Unigine::JointSuspension Class

Header:	#include <UniginePhysics.h>
Inherits from:	Joint

Warning

This joint type is deprecated and will be removed in the upcoming releases. It is recommended to use the Wheel Joint instead.

This class is used to create a suspension joint. The bodies that represent both a frame and a wheel must be rigid bodies.

Example#

The following code illustrates connection of two rigid bodies (frame and wheel) using a suspension joint.

Source code (UnigineScript)

include <UniginePhysics.h>

/* .. */

JointSuspensionPtr joint = JointSuspension::create(frame, wheel);

// setting joint anchor coordinates
joint->setWorldAnchor(wheel->getObject()->getWorldTransform() * Vec3(0.0f));

// setting joint axes coordinates
joint->setWorldAxis0(vec3(0.0f,0.0f,1.0f));
joint->setWorldAxis1(vec3(0.0f,1.0f,0.0f));

// setting linear damping and spring rigidity
joint->setLinearDamping(2.0f);
joint->setLinearSpring(200.0f);

// setting lower and upper suspension ride limits [-0.5; 0.0]
joint->setLinearLimitFrom(-0.5f);
joint->setLinearLimitTo(0.0f);

// setting target suspension height 
joint->setLinearDistance(0.5f);

// setting maximum angular velocity and torque
joint->setAngularVelocity(-20.0f);
joint->setAngularTorque(10.0f);

// setting common joint constraint parameters
joint->setLinearRestitution(0.2f);
joint->setAngularRestitution(0.2f);
joint->setLinearSoftness(0.2f);
joint->setAngularSoftness(0.2f);

// setting number of iterations
joint->setNumIterations(8);

Methods:

Name	Description View: Sort by:
*create*	Constructor.
setAngularDamping	Sets an angular damping of the joint (wheel rotation damping).
getAngularDamping	Returns the angular damping of the joint (wheel rotation damping).
setAngularTorque	Sets a maximum torque of the attached angular motor.
getAngularTorque	Returns the maximum torque of the attached angular motor.
setAngularVelocity	Sets a maximum velocity of wheel rotation.
getAngularVelocity	Returns the target velocity of wheel rotation.
setAxis00	Sets coordinates of suspension axis, along which a wheel moves vertically.
getAxis00	Returns suspension axis coordinates.
setAxis10	Sets a wheel spindle axis in coordinates of the frame (body 0): an axis around which a wheel rotates when moving forward (or backward).
getAxis10	Returns the wheel spindle axis in coordinates of the frame (body 0).
setAxis11	Sets a wheel spindle axis in coordinates of the wheel (body 1): an axis around which a wheel rotates when steering.
getAxis11	Returns the wheel spindle in coordinates of the wheel (body 1).
getCurrentAngularVelocity	Returns the current velocity of wheel rotation.
getCurrentLinearDistance	Returns the current suspension compression.
setLinearDamping	Sets a linear damping of the suspension.
getLinearDamping	Returns the linear damping of the suspension.
setLinearDistance	Sets a target height of the suspension.
getLinearDistance	Returns the target height of the suspension.
setLinearLimitFrom	Sets a low limit of the suspension ride.
getLinearLimitFrom	Returns the low limit of the suspension ride.
setLinearLimitTo	Sets a high limit of the suspension ride.
getLinearLimitTo	Returns the high limit of the suspension ride.
setLinearSpring	Sets a rigidity coefficient of the suspension.
getLinearSpring	Returns the rigidity coefficient of the suspension.
setWorldAxis0	Sets suspension axis in the world coordinates.
getWorldAxis0	Returns the suspension axis in the world coordinates.
setWorldAxis1	Sets a wheel spindle axis in the world coordinates.
getWorldAxis1	Returns the wheel spindle axis in the world coordinates.

JointSuspension Class

Members

static JointSuspensionPtr create ( ) #

Constructor. Creates a suspension joint with an anchor at the origin of the world coordinates.

static JointSuspensionPtr create ( const Ptr<Body> & body0, const Ptr<Body> & body1 ) #

Constructor. Creates a suspension joint connecting two given bodies. An anchor is placed between centers of mass of the bodies.

Arguments

const Ptr<Body> & body0 - Frame to be connected with the joint.
const Ptr<Body> & body1 - Wheel to be connected with the joint.

static JointSuspensionPtr create ( const Ptr<Body> & body0, const Ptr<Body> & body1, const Math::Vec3 & anchor, const Math::vec3 & axis0, const Math::vec3 & axis1 ) #

Constructor. Creates a suspension joint connecting two given bodies with specified suspension and spindle axis coordinates and an anchor placed at specified coordinates.

Arguments

const Ptr<Body> & body0 - Frame to be connected with the joint.
const Ptr<Body> & body1 - Wheel to be connected with the joint.
const Math::Vec3 & anchor - Anchor coordinates.
const Math::vec3 & axis0 - Suspension axis coordinates.
const Math::vec3 & axis1 - Wheel spindle axis coordinates.

void setAngularDamping ( float damping ) #

Sets an angular damping of the joint (wheel rotation damping).

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 (wheel rotation damping).

Return value

Angular damping.

void setAngularTorque ( float torque ) #

Sets a maximum torque of the attached angular motor.

Arguments

float torque - Maximum torque. If a negative value is provided, 0 will be used instead.

float getAngularTorque ( ) #

Returns the maximum torque of the attached angular motor.

Return value

Maximum torque.

void setAngularVelocity ( float velocity ) #

Sets a maximum velocity of wheel rotation.

Arguments

float velocity - Velocity in radians per second.

float getAngularVelocity ( ) #

Returns the target velocity of wheel rotation.

