@box2d/debug-draw/dist/core/src/dynamics/b2_motor_joint.d.ts

Debug drawing helper for @box2d

import { b2Vec2, b2Mat22, XY } from "../common/b2_math";
import { b2Readonly } from "../common/b2_readonly";
import { b2Body } from "./b2_body";
import { b2Joint, b2JointDef, b2IJointDef } from "./b2_joint";
import { b2SolverData } from "./b2_time_step";
export interface b2IMotorJointDef extends b2IJointDef {
    linearOffset?: XY;
    angularOffset?: number;
    maxForce?: number;
    maxTorque?: number;
    correctionFactor?: number;
}
/**
 * Motor joint definition.
 */
export declare class b2MotorJointDef extends b2JointDef implements b2IMotorJointDef {
    /** Position of bodyB minus the position of bodyA, in bodyA's frame, in meters. */
    readonly linearOffset: b2Vec2;
    /** The bodyB angle minus bodyA angle in radians. */
    angularOffset: number;
    /** The maximum motor force in N. */
    maxForce: number;
    /** The maximum motor torque in N-m. */
    maxTorque: number;
    /** Position correction factor in the range [0,1]. */
    correctionFactor: number;
    constructor();
    /** Initialize the bodies and offsets using the current transforms. */
    Initialize(bodyA: b2Body, bodyB: b2Body): void;
}
/**
 * A motor joint is used to control the relative motion
 * between two bodies. A typical usage is to control the movement
 * of a dynamic body with respect to the ground.
 */
export declare class b2MotorJoint extends b2Joint {
    protected readonly m_linearOffset: b2Vec2;
    protected m_angularOffset: number;
    protected readonly m_linearImpulse: b2Vec2;
    protected m_angularImpulse: number;
    protected m_maxForce: number;
    protected m_maxTorque: number;
    protected m_correctionFactor: 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 readonly m_linearError: b2Vec2;
    protected m_angularError: number;
    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: b2IMotorJointDef);
    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;
    /** Set the target linear offset, in frame A, in meters. */
    SetLinearOffset(linearOffset: b2Readonly<b2Vec2>): void;
    /** Get the target linear offset, in frame A, in meters. */
    GetLinearOffset(): b2Vec2;
    /** Set the target angular offset, in radians. */
    SetAngularOffset(angularOffset: number): void;
    /** Get the target angular offset, in radians. */
    GetAngularOffset(): number;
    /** 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;
    /** Get the position correction factor in the range [0,1]. */
    GetCorrectionFactor(): number;
    /** Set the position correction factor in the range [0,1]. */
    SetCorrectionFactor(factor: number): void;
    /** @internal protected */
    InitVelocityConstraints(data: b2SolverData): void;
    /** @internal protected */
    SolveVelocityConstraints(data: b2SolverData): void;
    /** @internal protected */
    SolvePositionConstraints(_data: b2SolverData): boolean;
}
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