Android Open Source - gameengine Prismatic Joint Def

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Java Source Code

/*******************************************************************************
 * Copyright 2011 See AUTHORS file./*from w  w  w  . j a  v  a  2s  . com*/
 * 
 * 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;

/**
 * Prismatic 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.
 * 
 * @warning at least one body should by dynamic with a non-fixed rotation.
 */
public class PrismaticJointDef extends JointDef {
    public PrismaticJointDef() {
        type = JointType.PrismaticJoint;
    }

    /**
     * Initialize the bodies, anchors, axis, and reference angle using the world
     * anchor and world axis.
     */
    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));
        referenceAngle = bodyB.getAngle() - bodyA.getAngle();

    }

    /** 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);

    /** The constrained angle between the bodies: body2_angle - body1_angle. */
    public float referenceAngle = 0;

    /** Enable/disable the joint limit. */
    public boolean enableLimit = false;

    /** The lower translation limit, usually in meters. */
    public float lowerTranslation = 0;

    /** The upper translation limit, usually in meters. */
    public float upperTranslation = 0;

    /** Enable/disable the joint motor. */
    public boolean enableMotor = false;

    /** The maximum motor torque, usually in N-m. */
    public float maxMotorForce = 0;

    /** The desired motor speed in radians per second. */
    public float motorSpeed = 0;
}

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