Unigine::JointFixed Class
| Header: | #include <UniginePhysics.h> |
| Inherits from: | Joint |
This class is used to create fixed joints.
Example#
The following code illustrates connection of two bodies (b0 and b1) using a fixed joint.
Source code (C++)
include <UniginePhysics.h>
/* .. */
JointFixedPtr joint = JointFixed::create(b0, b1);
// setting common joint constraint parameters
joint->setLinearRestitution(0.8f);
joint->setAngularRestitution(0.8f);
joint->setLinearSoftness(0.0f);
joint->setAngularSoftness(0.0f);
// setting number of iterations
joint->setNumIterations(4);See Also#
Usage examples:
- Creating a Simple Mechanism Using Various Types of Joints.
- A set of UnigineScript API samples located in the <UnigineSDK>/data/samples/joints/ folder:
- fixed_00
- fixed_01
- fixed_02
- fixed_03
- fixed_04
- fixed_05
JointFixed Class
Members
static JointFixedPtr create ( ) #
Constructor. Creates a joint with an anchor at the origin of the world coordinates.static JointFixedPtr create ( const Ptr<Body> & body0, const Ptr<Body> & body1 ) #
Constructor. Creates a joint connecting two given bodies. An anchor is placed between centers of mass of the bodies.Arguments
- const Ptr<Body> & body0 - First body to be connected with the joint.
- const Ptr<Body> & body1 - Second body to be connected with the joint.
static JointFixedPtr create ( const Ptr<Body> & body0, const Ptr<Body> & body1, const Math::Vec3 & anchor ) #
Constructor. Creates a fixed joint connecting two given bodies with an anchor placed at specified coordinates.Arguments
- const Ptr<Body> & body0 - First body to be connected with the joint.
- const Ptr<Body> & body1 - Second body to be connected with the joint.
- const Math::Vec3 & anchor - Anchor coordinates.
void setRotation0 ( const Math::mat3 & rotation0 ) #
Sets a rotation matrix of the anchor point in a system of coordinates of the first connected body.Arguments
- const Math::mat3 & rotation0 - Rotation matrix in the body coordinate space.
Math::mat3 getRotation0 ( ) #
Gets a rotation matrix of the anchor point in a system of coordinates of the first connected body.Return value
Returns a rotation matrix of the anchor point in a system of coordinates of the first connected body.void setRotation1 ( const Math::mat3 & rotation1 ) #
Sets a rotation matrix of the anchor point in a system of coordinates of the second connected body.Arguments
- const Math::mat3 & rotation1 - Rotation matrix in the body coordinate space.
Math::mat3 getRotation1 ( ) #
Gets a rotation matrix of the anchor point in a system of coordinates of the second connected body.Return value
Returns a rotation matrix of the anchor point in a system of coordinates of the second connected body.void setWorldRotation ( const Math::mat3 & rotation ) #
Sets a rotation matrix of the anchor point in the world system of coordinates.Arguments
- const Math::mat3 & rotation - Rotation matrix in the world coordinate space.
Math::mat3 getWorldRotation ( ) #
Gets a rotation matrix of the anchor point in the world system of coordinates.Return value
Returns a rotation matrix of the anchor point in the world system of coordinates.Last update:
2022-03-10
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