23#ifndef B2_PULLEY_JOINT_H
24#define B2_PULLEY_JOINT_H
29const float b2_minPulleyLength = 2.0f;
33struct B2_API b2PulleyJointDef :
public b2JointDef
84class B2_API b2PulleyJoint :
public b2Joint
122 friend class b2Joint;
125 void InitVelocityConstraints(
const b2SolverData& data)
override;
126 void SolveVelocityConstraints(
const b2SolverData& data)
override;
127 bool SolvePositionConstraints(
const b2SolverData& data)
override;
A rigid body. These are created via b2World::CreateBody.
Definition b2_body.h:129
b2Vec2 GetGroundAnchorA() const
Get the first ground anchor.
float GetLengthB() const
Get the current length of the segment attached to bodyB.
float GetRatio() const
Get the pulley ratio.
void Dump() override
Dump joint to dmLog.
void ShiftOrigin(const b2Vec2 &newOrigin) override
Implement b2Joint::ShiftOrigin.
b2Vec2 GetReactionForce(float inv_dt) const override
Get the reaction force on bodyB at the joint anchor in Newtons.
float GetReactionTorque(float inv_dt) const override
Get the reaction torque on bodyB in N*m.
float GetCurrentLengthB() const
Get the current length of the segment attached to bodyB.
float GetLengthA() const
Get the current length of the segment attached to bodyA.
b2Vec2 GetAnchorB() const override
Get the anchor point on bodyB in world coordinates.
float GetCurrentLengthA() const
Get the current length of the segment attached to bodyA.
b2Vec2 GetAnchorA() const override
Get the anchor point on bodyA in world coordinates.
b2Vec2 GetGroundAnchorB() const
Get the second ground anchor.
b2JointType type
The joint type is set automatically for concrete joint types.
Definition b2_joint.h:83
b2Body * bodyA
The first attached body.
Definition b2_joint.h:89
b2Body * bodyB
The second attached body.
Definition b2_joint.h:92
bool collideConnected
Set this flag to true if the attached bodies should collide.
Definition b2_joint.h:95
Definition b2_pulley_joint.h:34
float ratio
The pulley ratio, used to simulate a block-and-tackle.
Definition b2_pulley_joint.h:73
float lengthA
The a reference length for the segment attached to bodyA.
Definition b2_pulley_joint.h:67
float lengthB
The a reference length for the segment attached to bodyB.
Definition b2_pulley_joint.h:70
b2Vec2 groundAnchorB
The second ground anchor in world coordinates. This point never moves.
Definition b2_pulley_joint.h:58
b2Vec2 groundAnchorA
The first ground anchor in world coordinates. This point never moves.
Definition b2_pulley_joint.h:55
b2Vec2 localAnchorA
The local anchor point relative to bodyA's origin.
Definition b2_pulley_joint.h:61
void Initialize(b2Body *bodyA, b2Body *bodyB, const b2Vec2 &groundAnchorA, const b2Vec2 &groundAnchorB, const b2Vec2 &anchorA, const b2Vec2 &anchorB, float ratio)
Initialize the bodies, anchors, lengths, max lengths, and ratio using the world anchors.
b2Vec2 localAnchorB
The local anchor point relative to bodyB's origin.
Definition b2_pulley_joint.h:64
Solver Data.
Definition b2_time_step.h:68
A 2D column vector.
Definition b2_math.h:42