Class b2RevoluteJoint

A revolute joint constrains to bodies to share a common point while they are free to rotate about the point. 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. A maximum motor torque is provided so that infinite forces are not generated.

Hierarchy

Index

Methods

Methods

public EnableLimit(flag: boolean)

Enable/disable the joint limit.

Parameters

  • flag: boolean

    True to enable, false to disable.

public EnableMotor(flag: boolean)

Enable/disable the joint motor.

Parameters

  • flag: boolean

    True to enable, false to diasable.

public GetAnchorA(): b2Vec2

Get the anchor point on bodyA in world coordinates.

Returns

b2Vec2

Body A anchor.

public GetAnchorB(): b2Vec2

Get the anchor point on bodyB in world coordinates.

Returns

b2Vec2

Body B anchor.

public GetBodyA(): b2Body

Get the first body attached to this joint.

Returns

b2Body

Body A.

public GetBodyB(): b2Body

Get the second body attached to this joint.

Returns

b2Body

Body B.

public GetJointAngle(): number

Get the current joint angle in radians.

Returns

number

Joint angle.

public GetJointSpeed(): number

Get the current joint angle speed in radians per second.

Returns

number

Joint speed.

public GetLowerLimit(): number

Get the lower joint limit in radians.

Returns

number

Lower limit.

public GetMotorSpeed(): number

Get the motor speed in radians per second.

Returns

number

Motor speed.

public GetMotorTorque(): number

Get the current motor torque, usually in N-m.

Returns

number

Motor torque.

public GetNext(): b2Joint

Get the next joint the world joint list.

Returns

b2Joint

Next joint.

public GetReactionForce(inv_dt: number): b2Vec2

Get the reaction force on body2 at the joint anchor in N.

Parameters

  • inv_dt: number

Returns

b2Vec2

Reaction force in N.

public GetReactionTorque(inv_dt: number): number

Get the reaction torque on body 2 in N.

Parameters

  • inv_dt: number

Returns

number

Reaction torque in N.

public GetType(): number

Get the type of the concrete joint.

Returns

number

Joint type.

public GetUpperLimit(): number

Get the upper joint limit in radians.

Returns

number

Upper limit.

public GetUserData(): any

Get the user data pointer.

Returns

any

User data. Cast to your data type.

public IsActive(): boolean

Short-cut function to determine if either body is inactive.

Returns

boolean

True if active, otherwise false.

public IsLimitEnabled(): boolean

Is the joint limit enabled?

Returns

boolean

True if enabled, false if disabled.

public IsMotorEnabled(): boolean

Is the joint motor enabled?

Returns

boolean

True if enabled, false if disabled.

public SetLimits(lower: number, upper: number)

Set the joint limits in radians.

Parameters

  • lower: number

    New lower limit.

  • upper: number

    New upper limit.

public SetMaxMotorTorque(torque: number)

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

Parameters

  • torque: number

    New max torque.

public SetMotorSpeed(speed: number)

Set the motor speed in radians per second.

Parameters

  • speed: number

    New motor speed.

public SetUserData(data: any)

Set the user data pointer.

Parameters

  • data: any

    Your custom data.