Boks2D/io.github.joaomcl.boks2d.joints/Joint

Joint

expect class Joint

Base class for all joints. A joint connects two bodies and constrains their relative motion.

Type-specific functions are prefixed with the joint type name. Calling a type-specific function on the wrong joint type will result in undefined behavior.

Properties

angularSeparation

expect val angularSeparation: Float

Get the current angular separation for this joint.

bodyA

expect val bodyA: Body

Get body A on this joint.

bodyB

expect val bodyB: Body

Get body B on this joint.

collideConnected

expect var collideConnected: Boolean

Whether connected bodies should collide.

constraintForce

expect val constraintForce: Vec2

Get the current constraint force for this joint, usually in Newtons.

constraintTorque

expect val constraintTorque: Float

Get the current constraint torque for this joint, usually in Newton-meters.

isValid

expect val isValid: Boolean

Check if this joint reference is valid. Joints may be destroyed by the user or during world destruction.

linearSeparation

expect val linearSeparation: Float

Get the current linear separation for this joint.

localAnchorA

expect var localAnchorA: Vec2

The local anchor point on body A.

localAnchorB

expect var localAnchorB: Vec2

The local anchor point on body B.

localAxisA

expect var localAxisA: Vec2

The local axis A for joints that use it (prismatic, wheel).

referenceAngle

expect var referenceAngle: Float

The reference angle for joints that use it (revolute, prismatic, weld).

type

expect val type: JointType

The joint type.

userData

expect var userData: Long

User data stored as a Long. Can be used as a key in a Map for associating arbitrary objects with this joint.

world

expect val world: World

Get the world that owns this joint.

Functions

distanceJointEnableLimit

expect fun distanceJointEnableLimit(enabled: Boolean)

Enable/disable the distance joint length limit.

distanceJointEnableMotor

expect fun distanceJointEnableMotor(enabled: Boolean)

Enable/disable the distance joint motor.

distanceJointEnableSpring

expect fun distanceJointEnableSpring(enabled: Boolean)

Enable/disable the distance joint spring.

distanceJointGetCurrentLength

expect fun distanceJointGetCurrentLength(): Float

Get the current distance joint length.

distanceJointGetLength

expect fun distanceJointGetLength(): Float

Get the rest length of a distance joint.

distanceJointGetMaxLength

expect fun distanceJointGetMaxLength(): Float

Get the distance joint maximum length.

distanceJointGetMaxMotorForce

expect fun distanceJointGetMaxMotorForce(): Float

Get the distance joint maximum motor force, usually in Newtons.

distanceJointGetMinLength

expect fun distanceJointGetMinLength(): Float

Get the distance joint minimum length.

distanceJointGetMotorForce

expect fun distanceJointGetMotorForce(): Float

Get the distance joint current motor force, usually in Newtons.

distanceJointGetMotorSpeed

expect fun distanceJointGetMotorSpeed(): Float

Get the distance joint motor speed, usually in meters per second.

distanceJointGetSpringDampingRatio

expect fun distanceJointGetSpringDampingRatio(): Float

Get the distance joint spring damping ratio (dimensionless).

distanceJointGetSpringHertz

expect fun distanceJointGetSpringHertz(): Float

Get the distance joint spring stiffness in Hertz.

distanceJointIsLimitEnabled

expect fun distanceJointIsLimitEnabled(): Boolean

Is the distance joint length limit enabled?

distanceJointIsMotorEnabled

expect fun distanceJointIsMotorEnabled(): Boolean

Is the distance joint motor enabled?

distanceJointIsSpringEnabled

expect fun distanceJointIsSpringEnabled(): Boolean

Is the distance joint spring enabled?

distanceJointSetLength

expect fun distanceJointSetLength(length: Float)

Set the rest length of a distance joint.

distanceJointSetLengthRange

expect fun distanceJointSetLengthRange(minLength: Float, maxLength: Float)

Set the distance joint length range minLength, maxLength.

distanceJointSetMaxMotorForce

expect fun distanceJointSetMaxMotorForce(force: Float)

Set the distance joint maximum motor force, usually in Newtons.

distanceJointSetMotorSpeed

expect fun distanceJointSetMotorSpeed(motorSpeed: Float)

Set the distance joint motor speed, usually in meters per second.

distanceJointSetSpringDampingRatio

expect fun distanceJointSetSpringDampingRatio(dampingRatio: Float)

Set the distance joint spring damping ratio (dimensionless).

