@box2d/debug-draw/dist/core/src/dynamics/b2_weld_joint.d.ts

Debug drawing helper for @box2d

import { b2Vec2, b2Vec3, b2Mat33, 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 b2IWeldJointDef extends b2IJointDef {
    localAnchorA?: XY;
    localAnchorB?: XY;
    referenceAngle?: number;
    stiffness?: number;
    damping?: number;
}
/**
 * Weld joint definition. You need to specify local anchor points
 * where they are attached and the relative body angle. The position
 * of the anchor points is important for computing the reaction torque.
 */
export declare class b2WeldJointDef extends b2JointDef implements b2IWeldJointDef {
    /** 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 bodyB angle minus bodyA angle in the reference state (radians). */
    referenceAngle: number;
    /**
     * The rotational stiffness in N*m
     * Disable softness with a value of 0
     */
    stiffness: number;
    /** The rotational damping in N*m*s */
    damping: number;
    constructor();
    /**
     * Initialize the bodies, anchors, reference angle, stiffness, and damping.
     * @param bodyA the first body connected by this joint
     * @param bodyB the second body connected by this joint
     * @param anchor the point of connection in world coordinates
     */
    Initialize(bA: b2Body, bB: b2Body, anchor: Readonly<XY>): void;
}
/**
 * A weld joint essentially glues two bodies together. A weld joint may
 * distort somewhat because the island constraint solver is approximate.
 */
export declare class b2WeldJoint extends b2Joint {
    protected m_stiffness: number;
    protected m_damping: number;
    protected m_bias: number;
    protected readonly m_localAnchorA: b2Vec2;
    protected readonly m_localAnchorB: b2Vec2;
    protected m_referenceAngle: number;
    protected m_gamma: number;
    protected readonly m_impulse: b2Vec3;
    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_mass: b2Mat33;
    /** @internal protected */
    constructor(def: b2IWeldJointDef);
    /** @internal protected */
    InitVelocityConstraints(data: b2SolverData): void;
    /** @internal protected */
    SolveVelocityConstraints(data: b2SolverData): void;
    /** @internal protected */
    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>;
    /** Get the reference angle. */
    GetReferenceAngle(): number;
    /** Set stiffness in N*m */
    SetStiffness(stiffness: number): void;
    /** Get stiffness in N*m */
    GetStiffness(): number;
    /** Set damping in N*m*s */
    SetDamping(damping: number): void;
    /** Get damping in N*m*s */
    GetDamping(): number;
}
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