org.jbox2d.dynamics.joints.WheelJointDef Maven / Gradle / Ivy
The newest version!
/*
* The MIT License (MIT)
*
* FXGL - JavaFX Game Library
*
* Copyright (c) 2015-2017 AlmasB ([email protected])
*
* Permission is hereby granted, free of charge, to any person obtaining a copy
* of this software and associated documentation files (the "Software"), to deal
* in the Software without restriction, including without limitation the rights
* to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
* copies of the Software, and to permit persons to whom the Software is
* furnished to do so, subject to the following conditions:
*
* The above copyright notice and this permission notice shall be included in
* all copies or substantial portions of the Software.
*
* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
* FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
* AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
* LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
* OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
* SOFTWARE.
*/
/**
* Created at 7:27:31 AM Jan 21, 2011
*/
package org.jbox2d.dynamics.joints;
import com.almasb.fxgl.core.math.Vec2;
import org.jbox2d.dynamics.Body;
/**
* Wheel joint definition. This requires defining a line of motion using an axis and an anchor
* point. The definition uses local anchor points and a local axis so that the initial configuration
* can violate the constraint slightly. The joint translation is zero when the local anchor points
* coincide in world space. Using local anchors and a local axis helps when saving and loading a
* game.
*
* @author Daniel Murphy
*/
public class WheelJointDef extends JointDef {
/**
* The local anchor point relative to body1's origin.
*/
public final Vec2 localAnchorA = new Vec2();
/**
* The local anchor point relative to body2's origin.
*/
public final Vec2 localAnchorB = new Vec2();
/**
* The local translation axis in body1.
*/
public final Vec2 localAxisA = new Vec2();
/**
* Enable/disable the joint motor.
*/
public boolean enableMotor;
/**
* The maximum motor torque, usually in N-m.
*/
public float maxMotorTorque;
/**
* The desired motor speed in radians per second.
*/
public float motorSpeed;
/**
* Suspension frequency, zero indicates no suspension
*/
public float frequencyHz;
/**
* Suspension damping ratio, one indicates critical damping
*/
public float dampingRatio;
public WheelJointDef() {
super(JointType.WHEEL);
localAxisA.set(1, 0);
enableMotor = false;
maxMotorTorque = 0f;
motorSpeed = 0f;
}
public void initialize(Body b1, Body b2, Vec2 anchor, Vec2 axis) {
bodyA = b1;
bodyB = b2;
b1.getLocalPointToOut(anchor, localAnchorA);
b2.getLocalPointToOut(anchor, localAnchorB);
bodyA.getLocalVectorToOut(axis, localAxisA);
}
}