org.jbox2d.dynamics.joints.WeldJointDef Maven / Gradle / Ivy

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 * Copyright (c) 2013, Daniel Murphy
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package org.jbox2d.dynamics.joints;

import org.jbox2d.common.Vec2;
import org.jbox2d.dynamics.Body;
import org.jbox2d.dynamics.joints.JointDef;
import org.jbox2d.dynamics.joints.JointType;

/**
 * Created at 3:38:52 AM Jan 15, 2011
 */

/**
 * @author Daniel Murphy
 */
public class WeldJointDef extends JointDef {
  /**
   * The local anchor point relative to body1's origin.
   */
  public final Vec2 localAnchorA;

  /**
   * The local anchor point relative to body2's origin.
   */
  public final Vec2 localAnchorB;

  /**
   * The body2 angle minus body1 angle in the reference state (radians).
   */
  public float referenceAngle;

  /**
   * The mass-spring-damper frequency in Hertz. Rotation only. Disable softness with a value of 0.
   */
  public float frequencyHz;

  /**
   * The damping ratio. 0 = no damping, 1 = critical damping.
   */
  public float dampingRatio;

  public WeldJointDef() {
    super(JointType.WELD);
    localAnchorA = new Vec2();
    localAnchorB = new Vec2();
    referenceAngle = 0.0f;
  }

  /**
   * Initialize the bodies, anchors, and reference angle using a world anchor point.
   * 
   * @param bA
   * @param bB
   * @param anchor
   */
  public void initialize(Body bA, Body bB, Vec2 anchor) {
    bodyA = bA;
    bodyB = bB;
    bodyA.getLocalPointToOut(anchor, localAnchorA);
    bodyB.getLocalPointToOut(anchor, localAnchorB);
    referenceAngle = bodyB.getAngle() - bodyA.getAngle();
  }
}