Unigine::JointPath Class
| Header: | #include <UniginePhysics.h> |
| Inherits from: | Joint |
A path joint is used with BodyPath: it attaches an arbitrary BodyRigid to move along its path.
Notice
The path is a spline along which an object can be moved.
See Also#
- A set of UnigineScript API samples located in the <UnigineSDK>/data/samples/ folder:
- physics/train_00
- joints/path_00
Example#
The following code illustrates connection of a rigid body (b0) and a path body (b1) using a path joint.
Source code (C++)
include <UniginePhysics.h>
/* .. */
JointPathPtr joint = JointPath::create(b0, b1);
// setting linear damping, velocity and force limits
joint->setLinearDamping(200.0f);
joint->setLinearVelocity(-100.0f);
joint->setLinearForce(1000.0f);
// setting body orientation regarding the path
joint->setRotation0(rotateZ(90.0f));
// setting number of iterations
joint->setNumIterations(4);JointPath Class
Members
static JointPathPtr create ( ) #
Constructor. Creates a path joint with an anchor at the origin of the world coordinates.static JointPathPtr create ( const Ptr<Body> & body0, const Ptr<Body> & body1 ) #
Constructor. Creates a path joint connecting two given bodies. An anchor is placed in the center of the rigid body attached the path body.Arguments
- const Ptr<Body> & body0 - BodyRigid to be connected with the joint.
- const Ptr<Body> & body1 - BodyPath to be connected with the joint.
static JointPathPtr create ( const Ptr<Body> & body0, const Ptr<Body> & body1, const Math::Vec3 & anchor ) #
Constructor. Creates a path joint connecting two given bodies with an anchor placed at specified coordinates.Arguments
- const Ptr<Body> & body0 - BodyRigid to be connected with the joint.
- const Ptr<Body> & body1 - BodyPath to be connected with the joint.
- const Math::Vec3 & anchor - Anchor coordinates.
float getCurrentLinearVelocity ( ) #
Returns the current linear velocity of the attached motor.Return value
Current linear velocity in units per second.void setLinearDamping ( float damping ) #
Sets damping factor of linear velocities of bodies connected by the joint.Arguments
- float damping - Linear damping to be set. If a negative value is provided, 0 will be used instead.
float getLinearDamping ( ) #
Returns the current damping factor for linear velocities of bodies connected by the joint.Return value
Linear damping.void setLinearForce ( float force ) #
Sets a maximum force of the attached motor. 0 means that the motor is not attached.Arguments
- float force - Maximum force to be set. If a negative value is provided, 0 will be used instead. 0 detaches the motor.
float getLinearForce ( ) #
Returns the maximum force of the attached motor.Return value
Maximum force.void setLinearVelocity ( float velocity ) #
Sets a target linear velocity of the attached motor.Arguments
- float velocity - Target velocity in units per second.
float getLinearVelocity ( ) #
Returns the current linear velocity of the attached motor.Return value
Target velocity in units per second.void setRotation0 ( const Math::mat3 & rotation0 ) #
Sets a rotation matrix of the anchor point in a system of coordinates of the connected rigid body.Arguments
- const Math::mat3 & rotation0 - Rotation matrix in the body-space coordinates.
Math::mat3 getRotation0 ( ) #
Gets a rotation matrix of the anchor point in a system of coordinates of the connected rigid body.Return value
Returns a rotation matrix of the anchor point in a system of coordinates of the connected rigid body.void setWorldRotation ( const Math::mat3 & rotation ) #
Sets a rotation matrix of the anchor point in the world coordinates.Arguments
- const Math::mat3 & rotation - Rotation matrix in the world-space coordinates.
Math::mat3 getWorldRotation ( ) #
Returns rotation matrix of the anchor point in the world coordinates.Return value
Rotation matrix in the world-space coordinates.Last update:
2021-12-13
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