</a></div><div class="ttdeci">void SetSpringFrequencyHz(float32 hz)</div><div class="ttdoc">Set/Get the spring frequency in hertz. Setting the frequency to zero disables the spring...</div><div class="ttdef"><b>Definition:</b> b2WheelJoint.h:191</div></div>
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