Unigine::JointPath Class
| Header: | #include <UniginePhysics.h> |
| Inherits: | 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 samples located in the data/samples/ directory, namely:
- physics/train_00.cpp
- joints/path_00.cpp
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(rotateZ(90.0f));
// setting number of iterations
joint->setNumIterations(4);JointPath Class
Members
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
- const Ptr<Body> & body0 - BodyRigid to be connected with the joint.
- const Ptr<Body> & body1 - BodyPath to be connected with the joint.
- const Math::Vec3 & anchor - Anchor coordinates.
Ptr<JointPath> cast(const Ptr<Joint> & joint)
Casts a JointPath out of the Joint instance.Arguments
- const Ptr<Joint> & joint - Joint instance.
Return value
JointPath.float getCurrentLinearVelocity()
Returns the current linear velocity of the attached motor.Return value
Current linear velocity in units per second.void setLinearDamping(float damping)
Sets damping factor of linear velocities of bodies connected by the joint.Arguments
- float damping - Linear damping to be set. If a negative value is provided, 0 will be used instead.
float getLinearDamping()
Returns the current damping factor for linear velocities of bodies connected by the joint.Return value
Linear damping.void setLinearForce(float force)
Sets a maximum force of the attached motor. 0 means that the motor is not attached.Arguments
- float force - Maximum force to be set. If a negative value is provided, 0 will be used instead. 0 detaches the motor.
float getLinearForce()
Returns the maximum force of the attached motor.Return value
Maximum force.void setLinearVelocity(float velocity)
Sets a target linear velocity of the attached motor.Arguments
- float velocity - Target velocity in units per second.
float getLinearVelocity()
Returns the current linear velocity of the attached motor.Return value
Target velocity in units per second.void setRotation0(const Math::mat3 & rotation0)
Sets a rotation matrix of the anchor point in a system of coordinates of the connected rigid body.Arguments
- const Math::mat3 & rotation0 - Rotation matrix in the body-space coordinates.
Math::mat3 getRotation0()
void setWorldRotation(const Math::mat3 & rotation)
Sets a rotation matrix of the anchor point in the world coordinates.Arguments
- const Math::mat3 & rotation - Rotation matrix in the world-space coordinates.
Math::mat3 getWorldRotation()
Returns rotation matrix of the anchor point in the world coordinates.Return value
Rotation matrix in the world-space coordinates.Last update: 2017-12-21
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