#include <CUWheelJoint.h>

Inheritance diagram for cugl::physics2::WheelJoint:

Public Member Functions
	WheelJoint ()

bool	initWithObstacles (const std::shared_ptr< Obstacle > &obsA, const std::shared_ptr< Obstacle > &obsB) override

bool	initWithObstacles (const std::shared_ptr< Obstacle > &obsA, const std::shared_ptr< Obstacle > &obsB, const Vec2 localA, const Vec2 localB)

const Vec2 &	getLocalAnchorA () const

void	setLocalAnchorA (const Vec2 point)

void	setLocalAnchorA (float x, float y)

const Vec2 &	getLocalAnchorB () const

void	setLocalAnchorB (const Vec2 point)

void	setLocalAnchorB (float x, float y)

const Vec2 &	getLocalAxisA () const

void	setLocalAxisA (const Vec2 point)

void	setLocalAxisA (float x, float y)

float	getReferenceAngle () const

void	setReferenceAngle (float value)

bool	hasLimit () const

void	enableLimit (bool value)

bool	hasMotor () const

void	enableMotor (bool value)

float	getLowerTranslation () const

void	setLowerTranslation (float value)

float	getUpperTranslation () const

void	setUpperTranslation (float value)

float	getMaxMotorTorque () const

void	getMaxMotorTorque (float value)

float	getMotorSpeed () const

void	setMotorSpeed (float value)

float	getStiffness () const

void	setStiffness (float value)

float	getDamping () const

void	setDamping (float value)

virtual bool	activatePhysics (b2World &world) override

Public Member Functions inherited from cugl::physics2::Joint
	Joint ()

virtual	~Joint ()

bool	init ()

virtual bool	initWithObstacles (const std::shared_ptr< Obstacle > &obsA, const std::shared_ptr< Obstacle > &obsB)

b2JointType	getType () const

void	setObstacleA (const std::shared_ptr< Obstacle > &obs)

std::shared_ptr< Obstacle > &	getObstacleA ()

void	setObstacleB (const std::shared_ptr< Obstacle > &obs)

std::shared_ptr< Obstacle > &	getObstacleB ()

bool	getCollideConnected ()

void	setCollideConnected (bool flag)

void	release ()

bool	isRemoved () const

void	markRemoved (bool value)

bool	isDirty () const

void	markDirty (bool value)

b2Joint *	getJoint ()

virtual bool	activatePhysics (b2World &world)

void	deactivatePhysics (b2World &world)

Static Public Member Functions
static std::shared_ptr< WheelJoint >	alloc ()

static std::shared_ptr< WheelJoint >	allocWithObstacles (const std::shared_ptr< Obstacle > &obsA, const std::shared_ptr< Obstacle > &obsB)

static std::shared_ptr< WheelJoint >	allocWithObstacles (const std::shared_ptr< Obstacle > &obsA, const std::shared_ptr< Obstacle > &obsB, const Vec2 localA, const Vec2 localB)

Additional Inherited Members
Protected Attributes inherited from cugl::physics2::Joint
b2Joint *	_joint

b2JointType	_type

std::shared_ptr< Obstacle >	_bodyA

std::shared_ptr< Obstacle >	_bodyB

bool	_collideConnected

bool	_remove
	Track garbage collection status.

bool	_dirty

Detailed Description

The wheel joint class.

This joint 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.

Constructor & Destructor Documentation

◆ WheelJoint()

cugl::physics2::WheelJoint::WheelJoint ( )

Creates a new wheel joint with no obstacles

NEVER USE A CONSTRUCTOR WITH NEW. If you want to allocate an object on the heap, use one of the static constructors instead (in this case, in one of the subclasses).

Member Function Documentation

◆ activatePhysics()

virtual bool cugl::physics2::WheelJoint::activatePhysics ( b2World & world )

overridevirtual

Creates the Box2d joint, adding it to the world.

Calling this method activates the physics of the associated obstacles, if necessary.

