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/*******************************************************************************
* Copyright 2011 See AUTHORS file.
*
* Licensed under the Apache License, Version 2.0 (the "License");
* you may not use this file except in compliance with the License.
* You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
******************************************************************************/
package com.badlogic.gdx.physics.box2d.joints;
import com.badlogic.gdx.math.Vector2;
import com.badlogic.gdx.physics.box2d.Joint;
import com.badlogic.gdx.physics.box2d.World;
/** A wheel joint. This joint provides two degrees of freedom: translation along an axis fixed in body1 and rotation in the plane.
* You can use a joint limit to restrict the range of motion and a joint motor to drive the rotation or to model rotational
* friction. This joint is designed for vehicle suspensions. */
public class WheelJoint extends Joint {
// @off
/*JNI
#include
*/
private final float[] tmp = new float[2];
private final Vector2 localAnchorA = new Vector2();
private final Vector2 localAnchorB = new Vector2();
private final Vector2 localAxisA = new Vector2();
public WheelJoint (World world, long addr) {
super(world, addr);
}
public Vector2 getLocalAnchorA () {
jniGetLocalAnchorA(addr, tmp);
localAnchorA.set(tmp[0], tmp[1]);
return localAnchorA;
}
private native void jniGetLocalAnchorA (long addr, float[] anchor); /*
b2WheelJoint* joint = (b2WheelJoint*)addr;
anchor[0] = joint->GetLocalAnchorA().x;
anchor[1] = joint->GetLocalAnchorA().y;
*/
public Vector2 getLocalAnchorB () {
jniGetLocalAnchorB(addr, tmp);
localAnchorB.set(tmp[0], tmp[1]);
return localAnchorB;
}
private native void jniGetLocalAnchorB (long addr, float[] anchor); /*
b2WheelJoint* joint = (b2WheelJoint*)addr;
anchor[0] = joint->GetLocalAnchorB().x;
anchor[1] = joint->GetLocalAnchorB().y;
*/
public Vector2 getLocalAxisA(){
jniGetLocalAxisA(addr, tmp);
localAxisA.set(tmp[0], tmp[1]);
return localAxisA;
}
private native void jniGetLocalAxisA (long addr, float[] anchor); /*
b2WheelJoint* joint = (b2WheelJoint*)addr;
anchor[0] = joint->GetLocalAxisA().x;
anchor[1] = joint->GetLocalAxisA().y;
*/
/** Get the current joint translation, usually in meters. */
public float getJointTranslation () {
return jniGetJointTranslation(addr);
}
private native float jniGetJointTranslation (long addr); /*
b2WheelJoint* joint = (b2WheelJoint*)addr;
return joint->GetJointTranslation();
*/
/** Get the current joint translation speed, usually in meters per second. */
public float getJointSpeed () {
return jniGetJointSpeed(addr);
}
private native float jniGetJointSpeed (long addr); /*
b2WheelJoint* joint = (b2WheelJoint*)addr;
return joint->GetJointSpeed();
*/
/** Is the joint motor enabled? */
public boolean isMotorEnabled () {
return jniIsMotorEnabled(addr);
}
private native boolean jniIsMotorEnabled (long addr); /*
b2WheelJoint* joint = (b2WheelJoint*)addr;
return joint->IsMotorEnabled();
*/
/** Enable/disable the joint motor. */
public void enableMotor (boolean flag) {
jniEnableMotor(addr, flag);
}
private native void jniEnableMotor (long addr, boolean flag); /*
b2WheelJoint* joint = (b2WheelJoint*)addr;
joint->EnableMotor(flag);
*/
/** Set the motor speed, usually in radians per second. */
public void setMotorSpeed (float speed) {
jniSetMotorSpeed(addr, speed);
}
private native void jniSetMotorSpeed (long addr, float speed); /*
b2WheelJoint* joint = (b2WheelJoint*)addr;
joint->SetMotorSpeed(speed);
*/
/** Get the motor speed, usually in radians per second. */
public float getMotorSpeed () {
return jniGetMotorSpeed(addr);
}
private native float jniGetMotorSpeed (long addr); /*
b2WheelJoint* joint = (b2WheelJoint*)addr;
return joint->GetMotorSpeed();
*/
/** Set/Get the maximum motor force, usually in N-m. */
public void setMaxMotorTorque (float torque) {
jniSetMaxMotorTorque(addr, torque);
}
private native void jniSetMaxMotorTorque (long addr, float torque); /*
b2WheelJoint* joint = (b2WheelJoint*)addr;
joint->SetMaxMotorTorque(torque);
*/
public float getMaxMotorTorque () {
return jniGetMaxMotorTorque(addr);
}
private native float jniGetMaxMotorTorque (long addr); /*
b2WheelJoint* joint = (b2WheelJoint*)addr;
return joint->GetMaxMotorTorque();
*/
/** Get the current motor torque given the inverse time step, usually in N-m. */
public float getMotorTorque (float invDt) {
return jniGetMotorTorque(addr, invDt);
}
private native float jniGetMotorTorque (long addr, float invDt); /*
b2WheelJoint* joint = (b2WheelJoint*)addr;
return joint->GetMotorTorque(invDt);
*/
/** Set/Get the spring frequency in hertz. Setting the frequency to zero disables the spring. */
public void setSpringFrequencyHz (float hz) {
jniSetSpringFrequencyHz(addr, hz);
}
private native void jniSetSpringFrequencyHz (long addr, float hz); /*
b2WheelJoint* joint = (b2WheelJoint*)addr;
joint->SetSpringFrequencyHz(hz);
*/
public float getSpringFrequencyHz () {
return jniGetSpringFrequencyHz(addr);
}
private native float jniGetSpringFrequencyHz (long addr); /*
b2WheelJoint* joint = (b2WheelJoint*)addr;
return joint->GetSpringFrequencyHz();
*/
/** Set/Get the spring damping ratio */
public void setSpringDampingRatio (float ratio) {
jniSetSpringDampingRatio(addr, ratio);
}
private native void jniSetSpringDampingRatio (long addr, float ratio); /*
b2WheelJoint* joint = (b2WheelJoint*)addr;
joint->SetSpringDampingRatio(ratio);
*/
public float getSpringDampingRatio () {
return jniGetSpringDampingRatio(addr);
}
private native float jniGetSpringDampingRatio (long addr); /*
b2WheelJoint* joint = (b2WheelJoint*)addr;
return joint->GetSpringDampingRatio();
*/
}
