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Contents
package org.jbox2d.dynamics.joints;
import org.jbox2d.common.Vec2;
import org.jbox2d.dynamics.Body;
/**
* Motor joint definition.
*
* @author dmurph
*/
public class MotorJointDef extends JointDef {
/**
* Position of bodyB minus the position of bodyA, in bodyA's frame, in meters.
*/
public final Vec2 linearOffset = new Vec2();
/**
* The bodyB angle minus bodyA angle in radians.
*/
public float angularOffset;
/**
* The maximum motor force in N.
*/
public float maxForce;
/**
* The maximum motor torque in N-m.
*/
public float maxTorque;
/**
* Position correction factor in the range [0,1].
*/
public float correctionFactor;
public MotorJointDef() {
super(JointType.MOTOR);
angularOffset = 0;
maxForce = 1;
maxTorque = 1;
correctionFactor = 0.3f;
}
public void initialize(Body bA, Body bB) {
bodyA = bA;
bodyB = bB;
Vec2 xB = bodyB.getPosition();
bodyA.getLocalPointToOut(xB, linearOffset);
float angleA = bodyA.getAngle();
float angleB = bodyB.getAngle();
angularOffset = angleB - angleA;
}
}
Version data entries
7 entries across 7 versions & 1 rubygems