Implementations of this method should NOT retain ownership of the Box2D world. That is a tight coupling that we should avoid.

Parameters

world Box2D world to store the joint

Returns: true if object allocation succeeded

Reimplemented from cugl::physics2::Joint.

◆ alloc()

static std::shared_ptr< WheelJoint > cugl::physics2::WheelJoint::alloc ( )

inlinestatic

Returns a newly allocated wheel joint with default values.

The joint will not have any associated obstacles and so attempting to activate it will fail.

Returns: a newly allocated wheel joint with default values.

◆ allocWithObstacles() [1/2]

static std::shared_ptr< WheelJoint > cugl::physics2::WheelJoint::allocWithObstacles	(	const std::shared_ptr< Obstacle > &	obsA,
		const std::shared_ptr< Obstacle > &	obsB
	)

inlinestatic

Returns a newly allocated wheel joint with the given obstacles.

All other attributes will be at their default values.

Parameters

obsA	The first obstacle to join
obsB	The second obstacle to join

Returns: a newly allocated wheel joint with the given obstacles.

◆ allocWithObstacles() [2/2]

static std::shared_ptr< WheelJoint > cugl::physics2::WheelJoint::allocWithObstacles	(	const std::shared_ptr< Obstacle > &	obsA,
		const std::shared_ptr< Obstacle > &	obsB,
		const Vec2	localA,
		const Vec2	localB
	)

inlinestatic

Returns a newly allocated wheel joint with the given obstacles and anchors

All other attributes will be at their default values.

Parameters

obsA	The first obstacle to join
obsB	The second obstacle to join
localA	The local anchor of the first obstacle
localB	The local anchor of the second obstacle

Returns: a newly allocated wheel joint with the given obstacles and anchors

◆ enableLimit()

void cugl::physics2::WheelJoint::enableLimit ( bool value )

inline

Enables/disables the joint limit.

If this method is called while the joint is active, then the joint will be marked as dirty. It will need to be deactivated and reactivated to work properly.

Parameters

value Whether to enable the joint limit

◆ enableMotor()

void cugl::physics2::WheelJoint::enableMotor ( bool value )

inline

Enables/disables the joint motor.

If this method is called while the joint is active, then the joint will be marked as dirty. It will need to be deactivated and reactivated to work properly.

Parameters

value Whether to enable the joint motor

◆ getDamping()

float cugl::physics2::WheelJoint::getDamping ( ) const

inline

Returns the linear damping in N*s/m.

Returns: the linear damping in N*s/m.

◆ getLocalAnchorA()

const Vec2 & cugl::physics2::WheelJoint::getLocalAnchorA ( ) const

inline

Returns the local anchor point relative to obstacle A's origin.

Returns: the local anchor point relative to obstacle A's origin.

◆ getLocalAnchorB()

const Vec2 & cugl::physics2::WheelJoint::getLocalAnchorB ( ) const

inline

Returns the local anchor point relative to obstacle B's origin.

Returns: the local anchor point relative to obstacle B's origin.

◆ getLocalAxisA()

const Vec2 & cugl::physics2::WheelJoint::getLocalAxisA ( ) const

inline

Returns the local translation unit axis.

This axis is measured with respect to bodyA.

Returns: the local translation unit axis.

◆ getLowerTranslation()

float cugl::physics2::WheelJoint::getLowerTranslation ( ) const

inline

Returns the lower translation limit.

This is usually measured in meters.

Returns: the lower translation limit.

◆ getMaxMotorTorque() [1/2]

float cugl::physics2::WheelJoint::getMaxMotorTorque ( ) const

inline

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

Returns: the maximum motor torque, usually in N-m.

◆ getMaxMotorTorque() [2/2]

void cugl::physics2::WheelJoint::getMaxMotorTorque ( float value )

inline

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

If this method is called while the joint is active, then the joint will be marked as dirty. It will need to be deactivated and reactivated to work properly.

