| Box2D 2.2.1 A 2D Physics Engine for Games

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b2PrismaticJoint Class Reference

`#include <b2PrismaticJoint.h>`

Inheritance diagram for b2PrismaticJoint:

List of all members.

## Public Member Functions

b2Vec2 | GetAnchorA () const
| Get the anchor point on bodyA in world coordinates.
b2Vec2 | GetAnchorB () const
| Get the anchor point on bodyB in world coordinates.
b2Vec2 | GetReactionForce (float32 inv_dt) const
| Get the reaction force on bodyB at the joint anchor in Newtons.
float32 | GetReactionTorque (float32 inv_dt) const
| Get the reaction torque on bodyB in N*m.
const b2Vec2 & | GetLocalAnchorA () const
| The local anchor point relative to bodyA's origin.
const b2Vec2 & | GetLocalAnchorB () const
| The local anchor point relative to bodyB's origin.
const b2Vec2 & | GetLocalAxisA () const
| The local joint axis relative to bodyA.
float32 | GetReferenceAngle () const
| Get the reference angle.
float32 | GetJointTranslation () const
| Get the current joint translation, usually in meters.
float32 | GetJointSpeed () const
| Get the current joint translation speed, usually in meters per second.
bool | IsLimitEnabled () const
| Is the joint limit enabled?
void | EnableLimit (bool flag)
| Enable/disable the joint limit.
float32 | GetLowerLimit () const
| Get the lower joint limit, usually in meters.
float32 | GetUpperLimit () const
| Get the upper joint limit, usually in meters.
void | SetLimits (float32 lower, float32 upper)
| Set the joint limits, usually in meters.
bool | IsMotorEnabled () const
| Is the joint motor enabled?
void | EnableMotor (bool flag)
| Enable/disable the joint motor.
void | SetMotorSpeed (float32 speed)
| Set the motor speed, usually in meters per second.
float32 | GetMotorSpeed () const
| Get the motor speed, usually in meters per second.
void | SetMaxMotorForce (float32 force)
| Set the maximum motor force, usually in N.
float32 | GetMaxMotorForce () const
float32 | GetMotorForce (float32 inv_dt) const
| Get the current motor force given the inverse time step, usually in N.
void | Dump ()
| Dump to b2Log.

## Protected Member Functions

| b2PrismaticJoint (const b2PrismaticJointDef *def)
void | InitVelocityConstraints (const b2SolverData &data)
void | SolveVelocityConstraints (const b2SolverData &data)
bool | SolvePositionConstraints (const b2SolverData &data)

## Protected Attributes

b2Vec2 | m_localAnchorA
b2Vec2 | m_localAnchorB
b2Vec2 | m_localXAxisA
b2Vec2 | m_localYAxisA
float32 | m_referenceAngle
b2Vec3 | m_impulse
float32 | m_motorImpulse
float32 | m_lowerTranslation
float32 | m_upperTranslation
float32 | m_maxMotorForce
float32 | m_motorSpeed
bool | m_enableLimit
bool | m_enableMotor
b2LimitState | m_limitState
int32 | m_indexA
int32 | m_indexB
b2Vec2 | m_localCenterA
b2Vec2 | m_localCenterB
float32 | m_invMassA
float32 | m_invMassB
float32 | m_invIA
float32 | m_invIB
b2Vec2 | m_axis
b2Vec2 | m_perp
float32 | m_s1
float32 | m_s2
float32 | m_a1
float32 | m_a2
b2Mat33 | m_K
float32 | m_motorMass

## Friends

class | b2Joint
class | b2GearJoint

## Detailed Description

A prismatic joint. This joint provides one degree of freedom: translation along an axis fixed in bodyA. Relative rotation is prevented. You can use a joint limit to restrict the range of motion and a joint motor to drive the motion or to model joint friction.

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

- b2PrismaticJoint.h
- b2PrismaticJoint.cpp

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