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>
using namespace Unigine;
using namespace Unigine::Math;
/* .. */
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);JointBall Class
Members
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 setAngularLimitTo ( float to ) #
Sets a new high twist limit angle. twist limit specifies how much a connected body can twist around the joint axis.
Arguments
- float to - The high twist limit angle, in degrees. The provided value is saturated in the range [-180; 180].
float getAngularLimitTo() const#
Returns the current high twist limit angle. twist limit specifies how much a connected body can twist around the joint axis.
Return value
Current high twist limit angle, in degrees. The provided value is saturated in the range [-180; 180].void setAngularLimitFrom ( float from ) #
Sets a new low twist limit angle. Twist limit specifies how much a connected body can twist around the joint axis.
Arguments
- float from - The Low twist limit angle, in degrees. The provided value is saturated in the range [-180; 180].
float getAngularLimitFrom() const#
Returns the current low twist limit angle. Twist limit specifies how much a connected body can twist around the joint axis.
Return value
Current Low twist limit angle, in degrees. The provided value is saturated in the range [-180; 180].void setAngularLimitAngle ( float angle ) #
Sets a new swing limit angle. Swing limit specifies how much connected bodies can bend from the joint axis.
Arguments
- float angle - The Swing limit angle, in degrees. The provided value is saturated in the range [-180; 180]. 0 means there is no limit.
float getAngularLimitAngle() const#
Returns the current swing limit angle. Swing limit specifies how much connected bodies can bend from the joint axis.
Return value
Current Swing limit angle, in degrees. The provided value is saturated in the range [-180; 180]. 0 means there is no limit.void setAngularDamping ( float damping ) #
Sets a new angular damping of the joint.
Arguments
- float damping - The angular damping. If a negative value is provided, 0 will be used instead.
float getAngularDamping() const#
Returns the current angular damping of the joint.
Return value
Current angular damping. If a negative value is provided, 0 will be used instead.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.void setAxis1 ( const Math::vec3& axis1 ) #
Sets a new axis of the second connected body.
Arguments
- const Math::vec3& axis1 - The axis of the second body. The provided vector will be normalized.
Math::vec3 getAxis1() const#
Returns the current axis of the second connected body.
Return value
Current axis of the second body. The provided vector will be normalized.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
Last update:
2024-08-16
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