Inheritance diagram for jop::WheelJoint:

Public Types
enum	Axis { Axis::T_X, Axis::T_Y, Axis::T_Z, Axis::R_X, Axis::R_Y, Axis::R_Z }

Public Member Functions
	WheelJoint (World &worldRef, RigidBody &bodyA, RigidBody &bodyB, const bool collide, const float maxSteering=0.7f, const glm::quat &jRot=glm::quat(0.f, 0.f, 0.f, 0.f), const glm::vec3 &anchor=glm::vec3(0.f, 0.f, FLT_MAX))
	WheelJoint constructor. More...

float	getAngle (const Axis axis=Axis::T_Y) const

float	getStiffness (const Axis axis=Axis::T_Y)

WheelJoint &	setAngle (const float steeringAngle, const Axis axis=Axis::T_Y)
	Set new angle for the joint in an axis. More...

WheelJoint &	setStiffness (const float stiffness, const Axis axis=Axis::T_Y)

Public Member Functions inherited from jop::Joint
	Joint (World &worldRef, RigidBody &bodyA, RigidBody &bodyB, const bool collide)
	Joint constructor. More...

virtual	~Joint ()=0

unsigned int	getID () const
	Get joint ID. More...

Joint &	setID (const unsigned int id)
	Set new ID for the joint. More...

Additional Inherited Members
Public Attributes inherited from jop::Joint
World *	m_worldRef
	Pointer to the world. More...

RigidBody *	m_bodyA
	Pointer to bodyA. More...

RigidBody *	m_bodyB
	Pointer to bodyB. More...

Protected Member Functions inherited from jop::Joint
btRigidBody *	getBody (RigidBody &body) const
	Return engine internal pointer to body. More...

btDiscreteDynamicsWorld &	getWorld (World &world) const
	Return engine internal pointer to world. More...

glm::vec3	defaultCenter (const glm::vec3 &jPos) const

glm::vec3	computeCenter () const
	Calculates the point in the middle between this' m_bodies. More...

Protected Attributes inherited from jop::Joint
bool	m_collide

std::unique_ptr< btTypedConstraint >	m_joint
	< Should the linked bodies collide. More...

unsigned int	m_ID
	Joint ID. More...

Detailed Description

Definition at line 37 of file WheelJoint.hpp.

Member Enumeration Documentation

strong

T_ : Translation R_ : Rotation

Definition at line 44 of file WheelJoint.hpp.

WheelJoint constructor.

When creating WheelJoints, always call the link from the chassis and pass the wheel in as the first argument.

Note: When creating a vehicle, it is best to create it in the following manner: The vehicle is parallel to global Z-axis (by length). The vehicle wheels are then +/- of the chassis in X-axis.

Parameters

maxSteering	Maximum steering angle of the wheel in radians. Function setAngle can not override this. Same value is set for both +/- rotations. Default is 0.7f ~ 40 degrees.
jRot	Rotation of the joint in a quaternion. By default aligns the wheel by X- or Z-axis, depending on the global positions of the wheel and chassis.
anchor	Position of the joint in world coordinates. Default is in the middle of the wheel.

float jop::WheelJoint::getAngle ( const Axis axis = Axis::T_Y ) const

float jop::WheelJoint::getStiffness ( const Axis axis = Axis::T_Y )

WheelJoint& jop::WheelJoint::setAngle	(	const float	steeringAngle,
		const Axis	axis = `Axis::T_Y`
	)

Set new angle for the joint in an axis.

This can not override the maxSteering of the joint.

Parameters

steeringAngle	New steering angle to be set to the wheel. Negative value turns the wheel in the other direction.
axis	Axis to change. Default Y-axis.

WheelJoint& jop::WheelJoint::setStiffness	(	const float	stiffness,
		const Axis	axis = `Axis::T_Y`
	)

Set spring stiffness.

Parameters

stiffness	New stiffness to apply. Please use values between 0.f - 1.f.
axis	Axis to apply the stiffness to. Default Y.

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