Unigine::JointPrismatic Class

This class is used to create prismatic joints.

Example

The following code illustrates connection of two bodies (b0 and b1) using a prismatic joint.

Source code (C++)
``````include <UniginePhysics.h>

/* .. */

JointPrismaticPtr joint = JointPrismatic::create(b0, b1);

// setting joint axis coordinates
joint->setWorldAxis(vec3(0.0f, 0.0f, 1.0f));

// setting common joint constraint parameters
joint->setLinearRestitution(0.4f);
joint->setAngularRestitution(0.4f);
joint->setLinearSoftness(0.4f);
joint->setAngularSoftness(0.4f);

// setting linear damping
joint->setLinearDamping(4.0f);

// setting linear limits [-1.5; 1.5]
joint->setLinearLimitFrom(-1.5f);
joint->setLinearLimitTo(1.5f);

// setting number of iterations
joint->setNumIterations(16);``````

Usage examples:

static JointPrismaticPtr create()

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

static JointPrismaticPtr create(const Ptr<Body> & body0, const Ptr<Body> & body1)

Constructor. Creates a prismatic 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 JointPrismaticPtr create(const Ptr<Body> & body0, const Ptr<Body> & body1, const Math::Vec3 & anchor, const Math::vec3 & size)

Constructor. Creates a prismatic joint connecting two given bodies with specified axis coordinates and 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.
• const Math::vec3 & size - Axis coordinates.

Ptr<JointPrismatic>cast(const Ptr<Joint> & joint)

Casts a JointPrismatic out of the Joint instance.

Arguments

• const Ptr<Joint> & joint - Joint instance.

JointPrismatic.

voidsetAxis0(const Math::vec3 & axis0)

Sets a joint axis in the local coordinates of the first body.

Arguments

• const Math::vec3 & axis0 - Joint axis in the coordinates of the first body.

Math::vec3getAxis0()

Returns the joint axis in the local coordinates of the first body.

Return value

Joint axis in the coordinates of the first body.

floatgetCurrentLinearDistance()

Returns the current distance between the bodies.

Return value

Current distance in units.

floatgetCurrentLinearVelocity()

Returns the current velocity of the attached motor.

Return value

Current velocity in units per second.

voidsetLinearDamping(float damping)

Sets a linear damping of the joint.

Arguments

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

floatgetLinearDamping()

Returns the linear damping of the joint.

Linear damping.

voidsetLinearDistance(float distance)

Sets a target distance of the attached spring. The spring tries to move the connected bodies so that to keep this distance between them.

Arguments

• float distance - Target distance in units.

floatgetLinearDistance()

Returns the target distance of the attached spring. The spring tries to move the connected bodies so that to keep this distance between them.

Return value

Target distance in units.

voidsetLinearForce(float force)

Sets a maximum force of the attached motor.

Arguments

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

floatgetLinearForce()

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

Maximum force.

voidsetLinearLimitFrom(float from)

Sets a low limit distance. This limit specifies how far a connected body can move along the joint axis.

Arguments

• float from - Distance in units.

floatgetLinearLimitFrom()

Returns the low limit distance. This limit specifies how far a connected body can move along the joint axis.

Return value

Low limit distance in units.

voidsetLinearLimitTo(float to)

Sets a high limit distance. This limit specifies how far a connected body can move along the joint axis.

Arguments

• float to - Distance in units.

floatgetLinearLimitTo()

Returns the high limit distance. This limit specifies how far a connected body can move along the joint axis.

Return value

High limit distance in units.

voidsetLinearSpring(float spring)

Sets a rigidity coefficient of the spring.

Arguments

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

floatgetLinearSpring()

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

Return value

Rigidity coefficient.

voidsetLinearVelocity(float velocity)

Sets a target velocity of the attached motor.

Arguments

• float velocity - Target velocity in units per second.

floatgetLinearVelocity()

Returns the target velocity of the attached motor.

Return value

Target velocity in units per second.

voidsetRotation0(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.

voidsetRotation1(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.

voidsetWorldAxis(const Math::vec3 & axis)

Sets a joint axis in the world coordinates.

Arguments

• const Math::vec3 & axis - Joint axis in the world coordinates.

Math::vec3getWorldAxis()

Returns the joint axis in the world coordinates.

Return value

Joint axis in the world coordinates.

voidsetWorldRotation(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::mat3getWorldRotation()

Last update: 2018-06-04