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Unigine::JointSuspension Class

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

This class is used to create a suspension joint. The bodies that represent both a frame and a wheel must be rigid bodies.

Example#

The following code illustrates connection of two rigid bodies (frame and wheel) using a suspension joint.

Source code (UnigineScript)
include <UniginePhysics.h>

/* .. */

JointSuspensionPtr joint = JointSuspension::create(frame, wheel);

// setting joint anchor coordinates
joint->setWorldAnchor(wheel->getObject()->getWorldTransform() * Vec3(0.0f));

// setting joint axes coordinates
joint->setWorldAxis0(vec3(0.0f,0.0f,1.0f));
joint->setWorldAxis1(vec3(0.0f,1.0f,0.0f));

// setting linear damping and spring rigidity
joint->setLinearDamping(2.0f);
joint->setLinearSpring(200.0f);

// setting lower and upper suspension ride limits [-0.5; 0.0]
joint->setLinearLimitFrom(-0.5f);
joint->setLinearLimitTo(0.0f);

// setting target suspension height 
joint->setLinearDistance(0.5f);

// setting maximum angular velocity and torque
joint->setAngularVelocity(-20.0f);
joint->setAngularTorque(10.0f);

// setting common joint constraint parameters
joint->setLinearRestitution(0.2f);
joint->setAngularRestitution(0.2f);
joint->setLinearSoftness(0.2f);
joint->setAngularSoftness(0.2f);

// setting number of iterations
joint->setNumIterations(8);

See Also#

JointSuspension Class

Members


static JointSuspensionPtr create ( )

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

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

Constructor. Creates a suspension joint connecting two given bodies. An anchor is placed between centers of mass of the bodies.

Arguments

  • const Ptr<Body> & body0 - Frame to be connected with the joint.
  • const Ptr<Body> & body1 - Wheel to be connected with the joint.

static JointSuspensionPtr create ( const Ptr<Body> & body0, const Ptr<Body> & body1, const Math::Vec3 & anchor, const Math::vec3 & axis0, const Math::vec3 & axis1 )

Constructor. Creates a suspension joint connecting two given bodies with specified suspension and spindle axis coordinates and an anchor placed at specified coordinates.

Arguments

  • const Ptr<Body> & body0 - Frame to be connected with the joint.
  • const Ptr<Body> & body1 - Wheel to be connected with the joint.
  • const Math::Vec3 & anchor - Anchor coordinates.
  • const Math::vec3 & axis0 - Suspension axis coordinates.
  • const Math::vec3 & axis1 - Wheel spindle axis coordinates.

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

Casts a JointWheel out of the Joint instance.

Arguments

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

Return value

JointSuspension.

void setAngularDamping( float damping )

Sets an angular damping of the joint (wheel rotation damping).

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 (wheel rotation damping).

Return value

Angular damping.

void setAngularTorque( float torque )

Sets a maximum torque of the attached angular motor.

Arguments

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

float getAngularTorque( )

Returns the maximum torque of the attached angular motor.

Return value

Maximum torque.

void setAngularVelocity( float velocity )

Sets a maximum velocity of wheel rotation.

Arguments

  • float velocity - Velocity in radians per second.

float getAngularVelocity( )

Returns the target velocity of wheel rotation.

Return value

Target velocity in radians per second.

void setAxis00( const Math::vec3 & axis00 )

Sets coordinates of suspension axis, along which a wheel moves vertically. This is a shock absorber.

Arguments

  • const Math::vec3 & axis00 - Suspension axis.

Math::vec3 getAxis00( )

Returns suspension axis coordinates.

Return value

Suspension axis.

void setAxis10( const Math::vec3 & axis10 )

Sets a wheel spindle axis in coordinates of the frame (body 0): an axis around which a wheel rotates when moving forward (or backward).

Arguments

  • const Math::vec3 & axis10 - Wheel spindle axis in coordinates of the frame (body 0).

Math::vec3 getAxis10( )

Returns the wheel spindle axis in coordinates of the frame (body 0).

Return value

Wheel spindle axis in coordinates of the frame (body 0).

void setAxis11( const Math::vec3 & axis11 )

Sets a wheel spindle axis in coordinates of the wheel (body 1): an axis around which a wheel rotates when steering.

Arguments

  • const Math::vec3 & axis11 - Wheel spindle axis in coordinates of the wheel (body 1).

Math::vec3 getAxis11( )

Returns the wheel spindle in coordinates of the wheel (body 1).

Return value

Wheel spindle axis in coordinates of the wheel (body 1).

float getCurrentAngularVelocity( )

Returns the current velocity of wheel rotation.

Return value

Current velocity in radians per second.

float getCurrentLinearDistance( )

Returns the current suspension compression.

Return value

Current suspension height in units.

void setLinearDamping( float damping )

Sets a linear damping of the suspension.

Arguments

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

float getLinearDamping( )

Returns the linear damping of the suspension.

Return value

Linear damping.

void setLinearDistance( float distance )

Sets a target height of the suspension.

Arguments

  • float distance - Height in units.

float getLinearDistance( )

Returns the target height of the suspension.

Return value

Target height in units.

void setLinearLimitFrom( float from )

Sets a low limit of the suspension ride.

Arguments

  • float from - Limit in units.

float getLinearLimitFrom( )

Returns the low limit of the suspension ride.

Return value

Low limit in units.

void setLinearLimitTo( float to )

Sets a high limit of the suspension ride.

Arguments

  • float to - Limit in units.

float getLinearLimitTo( )

Returns the high limit of the suspension ride.

Return value

High limit in units.

void setLinearSpring( float spring )

Sets a rigidity coefficient of the suspension.

Arguments

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

float getLinearSpring( )

Returns the rigidity coefficient of the suspension.

Return value

Rigidity coefficient.

void setWorldAxis0( const Math::vec3 & axis0 )

Sets suspension axis in the world coordinates.

Arguments

  • const Math::vec3 & axis0 - Suspension axis in the world coordinates.

Math::vec3 getWorldAxis0( )

Returns the suspension axis in the world coordinates.

Return value

Suspension axis in the world coordinates.

void setWorldAxis1( const Math::vec3 & axis1 )

Sets a wheel spindle axis in the world coordinates.

Arguments

  • const Math::vec3 & axis1 - Wheel spindle axis in the world coordinates.

Math::vec3 getWorldAxis1( )

Returns the wheel spindle axis in the world coordinates.

Return value

Wheel spindle axis in the world coordinates.
Last update: 2018-12-27