Parameters

value the maximum motor torque

◆ getMotorSpeed()

float cugl::physics2::WheelJoint::getMotorSpeed ( ) const

inline

Returns the desired motor speed in radians per second.

Returns: the desired motor speed in radians per second.

◆ getReferenceAngle()

float cugl::physics2::WheelJoint::getReferenceAngle ( ) const

inline

Returns the constrained angle between the bodies.

This value is measured bodyB - bodyA in radians.

Returns: the constrained angle between the bodies.

◆ getStiffness()

float cugl::physics2::WheelJoint::getStiffness ( ) const

inline

Returns the linear stiffness in N/m.

Returns: the linear stiffness in N/m.

◆ getUpperTranslation()

float cugl::physics2::WheelJoint::getUpperTranslation ( ) const

inline

Returns the upper translation limit.

This is usually measured in meters.

Returns: the upper translation limit.

◆ hasLimit()

bool cugl::physics2::WheelJoint::hasLimit ( ) const

inline

Returns true if the joint limit is enabled.

Returns: true if the joint limit is enabled.

◆ hasMotor()

bool cugl::physics2::WheelJoint::hasMotor ( ) const

inline

Returns true if the joint motor is enabled.

Returns: true if the joint motor is enabled.

◆ initWithObstacles() [1/2]

bool cugl::physics2::WheelJoint::initWithObstacles	(	const std::shared_ptr< Obstacle > &	obsA,
		const std::shared_ptr< Obstacle > &	obsB
	)

overridevirtual

Initializes a new wheel joint with the given obstacles.

All other attributes will be at their default values.

Parameters

obsA	The first obstacle to join
obsB	The second obstacle to join

Returns: true if the obstacle is initialized properly, false otherwise.

Reimplemented from cugl::physics2::Joint.

◆ initWithObstacles() [2/2]

bool cugl::physics2::WheelJoint::initWithObstacles	(	const std::shared_ptr< Obstacle > &	obsA,
		const std::shared_ptr< Obstacle > &	obsB,
		const Vec2	localA,
		const Vec2	localB
	)

Initializes a new wheel joint with the given obstacles and anchors

All other attributes will be at their default values.

Parameters

obsA	The first obstacle to join
obsB	The second obstacle to join
localA	The local anchor of the first obstacle
localB	The local anchor of the second obstacle

Returns: true if the obstacle is initialized properly, false otherwise.

◆ setDamping()

void cugl::physics2::WheelJoint::setDamping ( float value )

inline

Sets the linear damping in N*s/m.

Parameters

value the linear damping

◆ setLocalAnchorA() [1/2]

void cugl::physics2::WheelJoint::setLocalAnchorA ( const Vec2 point )

inline

Sets the local anchor point relative to obstacle A's origin.

If this method is called while the joint is active, then the joint will be marked as dirty. It will need to be deactivated and reactivated to work properly.

Parameters

point the local anchor point

◆ setLocalAnchorA() [2/2]

void cugl::physics2::WheelJoint::setLocalAnchorA	(	float	x,
		float	y
	)

inline

Sets the local anchor point relative to obstacle A's origin.

If this method is called while the joint is active, then the joint will be marked as dirty. It will need to be deactivated and reactivated to work properly.

Parameters

x	the x-coordinate of the local anchor point
y	the y-coordinate of the local anchor point

◆ setLocalAnchorB() [1/2]

void cugl::physics2::WheelJoint::setLocalAnchorB ( const Vec2 point )

inline

Sets the local anchor point relative to obstacle B's origin.

If this method is called while the joint is active, then the joint will be marked as dirty. It will need to be deactivated and reactivated to work properly.

Parameters

point the local anchor point

◆ setLocalAnchorB() [2/2]

void cugl::physics2::WheelJoint::setLocalAnchorB	(	float	x,
		float	y
	)

inline

Sets the local anchor point relative to obstacle B's origin.

