This page has been translated automatically.
视频教程
界面
要领
高级
实用建议
UnigineEditor
界面概述
资产工作流程
设置和首选项
项目开发
调整节点参数
Setting Up Materials
Setting Up Properties
照明
Landscape Tool
Sandworm
使用编辑器工具执行特定任务
Extending Editor Functionality
嵌入式节点类型
Nodes
Objects
Effects
Decals
光源
Geodetics
World Nodes
Sound Objects
Pathfinding Objects
Players
编程
基本原理
搭建开发环境
Usage Examples
C++
C#
UnigineScript
UUSL (Unified UNIGINE Shader Language)
Plugins
File Formats
Rebuilding the Engine Tools
GUI
双精度坐标
应用程序接口
Containers
Common Functionality
Controls-Related Classes
Engine-Related Classes
Filesystem Functionality
GUI-Related Classes
Math Functionality
Node-Related Classes
Objects-Related Classes
Networking Functionality
Pathfinding-Related Classes
Plugins-Related Classes
IG Plugin
CIGIConnector Plugin
Rendering-Related Classes
创建内容
Content Optimization
Materials
Material Nodes Library
Miscellaneous
Input
Math
Matrix
Textures
Art Samples
Tutorials
注意! 这个版本的文档是过时的,因为它描述了一个较老的SDK版本!请切换到最新SDK版本的文档。
注意! 这个版本的文档描述了一个不再受支持的旧SDK版本!请升级到最新的SDK版本。

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);

See Also#

  • A set of UnigineScript API samples located in the <UnigineSDK>/data/samples/physics/ folder:
    • car_00
    • car_01
    • car_03

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
Build: ()