Unigine::JointPrismatic Class
| Header: | #include <UniginePhysics.h> |
| Inherits from: | Joint |
This class is used to create prismatic joints.
Example#
The following code illustrates connection of two bodies (b0 and b1) using a prismatic joint.
Source code (C++)
include <UniginePhysics.h>
/* .. */
JointPrismaticPtr joint = JointPrismatic::create(b0, b1);
// setting joint axis coordinates
joint->setWorldAxis(vec3(0.0f, 0.0f, 1.0f));
// setting common joint constraint parameters
joint->setLinearRestitution(0.4f);
joint->setAngularRestitution(0.4f);
joint->setLinearSoftness(0.4f);
joint->setAngularSoftness(0.4f);
// setting linear damping
joint->setLinearDamping(4.0f);
// setting linear limits [-1.5; 1.5]
joint->setLinearLimitFrom(-1.5f);
joint->setLinearLimitTo(1.5f);
// setting number of iterations
joint->setNumIterations(16);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:
- prismatic_00
- prismatic_01
JointPrismatic Class
Members
float getCurrentLinearVelocity() const#
Returns the current velocity of the linear motor.
Return value
Current current velocity in units per second.float getCurrentLinearDistance() const#
Returns the current distance between the bodies.
Return value
Current current distance in units.void setWorldRotation ( const Math::mat3& rotation ) #
Sets a new rotation matrix of the anchor point in the world system of coordinates.
Arguments
- const Math::mat3& rotation - The rotation matrix in the world coordinate space.
Math::mat3 getWorldRotation() const#
Returns the current rotation matrix of the anchor point in the world system of coordinates.
Return value
Current rotation matrix in the world coordinate space.void setRotation0 ( const Math::mat3& rotation0 ) #
Sets a new rotation matrix of the anchor point in the system of coordinates of the first connected body.
Arguments
- const Math::mat3& rotation0 - The rotation matrix in the body coordinate space.
Math::mat3 getRotation0() const#
Returns the current rotation matrix of the anchor point in the system of coordinates of the first connected body.
Return value
Current rotation matrix in the body coordinate space.void setRotation1 ( const Math::mat3& rotation1 ) #
Sets a new rotation matrix of the anchor point in the system of coordinates of the second connected body.
Arguments
- const Math::mat3& rotation1 - The rotation matrix in the body coordinate space.
Math::mat3 getRotation1() const#
Returns the current rotation matrix of the anchor point in the system of coordinates of the second connected body.
Return value
Current rotation matrix in the body coordinate space.void setLinearVelocity ( float velocity ) #
Sets a new target velocity of the attached linear motor.
Arguments
- float velocity - The target velocity in units per second.
float getLinearVelocity() const#
Returns the current target velocity of the attached linear motor.
Return value
Current target velocity in units per second.void setLinearSpring ( float spring ) #
Sets a new rigidity coefficient of the linear spring. 0 means that the spring is not attached.
Arguments
- float spring - The rigidity coefficient. If a negative value is provided, 0 will be used instead. 0 detaches the spring.
float getLinearSpring() const#
Returns the current rigidity coefficient of the linear spring. 0 means that the spring is not attached.
Return value
Current rigidity coefficient. If a negative value is provided, 0 will be used instead. 0 detaches the spring.void setLinearLimitTo ( float to ) #
Sets a new high limit distance. This limit specifies how far a connected body can move along the joint axis.
Arguments
- float to - The high limit distance in units.
float getLinearLimitTo() const#
Returns the current high limit distance. This limit specifies how far a connected body can move along the joint axis.
Return value
Current high limit distance in units.void setLinearLimitFrom ( float from ) #
Sets a new low limit distance. This limit specifies how far a connected body can move along the joint axis.
Arguments
- float from - The low limit distance in units.
float getLinearLimitFrom() const#
Returns the current low limit distance. This limit specifies how far a connected body can move along the joint axis.
Return value
Current low limit distance in units.void setLinearForce ( float force ) #
Sets a new maximum force of the attached linear motor. 0 means that the motor is not attached.
Arguments
- float force - The maximum force. If a negative value is provided, 0 will be used instead. 0 detaches the motor.
float getLinearForce() const#
Returns the current maximum force of the attached linear motor. 0 means that the motor is not attached.
Return value
Current maximum force. If a negative value is provided, 0 will be used instead. 0 detaches the motor.void setLinearDistance ( float distance ) #
Sets a new target distance of the attached linear spring. The spring tries to move the connected bodies so that to keep this distance between them.
Arguments
- float distance - The target distance in units.
float getLinearDistance() const#
Returns the current target distance of the attached linear spring. The spring tries to move the connected bodies so that to keep this distance between them.
Return value
Current target distance in units.void setLinearDamping ( float damping ) #
Sets a new linear damping of the joint.
Arguments
- float damping - The linear damping. If a negative value is provided, 0 will be used instead.
float getLinearDamping() const#
Returns the current linear damping of the joint.
Return value
Current linear damping. If a negative value is provided, 0 will be used instead.void setWorldAxis ( const Math::vec3& axis ) #
Sets a new joint axis. The joint axis is calculated based on the axes of the connected bodies.
Arguments
- const Math::vec3& axis - The joint axis.
Math::vec3 getWorldAxis() const#
Returns the current joint axis. The joint axis is calculated based on the axes of the connected bodies.
Return value
Current joint axis.void setAxis0 ( const Math::vec3& axis0 ) #
Sets a new axis of the first connected body.
Arguments
- const Math::vec3& axis0 - The axis of the first body. The provided vector will be normalized.
Math::vec3 getAxis0() const#
Returns the current axis of the first connected body.
Return value
Current axis of the first body. The provided vector will be normalized.static JointPrismaticPtr create ( ) #
Constructor. Creates a prismatic joint with an anchor at the origin of the world coordinates.static JointPrismaticPtr create ( const Ptr<Body> & body0, const Ptr<Body> & body1 ) #
Constructor. Creates a prismatic 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 JointPrismaticPtr create ( const Ptr<Body> & body0, const Ptr<Body> & body1, const Math::Vec3 & anchor, const Math::vec3 & axis ) #
Constructor. Creates a prismatic joint connecting two given bodies with specified axis coordinates and an anchor placed at specified coordinates.Arguments
Last update:
2024-08-07
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