23#ifndef B2_FRICTION_JOINT_H
24#define B2_FRICTION_JOINT_H
30struct B2_API b2FrictionJointDef :
public b2JointDef
34 type = e_frictionJoint;
60class B2_API b2FrictionJoint :
public b2Joint
96 void InitVelocityConstraints(
const b2SolverData& data)
override;
97 void SolveVelocityConstraints(
const b2SolverData& data)
override;
98 bool SolvePositionConstraints(
const b2SolverData& data)
override;
105 float m_angularImpulse;
A rigid body. These are created via b2World::CreateBody.
Definition b2_body.h:129
float GetReactionTorque(float inv_dt) const override
Get the reaction torque on bodyB in N*m.
const b2Vec2 & GetLocalAnchorB() const
The local anchor point relative to bodyB's origin.
Definition b2_friction_joint.h:73
float GetMaxTorque() const
Get the maximum friction torque in N*m.
float GetMaxForce() const
Get the maximum friction force in N.
b2Vec2 GetAnchorA() const override
Get the anchor point on bodyA in world coordinates.
void SetMaxTorque(float torque)
Set the maximum friction torque in N*m.
void Dump() override
Dump joint to dmLog.
void SetMaxForce(float force)
Set the maximum friction force in N.
b2Vec2 GetReactionForce(float inv_dt) const override
Get the reaction force on bodyB at the joint anchor in Newtons.
const b2Vec2 & GetLocalAnchorA() const
The local anchor point relative to bodyA's origin.
Definition b2_friction_joint.h:70
b2Vec2 GetAnchorB() const override
Get the anchor point on bodyB in world coordinates.
Friction joint definition.
Definition b2_friction_joint.h:31
b2Vec2 localAnchorA
The local anchor point relative to bodyA's origin.
Definition b2_friction_joint.h:46
float maxForce
The maximum friction force in N.
Definition b2_friction_joint.h:52
float maxTorque
The maximum friction torque in N-m.
Definition b2_friction_joint.h:55
b2Vec2 localAnchorB
The local anchor point relative to bodyB's origin.
Definition b2_friction_joint.h:49
void Initialize(b2Body *bodyA, b2Body *bodyB, const b2Vec2 &anchor)
b2JointType type
The joint type is set automatically for concrete joint types.
Definition b2_joint.h:83
b2Body * bodyA
The first attached body.
Definition b2_joint.h:89
b2Body * bodyB
The second attached body.
Definition b2_joint.h:92
A 2-by-2 matrix. Stored in column-major order.
Definition b2_math.h:172
Solver Data.
Definition b2_time_step.h:68
A 2D column vector.
Definition b2_math.h:42