Unigine::JointFixed Class
| Header: | #include <UniginePhysics.h> |
| Inherits: | Joint |
This class is used to create fixed joints.
Example
The following code illustrates connection of two bodies (b0 and b1) using a fixed joint.
Source code (C++)
include <UniginePhysics.h>
/* .. */
JointFixedPtr joint = JointFixed::create(b0, b1);
// setting common joint constraint parameters
joint->setLinearRestitution(0.8f);
joint->setAngularRestitution(0.8f);
joint->setLinearSoftness(0.0f);
joint->setAngularSoftness(0.0f);
// setting number of iterations
joint->setNumIterations(4);See Also
Usage examples:
JointFixed Class
Members
static JointFixedPtr create()
Constructor. Creates a joint with an anchor at the origin of the world coordinates.static JointFixedPtr create(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 - First body to be connected with the joint.
- const Ptr<Body> & body1 - Second body to be connected with the joint.
static JointFixedPtr create(const Ptr<Body> & body0, const Ptr<Body> & body1, const Math::Vec3 & anchor)
Constructor. Creates a fixed 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.
Ptr<JointFixed> cast(const Ptr<Joint> & joint)
Casts a JointFixed out of the Joint instance.Arguments
- const Ptr<Joint> & joint - Joint instance.
Return value
JointFixed.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 getRotation0()
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 getRotation1()
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.
Math::mat3 getWorldRotation()
Last update: 2017-10-20
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