distanceJointSetSpringHertz

expect fun distanceJointSetSpringHertz(hertz: Float)

Set the distance joint spring stiffness in Hertz.

getConstraintTuning

expect fun getConstraintTuning(): Pair<Float, Float>

Get the constraint tuning for this joint.

motorJointGetAngularOffset

expect fun motorJointGetAngularOffset(): Float

Get the motor joint angular offset target in radians.

motorJointGetCorrectionFactor

expect fun motorJointGetCorrectionFactor(): Float

Get the motor joint correction factor, usually in 0, 1.

motorJointGetLinearOffset

expect fun motorJointGetLinearOffset(): Vec2

Get the motor joint linear offset target.

motorJointGetMaxForce

expect fun motorJointGetMaxForce(): Float

Get the motor joint maximum force, usually in Newtons.

motorJointGetMaxTorque

expect fun motorJointGetMaxTorque(): Float

Get the motor joint maximum torque, usually in Newton-meters.

motorJointSetAngularOffset

expect fun motorJointSetAngularOffset(angularOffset: Float)

Set the motor joint angular offset target in radians.

motorJointSetCorrectionFactor

expect fun motorJointSetCorrectionFactor(correctionFactor: Float)

Set the motor joint correction factor, usually in 0, 1.

motorJointSetLinearOffset

expect fun motorJointSetLinearOffset(offset: Vec2)

Set the motor joint linear offset target.

motorJointSetMaxForce

expect fun motorJointSetMaxForce(maxForce: Float)

Set the motor joint maximum force, usually in Newtons.

motorJointSetMaxTorque

expect fun motorJointSetMaxTorque(maxTorque: Float)

Set the motor joint maximum torque, usually in Newton-meters.

mouseJointGetMaxForce

expect fun mouseJointGetMaxForce(): Float

Get the mouse joint maximum force, usually in Newtons.

mouseJointGetSpringDampingRatio

expect fun mouseJointGetSpringDampingRatio(): Float

Get the mouse joint spring damping ratio (dimensionless).

mouseJointGetSpringHertz

expect fun mouseJointGetSpringHertz(): Float

Get the mouse joint spring stiffness in Hertz.

mouseJointGetTarget

expect fun mouseJointGetTarget(): Vec2

Get the mouse joint target.

mouseJointSetMaxForce

expect fun mouseJointSetMaxForce(maxForce: Float)

Set the mouse joint maximum force, usually in Newtons.

mouseJointSetSpringDampingRatio

expect fun mouseJointSetSpringDampingRatio(dampingRatio: Float)

Set the mouse joint spring damping ratio (dimensionless).

mouseJointSetSpringHertz

expect fun mouseJointSetSpringHertz(hertz: Float)

Set the mouse joint spring stiffness in Hertz.

mouseJointSetTarget

expect fun mouseJointSetTarget(target: Vec2)

Set the mouse joint target.

prismaticJointEnableLimit

expect fun prismaticJointEnableLimit(enabled: Boolean)

Enable/disable the prismatic joint limit.

prismaticJointEnableMotor

expect fun prismaticJointEnableMotor(enabled: Boolean)

Enable/disable the prismatic joint motor.

prismaticJointEnableSpring

expect fun prismaticJointEnableSpring(enabled: Boolean)

Enable/disable the prismatic joint spring.

prismaticJointGetLowerLimit

expect fun prismaticJointGetLowerLimit(): Float

Get the prismatic joint lower limit.

prismaticJointGetMaxMotorForce

expect fun prismaticJointGetMaxMotorForce(): Float

Get the prismatic joint maximum motor force, usually in Newtons.

prismaticJointGetMotorForce

expect fun prismaticJointGetMotorForce(): Float

Get the prismatic joint current motor force, usually in Newtons.

prismaticJointGetMotorSpeed

expect fun prismaticJointGetMotorSpeed(): Float

Get the prismatic joint motor speed, usually in meters per second.

prismaticJointGetSpeed

expect fun prismaticJointGetSpeed(): Float

Get the current prismatic joint speed.

prismaticJointGetSpringDampingRatio

expect fun prismaticJointGetSpringDampingRatio(): Float

Get the prismatic joint spring damping ratio (dimensionless).

prismaticJointGetSpringHertz

expect fun prismaticJointGetSpringHertz(): Float

Get the prismatic joint spring stiffness in Hertz.

prismaticJointGetTargetTranslation

expect fun prismaticJointGetTargetTranslation(): Float

Get the prismatic joint target translation.

