JointHinge Class

List of functions:

This class is used to create hinge joints.

JointHinge Class

Members

JointHinge ()

Constructor. Creates a hinge joint with an anchor at the origin of the world coordinates.

JointHinge (const Ptr<Body> & body0, const Ptr<Body> & body1)

Constructor. Creates a hinge 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.

JointHinge (const Ptr<Body> & body0, const Ptr<Body> & body1, const Math::Vec3 & anchor, const Math::vec3 & axis)

Arguments

const Ptr<Body> & body0
const Ptr<Body> & body1
const Math::Vec3 & anchor
const Math::vec3 & axis

float getAngularTorque ()

Returns the maximum torque of the attached angular motor. 0 means that the motor is not attached.

Return value

Maximum torque.

float getAngularDamping ()

Returns the angular damping of the joint.

Return value

Angular damping.

float getAngularVelocity ()

Returns the target velocity of the attached angular motor.

Return value

Target velocity in radians per second.

Math::vec3 getAxis0 ()

Returns the axis of the first connected body.

Return value

Axis of the first body.

void setAngularLimitFrom (float from)

Sets a low rotation limit angle. Rotation limit specifies how much a connected body can rotate around the joint axis.

Arguments

float from - Angle in degrees. The provided value will be saturated in the range [-180; 180].

float getAngularLimitTo ()

Returns the high rotation limit angle. Rotation limit specifies how much a connected body can rotate around the joint axis.

Return value

High rotation limit angle in degrees.

void setAngularLimitTo (float to)

Sets a high rotation limit angle. Rotation limit specifies how much a connected body can rotate around the joint axis.

Arguments

float to - Angle in degrees. The provided value will be saturated in the range [-180; 180].

void setAngularVelocity (float velocity)

Sets a target velocity of the attached angular motor.

Arguments

float velocity - Velocity in radians per second.

float getAngularLimitFrom ()

Returns the low rotation limit angle. Rotation limit specifies how much a connected body can rotate around the joint axis.

Return value

Low rotation limit angle in degrees.

void setWorldAxis (const Math::vec3 & axis)

Sets a joint axis. This method updates axes of the connected bodies.

Arguments

const Math::vec3 & axis - Joint axis.

float getCurrentAngularAngle ()

Returns the current angle between the bodies.

Return value

Current angle in degrees.

void setAngularDamping (float damping)

Sets an angular damping of the joint.

Arguments

float damping - Angular damping. If a negative value is provided, 0 will be used instead.

void setAngularSpring (float spring)

Sets a rigidity coefficient of the angular spring.

Arguments

float spring - Rigidity coefficient. If a negative value is provided, 0 will be used instead. 0 detaches the spring.

Math::vec3 getAxis1 ()

Returns the axis of the second connected body.

Return value

Axis of the second body.

float getAngularSpring ()

Returns the rigidity coefficient of the angular spring. 0 means that the spring is not attached.

Return value

Rigidity coefficient.

void setAxis1 (const Math::vec3 & axis1)

Sets an axis of the second connected body.

Arguments

const Math::vec3 & axis1 - Axis of the second body. The provided vector will be normalized.

void setAngularTorque (float torque)

Sets a maximum torque of the angular motor.

Arguments

float torque - Maximum torque. If a negative value is provided, 0 will be used instead. 0 detaches the motor.

Math::vec3 getWorldAxis ()

Returns the joint axis. The joint axis is calculated based on the axes of the connected bodies.

Return value

Joint axis.

float getCurrentAngularVelocity ()

Returns the current velocity of the motor, i.e. the difference between angular velocities of two bodies connected with a hinge relative the hinge axis.

Notice

This function returns the valid velocity only if both bodies are of BodyRigid type. Otherwise, 0 is returned.

Return value

Current motor velocity in radians per second.

void setAxis0 (const Math::vec3 & axis0)

Sets an axis of the first connected body.

Arguments

const Math::vec3 & axis0 - Axis of the first body. The provided vector will be normalized.

void setAngularAngle (float angle)

Sets a target angle of the attached angular spring. The spring tries to rotate the connected bodies so that they make this angle.

Arguments

float angle - Angle in degrees. The provided value will be saturated in the range [-180; 180].

float getAngularAngle ()

Returns the target angle of the attached angular spring. The spring tries to rotate the connected bodies so that they make this angle.

Return value

Target angle in degrees.

Last update: 2017-07-03

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