A pivot joint with angular limits and motor control. More...

#include <Joints.h>

Inheritance diagram for FxRevoluteJoint:

Collaboration diagram for FxRevoluteJoint:

Public Member Functions
	FxRevoluteJoint (const std::string &name, const std::shared_ptr< FxEntity > &e1, const std::shared_ptr< FxEntity > &e2, const FxVec2f &anchor_point, float angle_min=-3.14159f, float angle_max=3.14159f)

bool	is_revolute () const override

void	set_theta (float angle, bool instant=true)

void	set_omega (float omega, bool instant=true)

void	set_torque (float torque)

float	get_theta () const

float	get_omega () const

void	set_max_torque (float max_torque)

float	get_max_torque () const

void	apply_controls (double dt) override

Public Member Functions inherited from FxJoint
	FxJoint (const std::string &name, const std::shared_ptr< FxEntity > &e1, const std::shared_ptr< FxEntity > &e2)

virtual	~FxJoint ()=default

const std::string &	get_name () const

void	reset ()

const std::shared_ptr< FxEntity > &	get_entity1 () const

const std::shared_ptr< FxEntity > &	get_entity2 () const

std::string	get_entity1_name () const

std::string	get_entity2_name () const

const std::vector< std::shared_ptr< FxConstraint > > &	get_constraints () const

void	set_pid (const FxVec3f &pid)

FxVec3f	get_pid () const

void	set_p (float p)

void	set_i (float i)

void	set_d (float d)

float	get_p () const

float	get_i () const

float	get_d () const

void	set_instant (bool instant)

bool	get_instant () const

void	set_effort (float effort)

float	get_effort () const

void	set_max_effort (float max_effort)

float	get_max_effort () const

void	set_control_mode (ControlMode mode)

ControlMode	get_control_mode () const

virtual bool	is_prismatic () const

Additional Inherited Members
Public Attributes inherited from FxJoint
bool	enabled = true

bool	entities_collide = false

Protected Member Functions inherited from FxJoint
void	namespace_constraints ()

void	reset_pid_state ()

void	wake_entities ()

float	eval_pid (float error, double dt)

float	clamp_effort (float effort) const

Protected Attributes inherited from FxJoint
std::shared_ptr< FxEntity >	entity1

std::shared_ptr< FxEntity >	entity2

std::string	m_name

std::vector< std::shared_ptr< FxConstraint > >	m_constraints

FxVec3f	m_pid {1.0f, 0.0f, 0.0f}

float	m_integral = 0.0f

float	m_previous_error = 0.0f

float	m_target_effort = 0.0f

bool	m_instant = true

Detailed Description

A pivot joint with angular limits and motor control.

Definition at line 93 of file Joints.h.

Constructor & Destructor Documentation

◆ FxRevoluteJoint()

FxRevoluteJoint::FxRevoluteJoint	(	const std::string &	name,
		const std::shared_ptr< FxEntity > &	e1,
		const std::shared_ptr< FxEntity > &	e2,
		const FxVec2f &	anchor_point,
		float	angle_min = `-3.14159f`,
		float	angle_max = `3.14159f`
	)

Member Function Documentation

◆ apply_controls()

void FxRevoluteJoint::apply_controls ( double dt )

overridevirtual

Implements FxJoint.

◆ get_max_torque()

float FxRevoluteJoint::get_max_torque ( ) const

inline

Definition at line 119 of file Joints.h.

◆ get_omega()

float FxRevoluteJoint::get_omega ( ) const

◆ get_theta()

float FxRevoluteJoint::get_theta ( ) const

◆ is_revolute()

bool FxRevoluteJoint::is_revolute ( ) const

inlineoverridevirtual

Reimplemented from FxJoint.

Definition at line 108 of file Joints.h.

◆ set_max_torque()

void FxRevoluteJoint::set_max_torque ( float max_torque )

inline

Definition at line 118 of file Joints.h.

◆ set_omega()

void FxRevoluteJoint::set_omega	(	float	omega,
		bool	instant = `true`
	)

◆ set_theta()

void FxRevoluteJoint::set_theta	(	float	angle,
		bool	instant = `true`
	)

◆ set_torque()

void FxRevoluteJoint::set_torque ( float torque )

The documentation for this class was generated from the following file:

include/Fx2D/Joints.h

Public Member Functions

Additional Inherited Members