prismaticJointGetTranslation

expect fun prismaticJointGetTranslation(): Float

Get the current prismatic joint translation.

prismaticJointGetUpperLimit

expect fun prismaticJointGetUpperLimit(): Float

Get the prismatic joint upper limit.

prismaticJointIsLimitEnabled

expect fun prismaticJointIsLimitEnabled(): Boolean

Is the prismatic joint limit enabled?

prismaticJointIsMotorEnabled

expect fun prismaticJointIsMotorEnabled(): Boolean

Is the prismatic joint motor enabled?

prismaticJointIsSpringEnabled

expect fun prismaticJointIsSpringEnabled(): Boolean

Is the prismatic joint spring enabled?

prismaticJointSetLimits

expect fun prismaticJointSetLimits(lower: Float, upper: Float)

Set the prismatic joint limits.

prismaticJointSetMaxMotorForce

expect fun prismaticJointSetMaxMotorForce(force: Float)

Set the prismatic joint maximum motor force, usually in Newtons.

prismaticJointSetMotorSpeed

expect fun prismaticJointSetMotorSpeed(motorSpeed: Float)

Set the prismatic joint motor speed, usually in meters per second.

prismaticJointSetSpringDampingRatio

expect fun prismaticJointSetSpringDampingRatio(dampingRatio: Float)

Set the prismatic joint spring damping ratio (dimensionless).

prismaticJointSetSpringHertz

expect fun prismaticJointSetSpringHertz(hertz: Float)

Set the prismatic joint spring stiffness in Hertz.

prismaticJointSetTargetTranslation

expect fun prismaticJointSetTargetTranslation(translation: Float)

Set the prismatic joint target translation.

revoluteJointEnableLimit

expect fun revoluteJointEnableLimit(enabled: Boolean)

Enable/disable the revolute joint limit.

revoluteJointEnableMotor

expect fun revoluteJointEnableMotor(enabled: Boolean)

Enable/disable the revolute joint motor.

revoluteJointEnableSpring

expect fun revoluteJointEnableSpring(enabled: Boolean)

Enable/disable the revolute joint spring.

revoluteJointGetAngle

expect fun revoluteJointGetAngle(): Float

Get the revolute joint current angle in radians.

revoluteJointGetLowerLimit

expect fun revoluteJointGetLowerLimit(): Float

Get the revolute joint lower limit in radians.

revoluteJointGetMaxMotorTorque

expect fun revoluteJointGetMaxMotorTorque(): Float

Get the revolute joint maximum motor torque, usually in Newton-meters.

revoluteJointGetMotorSpeed

expect fun revoluteJointGetMotorSpeed(): Float

Get the revolute joint motor speed in radians per second.

revoluteJointGetMotorTorque

expect fun revoluteJointGetMotorTorque(): Float

Get the revolute joint current motor torque, usually in Newton-meters.

revoluteJointGetSpringDampingRatio

expect fun revoluteJointGetSpringDampingRatio(): Float

Get the revolute joint spring damping ratio (dimensionless).

revoluteJointGetSpringHertz

expect fun revoluteJointGetSpringHertz(): Float

Get the revolute joint spring stiffness in Hertz.

revoluteJointGetTargetAngle

expect fun revoluteJointGetTargetAngle(): Float

Get the revolute joint target angle in radians.

revoluteJointGetUpperLimit

expect fun revoluteJointGetUpperLimit(): Float

Get the revolute joint upper limit in radians.

revoluteJointIsLimitEnabled

expect fun revoluteJointIsLimitEnabled(): Boolean

Is the revolute joint limit enabled?

revoluteJointIsMotorEnabled

expect fun revoluteJointIsMotorEnabled(): Boolean

Is the revolute joint motor enabled?

revoluteJointIsSpringEnabled

expect fun revoluteJointIsSpringEnabled(): Boolean

Is the revolute joint spring enabled?

revoluteJointSetLimits

expect fun revoluteJointSetLimits(lower: Float, upper: Float)

Set the revolute joint limits in radians.

revoluteJointSetMaxMotorTorque

expect fun revoluteJointSetMaxMotorTorque(torque: Float)

Set the revolute joint maximum motor torque, usually in Newton-meters.

revoluteJointSetMotorSpeed

expect fun revoluteJointSetMotorSpeed(motorSpeed: Float)

Set the revolute joint motor speed in radians per second.

revoluteJointSetSpringDampingRatio

expect fun revoluteJointSetSpringDampingRatio(dampingRatio: Float)

