Inheritance diagram for FRevoluteJoint:

Public Member Functions
	FRevoluteJoint (FBody body1, FBody body2, float x, float y)

	FRevoluteJoint (FBody body1, FBody body2)

void	setLowerAngle (float a)

void	setUpperAngle (float a)

void	setEnableLimit (boolean value)

void	setMotorSpeed (float a)

void	setMaxMotorTorque (float a)

void	setEnableMotor (boolean value)

void	setAnchor (float x, float y)

float	getAnchorX ()

float	getAnchorY ()

void	setReferenceAngle (float ang)

void	draw (PGraphics applet)

void	drawDebug (PGraphics applet)

Public Member Functions inherited from FJoint
Joint	getBox2dJoint ()

void	addToWorld (FWorld world)

void	removeFromWorld ()

FBody	getBody1 ()

FBody	getBody2 ()

void	setCollideConnected (boolean value)

float	getReactionForceX ()

float	getReactionForceY ()

float	getReactionTorque ()

Public Member Functions inherited from FDrawable
void	draw (PGraphics graphics)

void	draw (PApplet applet)

void	drawDebug (PGraphics graphics)

void	drawDebug (PApplet applet)

void	attachImage (PImage img)

void	dettachImage ()

float	getImageAlpha ()

void	setImageAlpha (float alpha)

void	setDrawable (boolean drawable)

boolean	isDrawable ()

int	getFillColor ()

void	setFillColor (int col)

void	setNoFill ()

void	setFill (float g)

void	setFill (float g, float a)

void	setFill (float r, float g, float b)

void	setFill (float r, float g, float b, float a)

void	setStrokeColor (int col)

void	setNoStroke ()

void	setStroke (float g)

void	setStroke (float g, float a)

void	setStroke (float r, float g, float b)

void	setStroke (float r, float g, float b, float a)

void	setStrokeWeight (float weight)

Protected Member Functions
void	updateLocalAnchors ()

JointDef	getJointDef (FWorld world)

Protected Member Functions inherited from FJoint
void	processJoint (World world, JointDef jd)

JointDef	getJointDef (FWorld world)

void	preDraw (PGraphics applet)

void	postDraw (PGraphics applet)

void	preDrawDebug (PGraphics applet)

void	postDrawDebug (PGraphics applet)

Protected Member Functions inherited from FDrawable
void	updateStyle (FDrawable other)

void	appletStroke (PGraphics applet, int argb)

void	appletFill (PGraphics applet, int argb)

void	appletFillStroke (PGraphics applet)

void	drawImage (PGraphics applet)

Protected Attributes
FBody	m_body1

FBody	m_body2

Vec2	m_anchor

Vec2	m_localAnchor1 = new Vec2(0.0f, 0.0f)

Vec2	m_localAnchor2 = new Vec2(0.0f, 0.0f)

float	m_referenceAngle = 0.0f

boolean	m_enableLimit = false

float	m_lowerAngle = 0.0f

float	m_upperAngle = 0.0f

boolean	m_enableMotor = false

float	m_motorSpeed = 0.0f

float	m_maxMotorTorque = 0.0f

Protected Attributes inherited from FJoint
Joint	m_joint

FWorld	m_world

boolean	m_collideConnected = true

Protected Attributes inherited from FDrawable
boolean	m_drawable = true

boolean	m_fill = true

int	m_fillColor = 0xFFFFFFFF

boolean	m_stroke = true

int	m_strokeColor = 0xFF000000

float	m_strokeWeight = 1.0f

PImage	m_image = null

float	m_imageAlpha = 255.0f

PImage	m_mask = null

Detailed Description

Represents a revolute joint that restricts the movement of one body with respect to another to rotation around a given anchor. The rotation can be further limited given a lower and un upper angles. Additionally the user can enable a motor in order to apply a constant rotation force (torque) to the joint in order to reach the desired rotation speed.

Constructor & Destructor Documentation

◆ FRevoluteJoint() [1/2]

FRevoluteJoint.FRevoluteJoint	(	FBody	body1,
		FBody	body2,
		float	x,
		float	y
	)

Construct a revolute joint between two bodies given an anchor position.

Parameters

body1	first body of the joint
body2	second body of the joint
x	horizontal coordinate of the anchor given in global coordinates, relative to the canvas' center
y	vertical coordinate of the anchor given in global coordinates, relative to the canvas' center

◆ FRevoluteJoint() [2/2]

FRevoluteJoint.FRevoluteJoint	(	FBody	body1,
		FBody	body2
	)

Construct a revolute joint between two bodies.

Parameters

body1	first body of the joint
body2	second body of the joint

Member Function Documentation

◆ getAnchorX()

float FRevoluteJoint.getAnchorX ( )

Get the horizontal coordinate of the anchor of the joint around which the bodies can rotate. This position is given global coordinates, relative to the center of the canvas.

