JointFixed Class
This class is used to create fixed joints.
JointFixed Class
Members
JointFixed ()
Constructor. Creates a joint with an anchor at the origin of the world coordinates.JointFixed (const Ptr<Body> & body0, const Ptr<Body> & body1)
Constructor. Creates a joint connecting two given bodies. An anchor is placed between centers of mass of the bodies.Arguments
- const Ptr<Body> & body0 - The first body to connect with the joint.
- const Ptr<Body> & body1 - The second body to connect with the joint.
JointFixed (const Ptr<Body> & body0, const Ptr<Body> & body1, const Math::Vec3 & anchor)
Arguments
- const Ptr<Body> & body0
- const Ptr<Body> & body1
- const Math::Vec3 & anchor
void setRotation0 (const Math::mat3 & rotation0)
Sets a rotation matrix of the anchor point in a system of coordinates of the first connected body.Arguments
- const Math::mat3 & rotation0 - Rotation matrix in the body coordinate space.
Math::mat3 getRotation1 ()
Return value
void setRotation1 (const Math::mat3 & rotation1)
Sets a rotation matrix of the anchor point in a system of coordinates of the second connected body.Arguments
- const Math::mat3 & rotation1 - Rotation matrix in the body coordinate space.
Math::mat3 getWorldRotation ()
Return value
Math::mat3 getRotation0 ()
Return value
void setWorldRotation (const Math::mat3 & rotation)
Sets a rotation matrix of the anchor point in the world system of coordinates.Arguments
- const Math::mat3 & rotation - Rotation matrix in the world coordinate space.
Last update: 2017-07-03
Help improve this article
Was this article helpful?
(or select a word/phrase and press Ctrl+Enter)