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Unigine::JointCylindrical Class

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

This class is used to create cylindrical joints.

Example

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

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

/* .. */

JointCylindricalPtr joint = JointCylindrical::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 and angular damping
joint->setLinearDamping(4.0f);
joint->setAngularDamping(2.0f);

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

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

See Also

JointCylindrical Class

Members


static JointCylindricalPtr create()

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

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

Constructor. Creates a cylindrical 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 JointCylindricalPtr create(const Ptr<Body> & body0, const Ptr<Body> & body1, const Math::Vec3 & anchor, const Math::vec3 & axis)

Constructor. Creates a cylindrical 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.

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

Casts a JointCylindrical out of the Joint instance.

Arguments

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

Return value

JointCylindrical.

void setAngularAngle(float angle)

Sets a target angle of the attached angular spring. The spring tries to rotate the connected bodies so that they make this angle.

Arguments

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

float getAngularAngle()

Returns the target angle of the attached angular spring. The spring tries to rotate the connected bodies so that they make this angle.

Return value

Target angle in degrees.

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 setAngularLimitFrom(float from)

Sets a low rotation limit angle. Rotation limit specifies how much a connected body can rotate 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 rotation limit angle. Rotation limit specifies how much a connected body can rotate around the joint axis.

Return value

Low rotation limit angle in degrees.

void setAngularLimitTo(float to)

Sets a high rotation limit angle. Rotation limit specifies how much a connected body can rotate 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 rotation limit angle. Rotation limit specifies how much a connected body can rotate around the joint axis

Return value

High rotation limit angle in degrees.

void setAngularSpring(float spring)

Sets a rigidity coefficient of the angular spring.

Arguments

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

float getAngularSpring()

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

Return value

Rigidity coefficient.

void setAngularTorque(float torque)

Sets a maximum torque of the angular motor.

Arguments

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

float getAngularTorque()

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

Return value

Maximum torque.

void setAngularVelocity(float velocity)

Sets a target velocity of the attached angular motor.

Arguments

  • float velocity - Velocity in radians per second.

float getAngularVelocity()

Returns the target velocity of the attached angular motor.

Return value

Target velocity in radians per second.

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.

float getCurrentAngularAngle()

Returns the current angle between the bodies.

Return value

Current angle in degrees.

float getCurrentAngularVelocity()

Returns the current velocity of the angular motor.

Return value

Current velocity in radians per second.

float getCurrentLinearDistance()

Returns the current distance between the bodies.

Return value

Current distance in units.

float getCurrentLinearVelocity()

Returns the current velocity of the linear motor.

Return value

Current velocity in units per second.

void setLinearDamping(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.

float getLinearDamping()

Returns the linear damping of the joint.

Return value

Linear damping.

void setLinearDistance(float distance)

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

Arguments

  • float distance - Target distance in units.

float getLinearDistance()

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

Return value

Target distance in units.

void setLinearForce(float force)

Sets a maximum force of the attached linear motor.

Arguments

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

float getLinearForce()

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

Return value

Maximum force.

void setLinearLimitFrom(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.

float getLinearLimitFrom()

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.

void setLinearLimitTo(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.

float getLinearLimitTo()

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.

void setLinearSpring(float spring)

Sets a rigidity coefficient of the linear spring.

Arguments

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

float getLinearSpring()

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

Return value

Rigidity coefficient.

void setLinearVelocity(float velocity)

Sets a target velocity of the attached linear motor.

Arguments

  • float velocity - Target velocity in units per second.

float getLinearVelocity()

Returns the target velocity of the attached linear motor.

Return value

Target velocity in units per second.

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: 2018-06-04