23#ifndef B2_WELD_JOINT_H 
   24#define B2_WELD_JOINT_H 
   37        localAnchorA.Set(0.0f, 0.0f);
 
   38        localAnchorB.Set(0.0f, 0.0f);
 
   39        referenceAngle = 0.0f;
 
 
   89    float GetStiffness()
 const { 
return m_stiffness; }
 
   93    float GetDamping()
 const { 
return m_damping; }
 
  104    void InitVelocityConstraints(
const b2SolverData& data) 
override;
 
  105    void SolveVelocityConstraints(
const b2SolverData& data) 
override;
 
  106    bool SolvePositionConstraints(
const b2SolverData& data) 
override;
 
  115    float m_referenceAngle;
 
 
A rigid body. These are created via b2World::CreateBody.
Definition b2_body.h:129
Definition b2_joint.h:111
Definition b2_weld_joint.h:70
void SetDamping(float damping)
Set/get damping in N*m*s.
Definition b2_weld_joint.h:92
void SetStiffness(float hz)
Set/get stiffness in N*m.
Definition b2_weld_joint.h:88
void Dump() override
Dump to b2Log.
const b2Vec2 & GetLocalAnchorA() const
The local anchor point relative to bodyA's origin.
Definition b2_weld_joint.h:79
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_weld_joint.h:82
b2Vec2 GetAnchorA() const override
Get the anchor point on bodyA in world coordinates.
float GetReferenceAngle() const
Get the reference angle.
Definition b2_weld_joint.h:85
b2Vec2 GetAnchorB() const override
Get the anchor point on bodyB in world coordinates.
b2Vec2 GetReactionForce(float inv_dt) const override
Get the reaction force on bodyB at the joint anchor in Newtons.
Joint definitions are used to construct joints.
Definition b2_joint.h:73
A 3-by-3 matrix. Stored in column-major order.
Definition b2_math.h:246
Solver Data.
Definition b2_time_step.h:68
A 2D column vector.
Definition b2_math.h:42
A 2D column vector with 3 elements.
Definition b2_math.h:133
Definition b2_weld_joint.h:33
b2Vec2 localAnchorA
The local anchor point relative to bodyA's origin.
Definition b2_weld_joint.h:51
b2Vec2 localAnchorB
The local anchor point relative to bodyB's origin.
Definition b2_weld_joint.h:54
float damping
The rotational damping in N*m*s.
Definition b2_weld_joint.h:64
float referenceAngle
The bodyB angle minus bodyA angle in the reference state (radians).
Definition b2_weld_joint.h:57
void Initialize(b2Body *bodyA, b2Body *bodyB, const b2Vec2 &anchor)
float stiffness
Definition b2_weld_joint.h:61