#include <World.h>

Public Types
enum class	Type : uint8_t { Distance = 0 , Revolute }

Public Attributes
Type	type = Type::Distance

std::string	bodyA_name
	Names of the two connected Simulable objects (vehicles, blocks, etc.)

std::string	bodyB_name

mrpt::math::TPoint2D	anchorA {0, 0}
	Local anchor points on each body (in body-local coordinates)

mrpt::math::TPoint2D	anchorB {0, 0}

float	maxLength = 5.0f
	Distance joint parameters (only used when type == Distance):

float	minLength = 0.0f

float	stiffness = 0.0f

float	damping = 0.0f

bool	enableLimit = false
	Revolute joint parameters:

float	lowerAngle_deg = 0.0f
	Parsed in degrees, converted to radians.

float	upperAngle_deg = 0.0f

b2Joint *	b2joint = nullptr
	Runtime Box2D joint (owned by the b2World, do NOT delete manually)

Detailed Description

Describes an inter-body joint parsed from the world XML. Supports distance (rope) and revolute (pin/hinge) joint types.

Member Enumeration Documentation

strong

Enumerator
Distance	b2DistanceJoint (rope-like max length constraint)
Revolute	b2RevoluteJoint (pin/hinge)

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

/home/docs/checkouts/readthedocs.org/user_builds/mvsimulator/checkouts/stable/modules/simulator/include/mvsim/World.h