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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 UnigineScript API samples located in the <UnigineSDK>/data/samples/ folder:
    • physics/train_00
    • joints/path_00

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

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.

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: 2019-11-28