Set the revolute joint spring damping ratio (dimensionless).

revoluteJointSetSpringHertz

expect fun revoluteJointSetSpringHertz(hertz: Float)

Set the revolute joint spring stiffness in Hertz.

revoluteJointSetTargetAngle

expect fun revoluteJointSetTargetAngle(angle: Float)

Set the revolute joint target angle in radians.

setConstraintTuning

expect fun setConstraintTuning(hertz: Float, dampingRatio: Float)

Set the constraint tuning for this joint.

wakeBodies

expect fun wakeBodies()

Wake up the connected bodies.

weldJointGetAngularDampingRatio

expect fun weldJointGetAngularDampingRatio(): Float

Get the weld joint angular damping ratio (dimensionless).

weldJointGetAngularHertz

expect fun weldJointGetAngularHertz(): Float

Get the weld joint angular stiffness in Hertz.

weldJointGetLinearDampingRatio

expect fun weldJointGetLinearDampingRatio(): Float

Get the weld joint linear damping ratio (dimensionless).

weldJointGetLinearHertz

expect fun weldJointGetLinearHertz(): Float

Get the weld joint linear stiffness in Hertz.

weldJointSetAngularDampingRatio

expect fun weldJointSetAngularDampingRatio(dampingRatio: Float)

Set the weld joint angular damping ratio (dimensionless).

weldJointSetAngularHertz

expect fun weldJointSetAngularHertz(hertz: Float)

Set the weld joint angular stiffness in Hertz. 0 is rigid.

weldJointSetLinearDampingRatio

expect fun weldJointSetLinearDampingRatio(dampingRatio: Float)

Set the weld joint linear damping ratio (dimensionless).

weldJointSetLinearHertz

expect fun weldJointSetLinearHertz(hertz: Float)

Set the weld joint linear stiffness in Hertz. 0 is rigid.

wheelJointEnableLimit

expect fun wheelJointEnableLimit(enabled: Boolean)

Enable/disable the wheel joint limit.

wheelJointEnableMotor

expect fun wheelJointEnableMotor(enabled: Boolean)

Enable/disable the wheel joint motor.

wheelJointEnableSpring

expect fun wheelJointEnableSpring(enabled: Boolean)

Enable/disable the wheel joint spring.

wheelJointGetLowerLimit

expect fun wheelJointGetLowerLimit(): Float

Get the wheel joint lower limit.

wheelJointGetMaxMotorTorque

expect fun wheelJointGetMaxMotorTorque(): Float

Get the wheel joint maximum motor torque, usually in Newton-meters.

wheelJointGetMotorSpeed

expect fun wheelJointGetMotorSpeed(): Float

Get the wheel joint motor speed in radians per second.

wheelJointGetMotorTorque

expect fun wheelJointGetMotorTorque(): Float

Get the wheel joint current motor torque, usually in Newton-meters.

wheelJointGetSpringDampingRatio

expect fun wheelJointGetSpringDampingRatio(): Float

Get the wheel joint spring damping ratio (dimensionless).

wheelJointGetSpringHertz

expect fun wheelJointGetSpringHertz(): Float

Get the wheel joint spring stiffness in Hertz.

wheelJointGetUpperLimit

expect fun wheelJointGetUpperLimit(): Float

Get the wheel joint upper limit.

wheelJointIsLimitEnabled

expect fun wheelJointIsLimitEnabled(): Boolean

Is the wheel joint limit enabled?

wheelJointIsMotorEnabled

expect fun wheelJointIsMotorEnabled(): Boolean

Is the wheel joint motor enabled?

wheelJointIsSpringEnabled

expect fun wheelJointIsSpringEnabled(): Boolean

Is the wheel joint spring enabled?

wheelJointSetLimits

expect fun wheelJointSetLimits(lower: Float, upper: Float)

Set the wheel joint limits.

wheelJointSetMaxMotorTorque

expect fun wheelJointSetMaxMotorTorque(torque: Float)

Set the wheel joint maximum motor torque, usually in Newton-meters.

wheelJointSetMotorSpeed

expect fun wheelJointSetMotorSpeed(motorSpeed: Float)

Set the wheel joint motor speed in radians per second.

wheelJointSetSpringDampingRatio

expect fun wheelJointSetSpringDampingRatio(dampingRatio: Float)

Set the wheel joint spring damping ratio (dimensionless).

wheelJointSetSpringHertz

expect fun wheelJointSetSpringHertz(hertz: Float)

Set the wheel joint spring stiffness in Hertz.