Unigine::JointPath Class

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.

• 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);``````

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.

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.

floatgetCurrentLinearVelocity ( ) #

Returns the current linear velocity of the attached motor.

Return value

Current linear velocity in units per second.

voidsetLinearDamping ( 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.

floatgetLinearDamping ( ) #

Returns the current damping factor for linear velocities of bodies connected by the joint.

Linear damping.

voidsetLinearForce ( 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.

floatgetLinearForce ( ) #

Returns the maximum force of the attached motor.

Maximum force.

voidsetLinearVelocity ( float velocity ) #

Sets a target linear velocity of the attached motor.

Arguments

• float velocity - Target velocity in units per second.

floatgetLinearVelocity ( ) #

Returns the current linear 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 connected rigid body.

Arguments

• const Math::mat3 & rotation0 - Rotation matrix in the body-space coordinates.

Math::mat3getRotation0 ( ) #

Gets a rotation matrix of the anchor point in a system of coordinates of the connected rigid body.

Return value

Returns a rotation matrix of the anchor point in a system of coordinates of the connected rigid body.

voidsetWorldRotation ( 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::mat3getWorldRotation ( ) #

Returns rotation matrix of the anchor point in the world coordinates.

Return value

Rotation matrix in the world-space coordinates.
Last update: 2021-09-17