Unigine::JointBall Class
| Header: | #include <UniginePhysics.h> |
| Inherits from: | Joint |
This class is used to create ball joints.
Example#
The following code illustrates connection of two bodies (b0 and b1) using a ball joint.
Source code (C++)
include <UniginePhysics.h>
/* .. */
JointBallPtr joint = JointBall::create(b0, b1);
// setting joint axis coordinates
joint->setWorldAxis(vec3(1.0f, 0.0f, 0.0f));
// setting common joint constraint parameters
joint->setLinearRestitution(0.8f);
joint->setAngularRestitution(0.8f);
joint->setLinearSoftness(0.0f);
joint->setAngularSoftness(0.0f);
// setting angular damping
joint->setAngularDamping(16.0f);
// setting swing angular limit, in degrees
joint->setAngularLimitAngle(30.0f);
// setting twist angular limits, in degrees [-20; 20]
joint->setAngularLimitFrom(-20.0f);
joint->setAngularLimitTo(20.0f);
// setting number of iterations
joint->setNumIterations(16);See Also#
- A set of UnigineScript API samples located in the <UnigineSDK>/data/samples/joints/ folder:
- ball_00
- ball_01
- ball_02
- ball_03
- ball_04
- ball_05
- ball_06
JointBall Class
Members
static JointBallPtr create ( ) #
Constructor. Creates a ball joint with an anchor at the origin of the world coordinates.static JointBallPtr create ( const Ptr<Body> & body0, const Ptr<Body> & body1 ) #
Constructor. Creates a ball 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 JointBallPtr create ( const Ptr<Body> & body0, const Ptr<Body> & body1, const Math::Vec3 & anchor ) #
Constructor. Creates a ball 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.
static JointBallPtr create ( const Ptr<Body> & body0, const Ptr<Body> & body1, const Math::Vec3 & anchor, const Math::vec3 & axis ) #
Constructor. Creates a ball joint connecting two given bodies with specified axis coordinates and 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.
- const Math::vec3 & axis - Axis coordinates.
void setAngularDamping ( float damping ) #
Sets an angular damping of the joint.Arguments
- float damping - Angular damping. If a negative value is provided, 0 will be used instead.
float getAngularDamping ( ) #
Returns the angular damping of the joint.Return value
Angular damping.void setAngularLimitAngle ( float angle ) #
Sets a swing limit angle. Swing limit specifies how much connected bodies can bend from the joint axis.Arguments
- float angle - Angle in degrees. The provided value will be saturated in the range [0; 180]. 0 means no limit.
float getAngularLimitAngle ( ) #
Returns the swing limit angle. Swing limit specifies how much connected bodies can bend from the joint axis. 0 means there is no limit.Return value
Swing limit angle in degrees.void setAngularLimitFrom ( float from ) #
Sets a low twist limit angle. Twist limit specifies how much a connected body can twist around the joint axis.Arguments
- float from - Angle in degrees. The provided value will be saturated in the range [-180; 180].
float getAngularLimitFrom ( ) #
Returns the low twist limit angle. Twist limit specifies how much a connected body can twist around the joint axis.Return value
Low twist limit angle in degrees.void setAngularLimitTo ( float to ) #
Sets a high twist limit angle. Twist limit specifies how much a connected body can twist around the joint axis.Arguments
- float to - Angle in degrees. The provided value will be saturated in the range [-180; 180].
float getAngularLimitTo ( ) #
Returns the high twist limit angle. Twist limit specifies how much a connected body can twist around the joint axis.Return value
High twist limit angle in degrees.void setAxis0 ( const Math::vec3 & axis0 ) #
Sets an axis of the first connected body.Arguments
- const Math::vec3 & axis0 - Axis of the first body. The provided vector will be normalized.
Math::vec3 getAxis0 ( ) #
Returns the axis of the first connected body.Return value
Axis of the first body.void setAxis1 ( const Math::vec3 & axis1 ) #
Sets an axis of the second connected body.Arguments
- const Math::vec3 & axis1 - Axis of the second body. The provided vector will be normalized.
Math::vec3 getAxis1 ( ) #
Returns the axis of the second connected body.Return value
Axis of the second body.void setWorldAxis ( const Math::vec3 & axis ) #
Sets a joint axis. This method updates axes of the connected bodies.Arguments
- const Math::vec3 & axis - Joint axis.
Math::vec3 getWorldAxis ( ) #
Returns the joint axis. The joint axis is calculated based on the axes of the connected bodies.Return value
Joint axis.Last update:
2021-12-13
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