/*******************************************************************************
* 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;
/** 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. */
public class WheelJointDef extends JointDef {
public WheelJointDef () {
type = JointType.WheelJoint;
}
public void initialize (Body bodyA, Body bodyB, Vector2 anchor, Vector2 axis) {
this.bodyA = bodyA;
this.bodyB = bodyB;
localAnchorA.set(bodyA.getLocalPoint(anchor));
localAnchorB.set(bodyB.getLocalPoint(anchor));
localAxisA.set(bodyA.getLocalVector(axis));
}
/** The local anchor point relative to body1's origin. **/
public final Vector2 localAnchorA = new Vector2();
/** The local anchor point relative to body2's origin. **/
public final Vector2 localAnchorB = new Vector2();
/** The local translation axis in body1. **/
public final Vector2 localAxisA = new Vector2(1, 0);
/** Enable/disable the joint motor. **/
public boolean enableMotor = false;
/** The maximum motor torque, usually in N-m. */
public float maxMotorTorque = 0;
/** The desired motor speed in radians per second. */
public float motorSpeed = 0;
/** Suspension frequency, zero indicates no suspension */
public float frequencyHz = 2;
/** Suspension damping ratio, one indicates critical damping */
public float dampingRatio = 0.7f;
}