Portfolio of Jorrit Rouwé
A Fixed Joint for Box2D

In this document we derive the equations needed to implement a fixed joint in Box2D. A fixed joint is a joint whereby 2 bodies are rigidly connected together. This joint can then for example be used to create breakable rigid bodies: At the end of each frame check the constraint force to see if it exceeded a specific maximum value. Please note that a fixed joint is not a very good solution if you just want to connect lots of bodies together as it has a much higher runtime cost and is more unstable than adding multiple shapes to a body.

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Source Code: ZIP