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(mat3(rotateZ(90.0f)));
// setting number of iterations
joint->setNumIterations(4);JointPath Class
Members
float getCurrentLinearVelocity() const#
Returns the current velocity of the linear motor.
Return value
Current current velocity of the attached motor, in units per second.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 a system of coordinates of the connected rigid body.
Arguments
- const Math::mat3& rotation0 - The rotation matrix of the anchor point in a system of coordinates of the connected rigid body.
Math::mat3 getRotation0() const#
Returns the current rotation matrix of the anchor point in a system of coordinates of the connected rigid body.
Return value
Current rotation matrix of the anchor point in a system of coordinates of the connected rigid body.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 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 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.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
Last update:
2024-08-16
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