Returns: the horizontal coordinate of the anchor in global coordinates, relative to the center of the canvas

◆ getAnchorY()

float FRevoluteJoint.getAnchorY ( )

Get the vertical coordinate of the anchor of the joint around which the bodies can rotate. This position is given global coordinates, relative to the center of the canvas.

Returns: the vertical coordinate of the anchor in global coordinates, relative to the center of the canvas

◆ setAnchor()

void FRevoluteJoint.setAnchor	(	float	x,
		float	y
	)

Sets the position of the anchor of the joint around which the bodies rotate. This position is given global coordinates, relative to the center of the canvas.

Parameters

x	the horizontal coordinate of the anchor in global coordinates, relative to the center of the canvas
y	the vertical coordinate of the anchor in global coordinates, relative to the center of the canvas

◆ setEnableLimit()

void FRevoluteJoint.setEnableLimit ( boolean value )

Set limits to the allowed rotation of one body respect to the other. If set to

true

the limits imposed using setLowerAngle and setLowerAngle are enforced.

Parameters

value

if

true

the bodies will be able to rotate around the anchor only between certain limits

◆ setEnableMotor()

void FRevoluteJoint.setEnableMotor ( boolean value )

Set the state of the motor in order to generate a rotation force (torque) on the joint. If set to

true

the desired motor speed, set using setMotorSpeed, will try to be matched using a motor with a maximum rotation force (torque) set using setMaxMotorTorque.

Parameters

value

if

true

the joint will receive the rotation force (torque) of a motor

◆ setLowerAngle()

void FRevoluteJoint.setLowerAngle ( float a )

Set the lowest angle allowed. This property only has effect if the

enableLimit

has been set to

true

using setEnableLimit(boolean).

Parameters

a	lowest angle allowed in radians

◆ setMaxMotorTorque()

void FRevoluteJoint.setMaxMotorTorque ( float a )

Set the maximum torque that the joint's motor can apply in order to acheive the desired speed. This property only has effect if the

enableMotor

has been set to

true

using setEnableMotor(boolean).

Parameters

a	the maximum torque of the joint's motor

◆ setMotorSpeed()

void FRevoluteJoint.setMotorSpeed ( float a )

Set the desired rotation speed of the joint. This property only has effect if the

enableMotor

has been set to

true

using setEnableMotor(boolean). The speed is given in radians per second.

Parameters

a	the desired speed in radians per second

◆ setUpperAngle()

void FRevoluteJoint.setUpperAngle ( float a )

Set the highest angle allowed. This property only has effect if the

enableLimit

has been set to

true

using setEnableLimit(boolean).

Parameters

a	highest angle allowed in radians

Member Data Documentation

◆ m_enableLimit

boolean FRevoluteJoint.m_enableLimit = false

protected

A flag to enable joint limits.

◆ m_enableMotor

boolean FRevoluteJoint.m_enableMotor = false

protected

A flag to enable the joint motor.

◆ m_localAnchor1

Vec2 FRevoluteJoint.m_localAnchor1 = new Vec2(0.0f, 0.0f)

protected

The local anchor point relative to body1's origin.

◆ m_localAnchor2

Vec2 FRevoluteJoint.m_localAnchor2 = new Vec2(0.0f, 0.0f)

protected

The local anchor point relative to body2's origin.

◆ m_lowerAngle

float FRevoluteJoint.m_lowerAngle = 0.0f

protected

The lower angle for the joint limit (radians).

◆ m_maxMotorTorque

float FRevoluteJoint.m_maxMotorTorque = 0.0f

protected

The maximum motor torque used to achieve the desired motor speed. Usually in N-m.

◆ m_motorSpeed

float FRevoluteJoint.m_motorSpeed = 0.0f

protected

The desired motor speed. Usually in radians per second.

◆ m_referenceAngle

float FRevoluteJoint.m_referenceAngle = 0.0f

protected

The body2 angle minus body1 angle in the reference state (radians).

◆ m_upperAngle

float FRevoluteJoint.m_upperAngle = 0.0f

protected

The upper angle for the joint limit (radians).

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

C:/Users/crgallac/Documents/hAPI_Fisica_src/hAPI_Fisica_v0_1/source/hAPI_Fisica_v0_1/FRevoluteJoint.java

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

◆ FRevoluteJoint() [1/2]

◆ FRevoluteJoint() [2/2]

Member Function Documentation

◆ getAnchorX()

◆ getAnchorY()

◆ setAnchor()

◆ setEnableLimit()

◆ setEnableMotor()

◆ setLowerAngle()

◆ setMaxMotorTorque()

◆ setMotorSpeed()

◆ setUpperAngle()

Member Data Documentation

◆ m_enableLimit

◆ m_enableMotor

◆ m_localAnchor1

◆ m_localAnchor2

◆ m_lowerAngle

◆ m_maxMotorTorque

◆ m_motorSpeed

◆ m_referenceAngle

◆ m_upperAngle