@box2d/debug-draw/dist/core/src/dynamics/b2_distance_joint.d.ts

Debug drawing helper for @box2d

import { b2Vec2, XY } from "../common/b2_math";
import { b2Joint, b2JointDef, b2IJointDef } from "./b2_joint";
import { b2SolverData } from "./b2_time_step";
import type { b2Body } from "./b2_body";
import { b2Draw } from "../common/b2_draw";
import { b2Readonly } from "../common/b2_readonly";
export interface b2IDistanceJointDef extends b2IJointDef {
    localAnchorA: XY;
    localAnchorB: XY;
    length: number;
    minLength: number;
    maxLength: number;
    stiffness?: number;
    damping?: number;
}
/**
 * Distance joint definition. This requires defining an anchor point on both
 * bodies and the non-zero distance of the distance joint. The definition uses
 * local anchor points so that the initial configuration can violate the
 * constraint slightly. This helps when saving and loading a game.
 */
export declare class b2DistanceJointDef extends b2JointDef implements b2IDistanceJointDef {
    /** The local anchor point relative to bodyA's origin. */
    readonly localAnchorA: b2Vec2;
    /** The local anchor point relative to bodyB's origin. */
    readonly localAnchorB: b2Vec2;
    /** The rest length of this joint. Clamped to a stable minimum value. */
    length: number;
    /** Minimum length. Clamped to a stable minimum value. */
    minLength: number;
    /** Maximum length. Must be greater than or equal to the minimum length. */
    maxLength: number;
    /** The linear stiffness in N/m. */
    stiffness: number;
    /** The linear damping in N*s/m. */
    damping: number;
    constructor();
    /**
     * Initialize the bodies, anchors, and rest length using world space anchors.
     * The minimum and maximum lengths are set to the rest length.
     */
    Initialize(b1: b2Body, b2: b2Body, anchor1: XY, anchor2: XY): void;
}
/**
 * A distance joint constrains two points on two bodies to remain at a fixed
 * distance from each other. You can view this as a massless, rigid rod.
 */
export declare class b2DistanceJoint extends b2Joint {
    protected m_stiffness: number;
    protected m_damping: number;
    protected m_bias: number;
    protected m_length: number;
    protected m_minLength: number;
    protected m_maxLength: number;
    protected readonly m_localAnchorA: b2Vec2;
    protected readonly m_localAnchorB: b2Vec2;
    protected m_gamma: number;
    protected m_impulse: number;
    protected m_lowerImpulse: number;
    protected m_upperImpulse: number;
    protected m_indexA: number;
    protected m_indexB: number;
    protected readonly m_u: b2Vec2;
    protected readonly m_rA: b2Vec2;
    protected readonly m_rB: b2Vec2;
    protected readonly m_localCenterA: b2Vec2;
    protected readonly m_localCenterB: b2Vec2;
    protected m_currentLength: number;
    protected m_invMassA: number;
    protected m_invMassB: number;
    protected m_invIA: number;
    protected m_invIB: number;
    protected m_softMass: number;
    protected m_mass: number;
    /** @internal protected */
    constructor(def: b2IDistanceJointDef);
    GetAnchorA<T extends XY>(out: T): T;
    GetAnchorB<T extends XY>(out: T): T;
    /**
     * Get the reaction force given the inverse time step.
     * Unit is N.
     */
    GetReactionForce<T extends XY>(inv_dt: number, out: T): T;
    /**
     * Get the reaction torque given the inverse time step.
     * Unit is N*m. This is always zero for a distance joint.
     */
    GetReactionTorque(_inv_dt: number): number;
    /** The local anchor point relative to bodyA's origin. */
    GetLocalAnchorA(): b2Readonly<b2Vec2>;
    /** The local anchor point relative to bodyB's origin. */
    GetLocalAnchorB(): b2Readonly<b2Vec2>;
    /**
     * Set the rest length
     * @returns clamped rest length
     */
    SetLength(length: number): number;
    /** Get the rest length */
    GetLength(): number;
    /**
     * Set the minimum length
     * @returns the clamped minimum length
     */
    SetMinLength(minLength: number): number;
    /** Get the minimum length */
    GetMinLength(): number;
    /**
     * Set the maximum length
     * @returns the clamped maximum length
     */
    SetMaxLength(maxLength: number): number;
    /** Get the maximum length */
    GetMaxLength(): number;
    /** Get the current length */
    GetCurrentLength(): number;
    /** Set the linear stiffness in N/m */
    SetStiffness(stiffness: number): void;
    /** Get the linear stiffness in N/m */
    GetStiffness(): number;
    /** Set linear damping in N*s/m */
    SetDamping(damping: number): void;
    /** Get linear damping in N*s/m */
    GetDamping(): number;
    /** @internal protected */
    InitVelocityConstraints(data: b2SolverData): void;
    /** @internal protected */
    SolveVelocityConstraints(data: b2SolverData): void;
    /** @internal protected */
    SolvePositionConstraints(data: b2SolverData): boolean;
    Draw(draw: b2Draw): void;
}
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