Jeffrey T. Palmer > Box2D > Box2D::b2RevoluteJoint

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NAME ^

Box2D::b2RevoluteJoint - Constrains two bodies to share a common point.

SYNOPSIS ^

  my $joint = $world->CreateJoint( $joint_def );
  $joint->EnableMotor( 1 );
  $joint->SetMaxMotorTorque( $torque );
  $joint->SetMotorSpeed( $speed );

DESCRIPTION ^

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.

METHODS ^

EnableLimit( $flag )

Enable/disable the joint limit.

Parameters:

EnableMotor( $flag )

Enable/disable the joint motor.

Parameters:

GetAnchorA()

Get the anchor point on bodyA in world coordinates. Implements Box2D::b2Joint.

Returns a Box2D::b2Vec2

GetAnchorB()

Get the anchor point on bodyB in world coordinates. Implements Box2D::b2Joint.

Returns a Box2D::b2Vec2

GetJointAngle()

Get the current joint angle in radians.

Returns a float32

GetJointSpeed()

Get the current joint angle speed in radians per second.

Returns a float32

GetLowerLimit()

Get the lower joint limit in radians.

Returns a float32

GetMotorSpeed()

Get the motor speed in radians per second.

Returns a float32

GetMotorTorque()

Get the current motor torque, usually in N-m.

Returns a float32

GetReactionForce( $inv_dt )

Get the reaction force on body2 at the joint anchor in Newtons. Implements Box2D::b2Joint.

Parameters:

Returns a Box2D::b2Vec2

GetReactionTorque( $inv_dt )

Get the reaction torque on body2 in N*m. Implements Box2D::b2Joint.

Parameters:

Returns a float32

GetUpperLimit()

Get the upper joint limit in radians.

Returns a float32

IsLimitEnabled()

Is the joint limit enabled?

Returns a bool

IsMotorEnabled()

Is the joint motor enabled?

Returns a bool

SetLimits( $lower, $upper )

Set the joint limits in radians.

Parameters:

SetMaxMotorTorque( $torque )

Set the maximum motor torque, usually in N-m.

Parameters:

SetMotorSpeed( $speed )

Set the motor speed in radians per second.

Parameters:

SEE ALSO ^

BUGS ^

See "BUGS" in Box2D

AUTHORS ^

See "AUTHORS" in Box2D

COPYRIGHT & LICENSE ^

See "COPYRIGHT & LICENSE" in Box2D

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