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Unigine::JointBall Class

Header: #include <UniginePhysics.h>
Inherits from: Joint

This class is used to create ball joints.

Example#

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

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

/* .. */

JointBallPtr joint = JointBall::create(b0, b1);

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

// setting common joint constraint parameters
joint->setLinearRestitution(0.8f);
joint->setAngularRestitution(0.8f);
joint->setLinearSoftness(0.0f);
joint->setAngularSoftness(0.0f);

// setting angular damping
joint->setAngularDamping(16.0f);

// setting swing angular limit, in degrees
joint->setAngularLimitAngle(30.0f);

// setting twist angular limits, in degrees [-20; 20]
joint->setAngularLimitFrom(-20.0f);
joint->setAngularLimitTo(20.0f);

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

See Also#

  • A set of UnigineScript API samples located in the <UnigineSDK>/data/samples/joints/ folder:
    • ball_00
    • ball_01
    • ball_02
    • ball_03
    • ball_04
    • ball_05
    • ball_06

JointBall Class

Members


static JointBallPtr create ( ) #

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

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

Constructor. Creates a ball 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 JointBallPtr create ( const Ptr<Body> & body0, const Ptr<Body> & body1, const Math::Vec3 & anchor ) #

Constructor. Creates a ball 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.

static JointBallPtr create ( const Ptr<Body> & body0, const Ptr<Body> & body1, const Math::Vec3 & anchor, const Math::vec3 & axis ) #

Constructor. Creates a ball 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 & axis - Axis coordinates.

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.

float getAngularDamping ( ) #

Returns the angular damping of the joint.

Return value

Angular damping.

void setAngularLimitAngle ( float angle ) #

Sets a swing limit angle. Swing limit specifies how much connected bodies can bend from the joint axis.

Arguments

  • float angle - Angle in degrees. The provided value will be saturated in the range [0; 180]. 0 means no limit.

float getAngularLimitAngle ( ) #

Returns the swing limit angle. Swing limit specifies how much connected bodies can bend from the joint axis. 0 means there is no limit.

Return value

Swing limit angle in degrees.

void setAngularLimitFrom ( float from ) #

Sets a low twist limit angle. Twist limit specifies how much a connected body can twist around the joint axis.

Arguments

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

float getAngularLimitFrom ( ) #

Returns the low twist limit angle. Twist limit specifies how much a connected body can twist around the joint axis.

Return value

Low twist limit angle in degrees.

void setAngularLimitTo ( float to ) #

Sets a high twist limit angle. Twist limit specifies how much a connected body can twist around the joint axis.

Arguments

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

float getAngularLimitTo ( ) #

Returns the high twist limit angle. Twist limit specifies how much a connected body can twist around the joint axis.

Return value

High twist limit angle in degrees.

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.

Math::vec3 getAxis0 ( ) #

Returns the axis of the first connected body.

Return value

Axis of the first body.

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.

Math::vec3 getAxis1 ( ) #

Returns the axis of the second connected body.

Return value

Axis of the second body.

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.

Math::vec3 getWorldAxis ( ) #

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

Return value

Joint axis.
Last update: 2019-11-28
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