/*******************************************************************************
* Copyright (c) 2013, Daniel Murphy
* All rights reserved.
*
* Redistribution and use in source and binary forms, with or without modification,
* 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.
* * Redistributions in binary form must reproduce the above copyright notice,
* this list of conditions and the following disclaimer in the documentation
* and/or other materials provided with the distribution.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
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* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED.
* IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT,
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* NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR
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******************************************************************************/
/**
* Created at 7:27:31 AM Jan 21, 2011
*/
package org.jbox2d.dynamics.joints;
import org.jbox2d.common.Vec2;
import org.jbox2d.dynamics.Body;
/**
* Wheel joint definition. This requires defining a line of motion using an axis and an anchor
* point. The definition uses local anchor points and a local axis so that the initial configuration
* can violate the constraint slightly. The joint translation is zero when the local anchor points
* coincide in world space. Using local anchors and a local axis helps when saving and loading a
* game.
*
* @author Daniel Murphy
*/
public class WheelJointDef extends JointDef {
/**
* The local anchor point relative to body1's origin.
*/
public final Vec2 localAnchorA = new Vec2();
/**
* The local anchor point relative to body2's origin.
*/
public final Vec2 localAnchorB = new Vec2();
/**
* The local translation axis in body1.
*/
public final Vec2 localAxisA = new Vec2();
/**
* Enable/disable the joint motor.
*/
public boolean enableMotor;
/**
* The maximum motor torque, usually in N-m.
*/
public float maxMotorTorque;
/**
* The desired motor speed in radians per second.
*/
public float motorSpeed;
/**
* Suspension frequency, zero indicates no suspension
*/
public float frequencyHz;
/**
* Suspension damping ratio, one indicates critical damping
*/
public float dampingRatio;
public WheelJointDef() {
super(JointType.WHEEL);
localAxisA.set(1, 0);
enableMotor = false;
maxMotorTorque = 0f;
motorSpeed = 0f;
}
public void initialize(Body b1, Body b2, Vec2 anchor, Vec2 axis) {
bodyA = b1;
bodyB = b2;
b1.getLocalPointToOut(anchor, localAnchorA);
b2.getLocalPointToOut(anchor, localAnchorB);
bodyA.getLocalVectorToOut(axis, localAxisA);
}
}