If this method is called while the joint is active, then the joint will be marked as dirty. It will need to be deactivated and reactivated to work properly.

Parameters

x	the x-coordinate of the local anchor point
y	the y-coordinate of the local anchor point

◆ setLocalAxisA() [1/2]

void cugl::physics2::WheelJoint::setLocalAxisA ( const Vec2 point )

inline

Sets the local translation unit axis.

This axis is measured with respect to bodyA.

If this method is called while the joint is active, then the joint will be marked as dirty. It will need to be deactivated and reactivated to work properly.

Parameters

point the local translation unit axis.

◆ setLocalAxisA() [2/2]

void cugl::physics2::WheelJoint::setLocalAxisA	(	float	x,
		float	y
	)

inline

Sets the local translation unit axis.

This axis is measured with respect to bodyA.

If this method is called while the joint is active, then the joint will be marked as dirty. It will need to be deactivated and reactivated to work properly.

Parameters

x	the x-coordinate of the local translation unit axis
y	the y-coordinate of the local translation unit axis

◆ setLowerTranslation()

void cugl::physics2::WheelJoint::setLowerTranslation ( float value )

inline

Sets the lower translation limit.

This is usually measured in meters.

If this method is called while the joint is active, then the joint will be marked as dirty. It will need to be deactivated and reactivated to work properly.

Parameters

value the lower translation limit.

◆ setMotorSpeed()

void cugl::physics2::WheelJoint::setMotorSpeed ( float value )

inline

Sets the desired motor speed in radians per second.

If this method is called while the joint is active, then the joint will be marked as dirty. It will need to be deactivated and reactivated to work properly.

Parameters

value the desired motor speed

◆ setReferenceAngle()

void cugl::physics2::WheelJoint::setReferenceAngle ( float value )

inline

Sets the constrained angle between the bodies.

This value is measured bodyB - bodyA in radians.

If this method is called while the joint is active, then the joint will be marked as dirty. It will need to be deactivated and reactivated to work properly.

Parameters

value the constrained angle between the bodies.

◆ setStiffness()

void cugl::physics2::WheelJoint::setStiffness ( float value )

inline

Sets the linear stiffness in N/m.

Parameters

value the linear stiffness

◆ setUpperTranslation()

void cugl::physics2::WheelJoint::setUpperTranslation ( float value )

inline

Sets the upper translation limit.

This is usually measured in meters.

If this method is called while the joint is active, then the joint will be marked as dirty. It will need to be deactivated and reactivated to work properly.

Parameters

value the upper translation limit.

The documentation for this class was generated from the following file:

/Users/wmwhite/Developer/CUGL/include/cugl/physics2/CUWheelJoint.h

Public Member Functions

Static Public Member Functions

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ WheelJoint()

Member Function Documentation

◆ activatePhysics()

◆ alloc()

◆ allocWithObstacles() [1/2]

◆ allocWithObstacles() [2/2]

◆ enableLimit()

◆ enableMotor()

◆ getDamping()

◆ getLocalAnchorA()

◆ getLocalAnchorB()

◆ getLocalAxisA()

◆ getLowerTranslation()

◆ getMaxMotorTorque() [1/2]

◆ getMaxMotorTorque() [2/2]

◆ getMotorSpeed()

◆ getReferenceAngle()

◆ getStiffness()

◆ getUpperTranslation()

◆ hasLimit()

◆ hasMotor()

◆ initWithObstacles() [1/2]

◆ initWithObstacles() [2/2]

◆ setDamping()

◆ setLocalAnchorA() [1/2]

◆ setLocalAnchorA() [2/2]

◆ setLocalAnchorB() [1/2]

◆ setLocalAnchorB() [2/2]

◆ setLocalAxisA() [1/2]

◆ setLocalAxisA() [2/2]

◆ setLowerTranslation()

◆ setMotorSpeed()

◆ setReferenceAngle()

◆ setStiffness()

◆ setUpperTranslation()