/*******************************************************************************
* Copyright 2011 See AUTHORS file.
*
* Licensed under the Apache License, Version 2.0 (the "License"); you may not use this file except in compliance with
* the License. You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software distributed under the License is distributed on
* an "AS IS" BASIS, WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the License for the
* specific language governing permissions and limitations under the License.
******************************************************************************/
package com.badlogic.gdx.physics.box2d.joints;
import com.badlogic.gdx.physics.box2d.Joint;
import com.badlogic.gdx.physics.box2d.World;
/**
* A revolute joint constrains two 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.
*/
public class RevoluteJoint extends Joint {
// @off
/*JNI
#include <Box2D/Box2D.h>
*/
public RevoluteJoint(World world, long addr) {
super(world, addr);
}
/** Get the current joint angle in radians. */
public float getJointAngle() {
return jniGetJointAngle(addr);
}
private native float jniGetJointAngle(long addr); /*
b2RevoluteJoint* joint = (b2RevoluteJoint*)addr;
return joint->GetJointAngle();
*/
/** Get the current joint angle speed in radians per second. */
public float getJointSpeed() {
return jniGetJointSpeed(addr);
}
private native float jniGetJointSpeed(long addr); /*
b2RevoluteJoint* joint = (b2RevoluteJoint*)addr;
return joint->GetJointSpeed();
*/
/** Is the joint limit enabled? */
public boolean isLimitEnabled() {
return jniIsLimitEnabled(addr);
}
private native boolean jniIsLimitEnabled(long addr); /*
b2RevoluteJoint* joint = (b2RevoluteJoint*)addr;
return joint->IsLimitEnabled();
*/
/** Enable/disable the joint limit. */
public void enableLimit(boolean flag) {
jniEnableLimit(addr, flag);
}
private native void jniEnableLimit(long addr, boolean flag); /*
b2RevoluteJoint* joint = (b2RevoluteJoint*)addr;
joint->EnableLimit(flag);
*/
/** Get the lower joint limit in radians. */
public float getLowerLimit() {
return jniGetLowerLimit(addr);
}
private native float jniGetLowerLimit(long addr); /*
b2RevoluteJoint* joint = (b2RevoluteJoint*)addr;
return joint->GetLowerLimit();
*/
/** Get the upper joint limit in radians. */
public float getUpperLimit() {
return jniGetUpperLimit(addr);
}
private native float jniGetUpperLimit(long addr); /*
b2RevoluteJoint* joint = (b2RevoluteJoint*)addr;
return joint->GetUpperLimit();
*/
/**
* Set the joint limits in radians.
*
* @param upper
*/
public void setLimits(float lower, float upper) {
jniSetLimits(addr, lower, upper);
}
private native void jniSetLimits(long addr, float lower, float upper); /*
b2RevoluteJoint* joint = (b2RevoluteJoint*)addr;
joint->SetLimits(lower, upper );
*/
/** Is the joint motor enabled? */
public boolean isMotorEnabled() {
return jniIsMotorEnabled(addr);
}
private native boolean jniIsMotorEnabled(long addr); /*
b2RevoluteJoint* joint = (b2RevoluteJoint*)addr;
return joint->IsMotorEnabled();
*/
/** Enable/disable the joint motor. */
public void enableMotor(boolean flag) {
jniEnableMotor(addr, flag);
}
private native void jniEnableMotor(long addr, boolean flag); /*
b2RevoluteJoint* joint = (b2RevoluteJoint*)addr;
joint->EnableMotor(flag);
*/
/** Set the motor speed in radians per second. */
public void setMotorSpeed(float speed) {
jniSetMotorSpeed(addr, speed);
}
private native void jniSetMotorSpeed(long addr, float speed); /*
b2RevoluteJoint* joint = (b2RevoluteJoint*)addr;
joint->SetMotorSpeed(speed);
*/
/** Get the motor speed in radians per second. */
public float getMotorSpeed() {
return jniGetMotorSpeed(addr);
}
private native float jniGetMotorSpeed(long addr); /*
b2RevoluteJoint* joint = (b2RevoluteJoint*)addr;
return joint->GetMotorSpeed();
*/
/** Set the maximum motor torque, usually in N-m. */
public void setMaxMotorTorque(float torque) {
jniSetMaxMotorTorque(addr, torque);
}
private native void jniSetMaxMotorTorque(long addr, float torque); /*
b2RevoluteJoint* joint = (b2RevoluteJoint*)addr;
joint->SetMaxMotorTorque(torque);
*/
/** Get the current motor torque, usually in N-m. */
public float getMotorTorque(float invDt) {
return jniGetMotorTorque(addr, invDt);
}
private native float jniGetMotorTorque(long addr, float invDt); /*
b2RevoluteJoint* joint = (b2RevoluteJoint*)addr;
return joint->GetMotorTorque(invDt);
*/
}