Return value

Target velocity in radians per second.

void setAxis00 ( const Math::vec3 & axis00 ) #

Sets coordinates of suspension axis, along which a wheel moves vertically. This is a shock absorber.

Arguments

const Math::vec3 & axis00 - Suspension axis.

Math::vec3 getAxis00 ( ) #

Returns suspension axis coordinates.

Return value

Suspension axis.

void setAxis10 ( const Math::vec3 & axis10 ) #

Sets a wheel spindle axis in coordinates of the frame (body 0): an axis around which a wheel rotates when moving forward (or backward).

Arguments

const Math::vec3 & axis10 - Wheel spindle axis in coordinates of the frame (body 0).

Math::vec3 getAxis10 ( ) #

Returns the wheel spindle axis in coordinates of the frame (body 0).

Return value

Wheel spindle axis in coordinates of the frame (body 0).

void setAxis11 ( const Math::vec3 & axis11 ) #

Sets a wheel spindle axis in coordinates of the wheel (body 1): an axis around which a wheel rotates when steering.

Arguments

const Math::vec3 & axis11 - Wheel spindle axis in coordinates of the wheel (body 1).

Math::vec3 getAxis11 ( ) #

Returns the wheel spindle in coordinates of the wheel (body 1).

Return value

Wheel spindle axis in coordinates of the wheel (body 1).

float getCurrentAngularVelocity ( ) #

Returns the current velocity of wheel rotation.

Return value

Current velocity in radians per second.

float getCurrentLinearDistance ( ) #

Returns the current suspension compression.

Return value

Current suspension height in units.

void setLinearDamping ( float damping ) #

Sets a linear damping of the suspension.

Arguments

float damping - Linear damping. If a negative value is provided, 0 will be used instead.

float getLinearDamping ( ) #

Returns the linear damping of the suspension.

Return value

Linear damping.

void setLinearDistance ( float distance ) #

Sets a target height of the suspension.

Arguments

float distance - Height in units.

float getLinearDistance ( ) #

Returns the target height of the suspension.

Return value

Target height in units.

void setLinearLimitFrom ( float from ) #

Sets a low limit of the suspension ride.

Arguments

float from - Limit in units.

float getLinearLimitFrom ( ) #

Returns the low limit of the suspension ride.

Return value

Low limit in units.

void setLinearLimitTo ( float to ) #

Sets a high limit of the suspension ride.

Arguments

float to - Limit in units.

float getLinearLimitTo ( ) #

Returns the high limit of the suspension ride.

Return value

High limit in units.

void setLinearSpring ( float spring ) #

Sets a rigidity coefficient of the suspension.

Arguments

float spring - Rigidity coefficient. If a negative value is provided, 0 will be used instead.

float getLinearSpring ( ) #

Returns the rigidity coefficient of the suspension.

Return value

Rigidity coefficient.

void setWorldAxis0 ( const Math::vec3 & axis0 ) #

Sets suspension axis in the world coordinates.

Arguments

const Math::vec3 & axis0 - Suspension axis in the world coordinates.

Math::vec3 getWorldAxis0 ( ) #

Returns the suspension axis in the world coordinates.

Return value

Suspension axis in the world coordinates.

void setWorldAxis1 ( const Math::vec3 & axis1 ) #

Sets a wheel spindle axis in the world coordinates.

Arguments

const Math::vec3 & axis1 - Wheel spindle axis in the world coordinates.

Math::vec3 getWorldAxis1 ( ) #

Returns the wheel spindle axis in the world coordinates.

Return value

Wheel spindle axis in the world coordinates.

Last update: 2021-12-13

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Unigine::JointSuspension Class

Example#

See Also#

Methods:

JointSuspension Class

Members

static JointSuspensionPtr create ( ) #

static JointSuspensionPtr create ( const Ptr<Body> & body0, const Ptr<Body> & body1 ) #

Arguments

static JointSuspensionPtr create ( const Ptr<Body> & body0, const Ptr<Body> & body1, const Math::Vec3 & anchor, const Math::vec3 & axis0, const Math::vec3 & axis1 ) #

Arguments

void setAngularDamping ( float damping ) #

Arguments

float getAngularDamping ( ) #

Return value

void setAngularTorque ( float torque ) #

Arguments

float getAngularTorque ( ) #

Return value

void setAngularVelocity ( float velocity ) #

Arguments

float getAngularVelocity ( ) #

Return value

void setAxis00 ( const Math::vec3 & axis00 ) #

Arguments

Math::vec3 getAxis00 ( ) #

Return value

void setAxis10 ( const Math::vec3 & axis10 ) #

Arguments

Math::vec3 getAxis10 ( ) #

Return value

void setAxis11 ( const Math::vec3 & axis11 ) #

Arguments

Math::vec3 getAxis11 ( ) #

Return value

float getCurrentAngularVelocity ( ) #

Return value

float getCurrentLinearDistance ( ) #

Return value

void setLinearDamping ( float damping ) #

Arguments

float getLinearDamping ( ) #

Return value

void setLinearDistance ( float distance ) #

Arguments

float getLinearDistance ( ) #

Return value

void setLinearLimitFrom ( float from ) #

Arguments

float getLinearLimitFrom ( ) #

Return value

void setLinearLimitTo ( float to ) #

Arguments

float getLinearLimitTo ( ) #

Return value

void setLinearSpring ( float spring ) #

Arguments

float getLinearSpring ( ) #

Return value

void setWorldAxis0 ( const Math::vec3 & axis0 ) #

Arguments

Math::vec3 getWorldAxis0 ( ) #

Return value

void setWorldAxis1 ( const Math::vec3 & axis1 ) #

Arguments

Math::vec3 getWorldAxis1 ( ) #

Return value