@box2d/debug-draw/dist/core/src/dynamics/b2_friction_joint.d.ts

Debug drawing helper for @box2d

import { b2Vec2, b2Mat22, XY } from "../common/b2_math";
import { b2Joint, b2JointDef, b2IJointDef } from "./b2_joint";
import { b2SolverData } from "./b2_time_step";
import { b2Body } from "./b2_body";
import { b2Readonly } from "../common/b2_readonly";
export interface b2IFrictionJointDef extends b2IJointDef {
    localAnchorA: XY;
    localAnchorB: XY;
    maxForce?: number;
    maxTorque?: number;
}
/**
 * Friction joint definition.
 */
export declare class b2FrictionJointDef extends b2JointDef implements b2IFrictionJointDef {
    /** 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 maximum friction force in N. */
    maxForce: number;
    /** The maximum friction torque in N-m. */
    maxTorque: number;
    constructor();
    /**
     * Initialize the bodies, anchors, axis, and reference angle using the world
     * anchor and world axis.
     */
    Initialize(bA: b2Body, bB: b2Body, anchor: b2Readonly<b2Vec2>): void;
}
/**
 * Friction joint. This is used for top-down friction.
 * It provides 2D translational friction and angular friction.
 */
export declare class b2FrictionJoint extends b2Joint {
    protected readonly m_localAnchorA: b2Vec2;
    protected readonly m_localAnchorB: b2Vec2;
    protected readonly m_linearImpulse: b2Vec2;
    protected m_angularImpulse: number;
    protected m_maxForce: number;
    protected m_maxTorque: number;
    protected m_indexA: number;
    protected m_indexB: number;
    protected readonly m_rA: b2Vec2;
    protected readonly m_rB: b2Vec2;
    protected readonly m_localCenterA: b2Vec2;
    protected readonly m_localCenterB: b2Vec2;
    protected m_invMassA: number;
    protected m_invMassB: number;
    protected m_invIA: number;
    protected m_invIB: number;
    protected readonly m_linearMass: b2Mat22;
    protected m_angularMass: number;
    /** @internal protected */
    constructor(def: b2IFrictionJointDef);
    InitVelocityConstraints(data: b2SolverData): void;
    SolveVelocityConstraints(data: b2SolverData): void;
    SolvePositionConstraints(_data: b2SolverData): boolean;
    GetAnchorA<T extends XY>(out: T): T;
    GetAnchorB<T extends XY>(out: T): T;
    GetReactionForce<T extends XY>(inv_dt: number, out: T): T;
    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 maximum friction force in N. */
    SetMaxForce(force: number): void;
    /** Get the maximum friction force in N. */
    GetMaxForce(): number;
    /** Set the maximum friction torque in N*m. */
    SetMaxTorque(torque: number): void;
    /** Get the maximum friction torque in N*m. */
    GetMaxTorque(): number;
}
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