/*******************************************************************************
* Copyright (c) 2013, Daniel Murphy
* All rights reserved.
*
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* are permitted provided that the following conditions are met:
* * Redistributions of source code must retain the above copyright notice,
* this list of conditions and the following disclaimer.
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*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
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******************************************************************************/
package org.jbox2d.dynamics.joints;
import org.jbox2d.common.Vec2;
import org.jbox2d.dynamics.Body;
import org.jbox2d.dynamics.joints.JointDef;
import org.jbox2d.dynamics.joints.JointType;
/**
* Created at 3:38:52 AM Jan 15, 2011
*/
/**
* @author Daniel Murphy
*/
public class WeldJointDef extends JointDef {
/**
* The local anchor point relative to body1's origin.
*/
public final Vec2 localAnchorA;
/**
* The local anchor point relative to body2's origin.
*/
public final Vec2 localAnchorB;
/**
* The body2 angle minus body1 angle in the reference state (radians).
*/
public float referenceAngle;
/**
* The mass-spring-damper frequency in Hertz. Rotation only. Disable softness with a value of 0.
*/
public float frequencyHz;
/**
* The damping ratio. 0 = no damping, 1 = critical damping.
*/
public float dampingRatio;
public WeldJointDef() {
super(JointType.WELD);
localAnchorA = new Vec2();
localAnchorB = new Vec2();
referenceAngle = 0.0f;
}
/**
* Initialize the bodies, anchors, and reference angle using a world anchor point.
*
* @param bA
* @param bB
* @param anchor
*/
public void initialize(Body bA, Body bB, Vec2 anchor) {
bodyA = bA;
bodyB = bB;
bodyA.getLocalPointToOut(anchor, localAnchorA);
bodyB.getLocalPointToOut(anchor, localAnchorB);
referenceAngle = bodyB.getAngle() - bodyA.getAngle();
}
}