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      1 /*******************************************************************************
      2  * Copyright (c) 2013, Daniel Murphy
      3  * All rights reserved.
      4  *
      5  * Redistribution and use in source and binary forms, with or without modification,
      6  * are permitted provided that the following conditions are met:
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     24 /**
     25  * Created at 7:23:39 AM Jan 20, 2011
     26  */
     27 package org.jbox2d.dynamics.joints;
     28 
     29 import org.jbox2d.common.Vec2;
     30 import org.jbox2d.dynamics.Body;
     31 
     32 /**
     33  * Friction joint definition.
     34  *
     35  * @author Daniel Murphy
     36  */
     37 public class FrictionJointDef extends JointDef {
     38 
     39 
     40   /**
     41    * The local anchor point relative to bodyA's origin.
     42    */
     43   public final Vec2 localAnchorA;
     44 
     45   /**
     46    * The local anchor point relative to bodyB's origin.
     47    */
     48   public final Vec2 localAnchorB;
     49 
     50   /**
     51    * The maximum friction force in N.
     52    */
     53   public float maxForce;
     54 
     55   /**
     56    * The maximum friction torque in N-m.
     57    */
     58   public float maxTorque;
     59 
     60   public FrictionJointDef() {
     61     super(JointType.FRICTION);
     62     localAnchorA = new Vec2();
     63     localAnchorB = new Vec2();
     64     maxForce = 0f;
     65     maxTorque = 0f;
     66   }
     67 
     68   /**
     69    * Initialize the bodies, anchors, axis, and reference angle using the world anchor and world
     70    * axis.
     71    */
     72   public void initialize(Body bA, Body bB, Vec2 anchor) {
     73     bodyA = bA;
     74     bodyB = bB;
     75     bA.getLocalPointToOut(anchor, localAnchorA);
     76     bB.getLocalPointToOut(anchor, localAnchorB);
     77   }
     78 }
     79