reactphysics3d::HingeJoint Class Reference

This class represents a hinge joint that allows arbitrary rotation between two bodies around a single axis. More...

#include <include/reactphysics3d/constraint/HingeJoint.h>

Inheritance diagram for reactphysics3d::HingeJoint:

Public Member Functions
	HingeJoint (Entity entity, PhysicsWorld &world, const HingeJointInfo &jointInfo)
	Constructor.
virtual	~HingeJoint () override=default
	Destructor.
	HingeJoint (const HingeJoint &constraint)=delete
	Deleted copy-constructor.
HingeJoint &	operator= (const HingeJoint &constraint)=delete
	Deleted assignment operator.
bool	isLimitEnabled () const
	Return true if the limits or the joint are enabled.
bool	isMotorEnabled () const
	Return true if the motor of the joint is enabled.
void	enableLimit (bool isLimitEnabled)
	Enable/Disable the limits of the joint.
void	enableMotor (bool isMotorEnabled)
	Enable/Disable the motor of the joint.
decimal	getMinAngleLimit () const
	Return the minimum angle limit.
void	setMinAngleLimit (decimal lowerLimit)
	Set the minimum angle limit.
decimal	getMaxAngleLimit () const
	Return the maximum angle limit.
void	setMaxAngleLimit (decimal upperLimit)
	Set the maximum angle limit.
decimal	getMotorSpeed () const
	Return the motor speed.
void	setMotorSpeed (decimal motorSpeed)
	Set the motor speed.
decimal	getMaxMotorTorque () const
	Return the maximum motor torque.
void	setMaxMotorTorque (decimal maxMotorTorque)
	Set the maximum motor torque.
decimal	getMotorTorque (decimal timeStep) const
	Return the intensity of the current torque applied for the joint motor.
decimal	getAngle () const
	Return the current hinge angle (in radians)
virtual Vector3	getReactionForce (decimal timeStep) const override
	Return the force (in Newtons) on body 2 required to satisfy the joint constraint in world-space.
virtual Vector3	getReactionTorque (decimal timeStep) const override
	Return the torque (in Newtons * meters) on body 2 required to satisfy the joint constraint in world-space.
virtual std::string	to_string () const override
	Return a string representation.
Public Member Functions inherited from reactphysics3d::Joint
	Joint (Entity entity, PhysicsWorld &world)
	Constructor.
virtual	~Joint ()=default
	Destructor.
	Joint (const Joint &constraint)=delete
	Deleted copy-constructor.
Joint &	operator= (const Joint &constraint)=delete
	Deleted assignment operator.
RigidBody *	getBody1 () const
	Return the reference to the body 1.
RigidBody *	getBody2 () const
	Return the reference to the body 2.
JointType	getType () const
	Return the type of the constraint.
bool	isCollisionEnabled () const
	Return true if the collision between the two bodies of the joint is enabled.
Entity	getEntity () const
	Return the entity id of the joint.

Detailed Description

This class represents a hinge joint that allows arbitrary rotation between two bodies around a single axis.

This joint has one degree of freedom. It can be useful to simulate doors or pendulumns.

Member Function Documentation

enableLimit()

void HingeJoint::enableLimit

(

bool

isLimitEnabled

)

Enable/Disable the limits of the joint.

Parameters

isLimitEnabled

True if you want to enable the limits of the joint and false otherwise

enableMotor()

void HingeJoint::enableMotor

(

bool

isMotorEnabled

)

Enable/Disable the motor of the joint.

Parameters

isMotorEnabled

True if you want to enable the motor of the joint and false otherwise

getAngle()

decimal HingeJoint::getAngle

(

)

const

Return the current hinge angle (in radians)

Returns

The current hinge angle (in radians) in the range [-pi; pi]

getMaxAngleLimit()

decimal HingeJoint::getMaxAngleLimit

(

)

const

Return the maximum angle limit.

Returns

The maximum limit angle of the joint (in radian)

getMaxMotorTorque()

decimal HingeJoint::getMaxMotorTorque

(

)

const

Return the maximum motor torque.

Returns

The maximum torque of the joint motor (in Newtons)

getMinAngleLimit()

decimal HingeJoint::getMinAngleLimit

(

)

const

Return the minimum angle limit.

Returns

The minimum limit angle of the joint (in radian)

getMotorSpeed()

decimal HingeJoint::getMotorSpeed

(

)

const

Return the motor speed.

Returns

The current speed of the joint motor (in radian per second)

getMotorTorque()

decimal HingeJoint::getMotorTorque

(

decimal

timeStep

)

const

Return the intensity of the current torque applied for the joint motor.

Parameters

timeStep

The current time step (in seconds)

Returns

The intensity of the current torque (in Newtons) of the joint motor

getReactionForce()

Vector3 HingeJoint::getReactionForce ( decimal  timeStep ) const

overridevirtual

Return the force (in Newtons) on body 2 required to satisfy the joint constraint in world-space.

Returns

The current force (in Newtons) applied on body 2

Implements reactphysics3d::Joint.

getReactionTorque()

Vector3 HingeJoint::getReactionTorque ( decimal  timeStep ) const

overridevirtual

Return the torque (in Newtons * meters) on body 2 required to satisfy the joint constraint in world-space.

Returns

The current torque (in Newtons * meters) applied on body 2

Implements reactphysics3d::Joint.

isLimitEnabled()

bool HingeJoint::isLimitEnabled

(

)

const

Return true if the limits or the joint are enabled.

Returns

True if the limits of the joint are enabled and false otherwise

isMotorEnabled()

bool HingeJoint::isMotorEnabled

(

)

const

Return true if the motor of the joint is enabled.

Returns

True if the motor of joint is enabled and false otherwise

setMaxAngleLimit()

void HingeJoint::setMaxAngleLimit

(

decimal

upperLimit

)

Set the maximum angle limit.

Parameters

upperLimit

The maximum limit angle of the joint (in radian)

setMaxMotorTorque()

void HingeJoint::setMaxMotorTorque

(

decimal

maxMotorTorque

)

Set the maximum motor torque.

Parameters

maxMotorTorque

The maximum torque (in Newtons) of the joint motor

setMinAngleLimit()

void HingeJoint::setMinAngleLimit

(

decimal

lowerLimit

)

Set the minimum angle limit.

Parameters

lowerLimit

The minimum limit angle of the joint (in radian)

setMotorSpeed()

void HingeJoint::setMotorSpeed

(

decimal

motorSpeed

)

Set the motor speed.

Parameters

motorSpeed

The speed of the motor

to_string()

std::string HingeJoint::to_string ( ) const

overridevirtual

Return a string representation.

Implements reactphysics3d::Joint.

---

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

• include/reactphysics3d/constraint/HingeJoint.h
• src/constraint/HingeJoint.cpp