Class: WheelJoint

A wheel joint. This joint provides two degrees of freedom: translation along an axis fixed in bodyA and rotation in the plane. In other words, it is a point to line constraint with a rotational motor and a linear spring/damper. This joint is designed for vehicle suspensions.

Extends

• Joint

Constructors

Constructor

new WheelJoint(def): WheelJoint

Parameters

def

WheelJointDef

Returns

WheelJoint

Overrides

Joint.constructor

Constructor

new WheelJoint(def, bodyA, bodyB, anchor?, axis?): WheelJoint

Parameters

def

WheelJointOpt

bodyA

Body

bodyB

Body

anchor?

Vec2Value

axis?

Vec2Value

Returns

WheelJoint

Overrides

Joint.constructor

Properties

style

style: Style = {}

Styling for dev-tools.

Inherited from

Joint.style

---

TYPE

static TYPE: "wheel-joint"

Methods

enableMotor()

enableMotor(flag): void

Enable/disable the joint motor.

Parameters

flag

boolean

Returns

void

---

getAnchorA()

getAnchorA(): Vec2

Get the anchor point on bodyA in world coordinates.

Returns

Vec2

Overrides

Joint.getAnchorA

---

getAnchorB()

getAnchorB(): Vec2

Get the anchor point on bodyB in world coordinates.

Returns

Vec2

Overrides

Joint.getAnchorB

---

getBodyA()

getBodyA(): Body

Get the first body attached to this joint.

Returns

Body

Inherited from

Joint.getBodyA

---

getBodyB()

getBodyB(): Body

Get the second body attached to this joint.

Returns

Body

Inherited from

Joint.getBodyB

---

getCollideConnected()

getCollideConnected(): boolean

Get collide connected. Note: modifying the collide connect flag won't work correctly because the flag is only checked when fixture AABBs begin to overlap.

Returns

boolean

Inherited from

Joint.getCollideConnected

---

getJointSpeed()

getJointSpeed(): number

Get the current joint translation speed, usually in meters per second.

Returns

number

---

getJointTranslation()

getJointTranslation(): number

Get the current joint translation, usually in meters.

Returns

number

---

getLocalAnchorA()

getLocalAnchorA(): Vec2

The local anchor point relative to bodyA's origin.

Returns

Vec2

---

getLocalAnchorB()

getLocalAnchorB(): Vec2

The local anchor point relative to bodyB's origin.

Returns

Vec2

---

getLocalAxisA()

getLocalAxisA(): Vec2

The local joint axis relative to bodyA.

Returns

Vec2

---

getMaxMotorTorque()

getMaxMotorTorque(): number

Returns

number

---

getMotorSpeed()

getMotorSpeed(): number

Get the motor speed, usually in radians per second.

Returns

number

---

getMotorTorque()

getMotorTorque(inv_dt): number

Get the current motor torque given the inverse time step, usually in N-m.

Parameters

inv_dt

number

Returns

number

---

getNext()

getNext(): Joint

Get the next joint the world joint list.

Returns

Joint

Inherited from

Joint.getNext

---

getReactionForce()

getReactionForce(inv_dt): Vec2

Get the reaction force on bodyB at the joint anchor in Newtons.

Parameters

inv_dt

number

Returns

Vec2

Overrides

Joint.getReactionForce

---

getReactionTorque()

getReactionTorque(inv_dt): number

Get the reaction torque on bodyB in N*m.

Parameters

inv_dt

number

Returns

number

Overrides

Joint.getReactionTorque

---

getSpringDampingRatio()

getSpringDampingRatio(): number

Returns

number

---

getSpringFrequencyHz()

getSpringFrequencyHz(): number

Returns

number

---

getType()

getType(): string

Get the type of the concrete joint.

Returns

string

Inherited from

Joint.getType

---

getUserData()

getUserData(): unknown

Returns

unknown

Inherited from

Joint.getUserData

---

initVelocityConstraints()

initVelocityConstraints(step): void

Parameters

step

TimeStep

Returns

void

Overrides

Joint.initVelocityConstraints

---

isActive()

isActive(): boolean

Short-cut function to determine if either body is inactive.

Returns

boolean

Inherited from

Joint.isActive

---

isMotorEnabled()

isMotorEnabled(): boolean

Is the joint motor enabled?

Returns

boolean

---

setMaxMotorTorque()

setMaxMotorTorque(torque): void

Set/Get the maximum motor force, usually in N-m.

Parameters

torque

number

Returns

void

---

setMotorSpeed()

setMotorSpeed(speed): void

Set the motor speed, usually in radians per second.

Parameters

speed

number

Returns

void

---

setSpringDampingRatio()

setSpringDampingRatio(ratio): void

Set/Get the spring damping ratio

Parameters

ratio

number

Returns

void

---

setSpringFrequencyHz()

setSpringFrequencyHz(hz): void

Set/Get the spring frequency in hertz. Setting the frequency to zero disables the spring.

Parameters

hz

number

Returns

void

---

setUserData()

setUserData(data): void

Parameters

data

unknown

Returns

void

Inherited from

Joint.setUserData

---

shiftOrigin()

shiftOrigin(newOrigin): void

Shift the origin for any points stored in world coordinates.

Parameters

newOrigin

Vec2Value

Returns

void

Inherited from

Joint.shiftOrigin

---

solvePositionConstraints()

solvePositionConstraints(step): boolean

This returns true if the position errors are within tolerance.

Parameters

step

TimeStep

Returns

boolean

Overrides

Joint.solvePositionConstraints

---

solveVelocityConstraints()

solveVelocityConstraints(step): void

Parameters

step

TimeStep

Returns

void

Overrides

Joint.solveVelocityConstraints