/*******************************************************************************
* 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.math.Vector2;
import com.badlogic.gdx.physics.box2d.Body;
import com.badlogic.gdx.physics.box2d.JointDef;
public class MotorJointDef extends JointDef {
public MotorJointDef () {
type = JointType.MotorJoint;
}
/** Initialize the bodies and offsets using the current transforms. */
public void initialize (Body body1, Body body2) {
this.bodyA = body1;
this.bodyB = body2;
this.linearOffset.set(bodyA.getLocalPoint(bodyB.getPosition()));
this.angularOffset = bodyB.getAngle() - bodyA.getAngle();
}
/** Position of bodyB minus the position of bodyA, in bodyA's frame, in meters. */
public final Vector2 linearOffset = new Vector2();
/** The bodyB angle minus bodyA angle in radians. */
public float angularOffset = 0.0f;
/** The maximum motor force in N. */
public float maxForce = 1.0f;
/** The maximum motor torque in N-m. */
public float maxTorque = 1.0f;
/** Position correction factor in the range [0,1]. */
public float correctionFactor = 0.3f;
@Override
public org.jbox2d.dynamics.joints.JointDef toJBox2d () {
org.jbox2d.dynamics.joints.MotorJointDef jd = new org.jbox2d.dynamics.joints.MotorJointDef();
jd.bodyA = bodyA.body;
jd.bodyB = bodyB.body;
jd.collideConnected = collideConnected;
jd.linearOffset.set(linearOffset.x, linearOffset.y);
jd.angularOffset = angularOffset;
jd.maxForce = maxForce;
jd.maxTorque = maxTorque;
jd.type = org.jbox2d.dynamics.joints.JointType.MOTOR;
return jd;
}
}