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| b2Vec2 | GetAnchorA () const override | 
|  | Get the anchor point on bodyA in world coordinates. 
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| b2Vec2 | GetAnchorB () const override | 
|  | Get the anchor point on bodyB in world coordinates. 
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| const b2Vec2 & | GetLocalAnchorA () const | 
|  | The local anchor point relative to bodyA's origin. 
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| const b2Vec2 & | GetLocalAnchorB () const | 
|  | The local anchor point relative to bodyB's origin. 
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| float | GetReferenceAngle () const | 
|  | Get the reference angle. 
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| float | GetJointAngle () const | 
|  | Get the current joint angle in radians. 
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| float | GetJointSpeed () const | 
|  | Get the current joint angle speed in radians per second. 
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| bool | IsLimitEnabled () const | 
|  | Is the joint limit enabled? 
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| void | EnableLimit (bool flag) | 
|  | Enable/disable the joint limit. 
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| float | GetLowerLimit () const | 
|  | Get the lower joint limit in radians. 
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| float | GetUpperLimit () const | 
|  | Get the upper joint limit in radians. 
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| void | SetLimits (float lower, float upper) | 
|  | Set the joint limits in radians. 
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| bool | IsMotorEnabled () const | 
|  | Is the joint motor enabled? 
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| void | EnableMotor (bool flag) | 
|  | Enable/disable the joint motor. 
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| void | SetMotorSpeed (float speed) | 
|  | Set the motor speed in radians per second. 
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| float | GetMotorSpeed () const | 
|  | Get the motor speed in radians per second. 
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| void | SetMaxMotorTorque (float torque) | 
|  | Set the maximum motor torque, usually in N-m. 
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| float | GetMaxMotorTorque () const | 
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| b2Vec2 | GetReactionForce (float inv_dt) const override | 
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| float | GetReactionTorque (float inv_dt) const override | 
|  | 
| float | GetMotorTorque (float inv_dt) const | 
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| void | Dump () override | 
|  | Dump to b2Log. 
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| void | Draw (b2Draw *draw) const override | 
|  | Debug draw this joint. 
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| b2JointType | GetType () const | 
|  | Get the type of the concrete joint. 
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| b2Body * | GetBodyA () | 
|  | Get the first body attached to this joint. 
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| b2Body * | GetBodyB () | 
|  | Get the second body attached to this joint. 
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| b2Joint * | GetNext () | 
|  | Get the next joint the world joint list. 
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| const b2Joint * | GetNext () const | 
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| b2JointUserData & | GetUserData () | 
|  | Get the user data pointer. 
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| bool | IsEnabled () const | 
|  | Short-cut function to determine if either body is enabled. 
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| bool | GetCollideConnected () const | 
|  | 
| virtual void | ShiftOrigin (const b2Vec2 &newOrigin) | 
|  | Shift the origin for any points stored in world coordinates. 
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|  | 
A revolute joint constrains two bodies to share a common point while they are free to rotate about the point. The relative rotation about the shared point is the joint angle. You can limit the relative rotation with a joint limit that specifies a lower and upper angle. You can use a motor to drive the relative rotation about the shared point. A maximum motor torque is provided so that infinite forces are not generated.