PulleyJoint

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Constraint → nape.constraint.PulleyJoint (final class)

PulleyJoint limiting the weighted sum of distances between 2 pairs of 4 local anchor points of Bodies.

The equation for this constraint could be written like:

jointMin <= distance(body2.localPointToWorld(anchor2), body1.localPointToWorld(anchor1))
  + ratio * distance(body4.localPointToWorld(anchor4), body3.localPointToWorld(anchor3)) <= jointMax

This joint is not designed to work when either of these pairs achieves a distance of 0, it will still work but may not be entirely ideal. !1*

* This constraint can be used in a full 4-body set up, or a 3-body set up or a 2-body set up permitting any arrangement as long as body1 != body2 and body3 != body4

Instance Members

@private

nape
body1: Null<nape.phys.Body>

First Body in constraint.

This value may be null, but trying to simulate the constraint whilst this body is null will result in an error.

nape
body2: Null<nape.phys.Body>

Second Body in constraint.

This value may be null, but trying to simulate the constraint whilst this body is null will result in an error.

nape
body3: Null<nape.phys.Body>

Third Body in constraint.

This value may be null, but trying to simulate the constraint whilst this body is null will result in an error.

nape
body4: Null<nape.phys.Body>

Fourth Body in constraint.

This value may be null, but trying to simulate the constraint whilst this body is null will result in an error.

nape
anchor1: nape.geom.Vec2

Anchor point on first Body.

This anchor point is defined in the local coordinate system of body1.

nape
anchor2: nape.geom.Vec2

Anchor point on second Body.

This anchor point is defined in the local coordinate system of body2.

nape
anchor3: nape.geom.Vec2

Anchor point on third Body.

This anchor point is defined in the local coordinate system of body3.

nape
anchor4: nape.geom.Vec2

Anchor point on fourth Body.

This anchor point is defined in the local coordinate system of body4.

nape
jointMin: Float

Lower bound for constraint.

This value must be less than or equal to jointMax, and greater equal to 0.

nape
jointMax: Float

Upper bound for constraint.

This value must be greater than or equal to jointMin.

nape
ratio: Float

Ratio property of constraint.

@default 1

nape
isSlack(): Bool

Determine if constraint is slack.

This constraint is slack if the positional error is within the bounds of (jointMin, jointMax).

Returns Description
Bool True if positional error of constraint is between the limits indicating that the constraint is not doing any work.
nape
impulse(): nape.geom.MatMN

@inheritDoc

For this constraint, the MatMN will be 1x1.

Returns
nape.geom.MatMN
nape
bodyImpulse(body: nape.phys.Body): nape.geom.Vec3

@inheritDoc

Name Type
body nape.phys.Body
Returns
nape.geom.Vec3
nape
visitBodies(lambda: Function): Void

@inheritDoc

Name Type
lambda Function
nape
new(body1: Null<nape.phys.Body>, body2: Null<nape.phys.Body>, body3: Null<nape.phys.Body>, body4: Null<nape.phys.Body>, anchor1: nape.geom.Vec2, anchor2: nape.geom.Vec2, anchor3: nape.geom.Vec2, anchor4: nape.geom.Vec2, jointMin: Float, jointMax: Float, ?ratio: Float = 1.0): Void

Construct a new PulleyJoint.

Name Type Default Description
body1 Null<nape.phys.Body> The first body in PulleyJoint.
body2 Null<nape.phys.Body> The second body in PulleyJoint.
body3 Null<nape.phys.Body> The third body in PulleyJoint.
body4 Null<nape.phys.Body> The fourth body in PulleyJoint.
anchor1 nape.geom.Vec2 The first local anchor for joint.
anchor2 nape.geom.Vec2 The second local anchor for joint.
anchor3 nape.geom.Vec2 The third local anchor for joint.
anchor4 nape.geom.Vec2 The fourth local anchor for joint.
jointMin Float The lower bound for constraint.
jointMax Float The upper bound for constraint.
ratio Float 1.0 The ratio for constraint.

Private Members

Metadata

Name Parameters
:final -