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

RevoluteJointDef

data class RevoluteJointDef(val bodyA: Body, val bodyB: Body, val localAnchorA: Vec2 = Vec2.Zero, val localAnchorB: Vec2 = Vec2.Zero, val referenceAngle: Float = 0.0f, val enableSpring: Boolean = false, val hertz: Float = 0.0f, val dampingRatio: Float = 0.0f, val enableLimit: Boolean = false, val lowerAngle: Float = 0.0f, val upperAngle: Float = 0.0f, val enableMotor: Boolean = false, val maxMotorTorque: Float = 0.0f, val motorSpeed: Float = 0.0f, val targetAngle: Float = 0.0f, val collideConnected: Boolean = false)

Revolute joint definition.

A revolute joint forces two bodies to share a common anchor point (hinge). 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.

Parameters

bodyA

The first attached body

bodyB

The second attached body

localAnchorA

The local anchor point relative to bodyA's origin

localAnchorB

The local anchor point relative to bodyB's origin

Constructors

RevoluteJointDef

constructor(bodyA: Body, bodyB: Body, localAnchorA: Vec2 = Vec2.Zero, localAnchorB: Vec2 = Vec2.Zero, referenceAngle: Float = 0.0f, enableSpring: Boolean = false, hertz: Float = 0.0f, dampingRatio: Float = 0.0f, enableLimit: Boolean = false, lowerAngle: Float = 0.0f, upperAngle: Float = 0.0f, enableMotor: Boolean = false, maxMotorTorque: Float = 0.0f, motorSpeed: Float = 0.0f, targetAngle: Float = 0.0f, collideConnected: Boolean = false)

Properties

bodyA

val bodyA: Body

bodyB

val bodyB: Body

collideConnected

val collideConnected: Boolean

Set this flag to true if the attached bodies should collide

dampingRatio

val dampingRatio: Float

The spring damping ratio, non-dimensional

enableLimit

val enableLimit: Boolean

Enable joint limits

enableMotor

val enableMotor: Boolean

Enable the joint motor

enableSpring

val enableSpring: Boolean

Enable a rotational spring on the revolute hinge axis

hertz

val hertz: Float

The spring stiffness Hertz, cycles per second

localAnchorA

val localAnchorA: Vec2

localAnchorB

val localAnchorB: Vec2

lowerAngle

val lowerAngle: Float

The lower angle for the joint limit in radians. Minimum of -0.99*pi radians.

maxMotorTorque

val maxMotorTorque: Float

The maximum motor torque, typically in newton-meters

motorSpeed

val motorSpeed: Float

The desired motor speed in radians per second

referenceAngle

val referenceAngle: Float

The bodyB angle minus bodyA angle in the reference state (radians). This defines the zero angle for the joint limits and servo target.

targetAngle

val targetAngle: Float

The target angle for the joint servo in radians. The joint will try to reach this angle when the motor is enabled. This defines the zero angle for the joint limit.

upperAngle

val upperAngle: Float

The upper angle for the joint limit in radians. Maximum of 0.99*pi radians.