blaze.dynamics.joints.revoluteJoint

class RevoluteJointDef : blaze.dynamics.joints.joint.JointDef;

Revolute joint definition. This requires defining an

anchor point where the bodies are joined. The definition

uses local anchor points so that the initial configuration

can violate the constraint slightly. You also need to

specify the initial relative angle for joint limits. This

helps when saving and loading a game.

The local anchor points are measured from the body's origin

rather than the center of mass because:

1. you might not know where the center of mass will be.

2. if you add/remove shapes from a body and recompute the mass,

the joints will be broken.

this(Body body1, Body body2, bVec2 anchor);

Initialize the bodies, anchors, and reference angle using the world

anchor.

bVec2 localAnchor1 ;

The local anchor point relative to body1's origin.

bVec2 localAnchor2 ;

The local anchor point relative to body2's origin.

float referenceAngle ;

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

bool enableLimit ;

A flag to enable joint limits.

float lowerAngle ;

The lower angle for the joint limit (radians).

float upperAngle ;

The upper angle for the joint limit (radians).

bool enableMotor ;

A flag to enable the joint motor.

float motorSpeed ;

The desired motor speed. Usually in radians per second.

float maxMotorTorque ;

The maximum motor torque used to achieve the desired motor speed.

Usually in N-m.

class RevoluteJoint : blaze.dynamics.joints.joint.Joint;

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.

float jointAngle ();

Get the current joint angle in radians.

float jointSpeed ();

Get the current joint angle speed in radians per second.

bool isLimitEnabled ();

Is the joint limit enabled?

void enableLimit (bool flag);

Enable/disable the joint limit.

float lowerLimit ();

Get the lower joint limit in radians.

float upperLimit ();

Get the upper joint limit in radians.

void limits (float lower, float upper);

Set the joint limits in radians.

bool isMotorEnabled ();

Is the joint motor enabled?

void enableMotor (bool flag);

Enable/disable the joint motor.

void motorSpeed (float speed);

Set the motor speed in radians per second.

float motorSpeed ();

Get the motor speed in radians per second.

void maxMotorTorque (float torque);

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

float motorTorque ();

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