Unigine.JointHinge Class
| Inherits: | Joint |
This class is used to create hinge joints.
Example#
The following code illustrates connection of two bodies (b0 and b1) using a hinge joint.
Source code (C#)
JointHinge joint = new JointHinge(b0, b1);
// setting joint axis coordinates
joint.setWorldAxis(vec3(1.0f, 0.0f, 0.0f));
// setting common joint constraint parameters
joint.setLinearRestitution(0.4f);
joint.setAngularRestitution(0.4f);
joint.setLinearSoftness(0.4f);
joint.setAngularSoftness(0.4f);
// setting angular damping
joint.setAngularDamping(8.0f);
// setting angular limits, in degrees [-20; 20]
joint.setAngularLimitFrom(-20.0f);
joint.setAngularLimitTo(20.0f);
// setting spring rigidity coefficient
joint.setAngularSpring(8.0f);
// setting number of iterations
joint.setNumIterations(16);See Also#
Usage examples:
- Creating a Simple Mechanism Using Various Types of Joints.
- A set of UnigineScript API samples located in the <UnigineSDK>/data/samples/joints/ folder:
- hinge_00
- hinge_01
- hinge_02
JointHinge Class
Properties
float CurrentAngularVelocity#
The current velocity of the motor, i.e. the difference between angular velocities of two bodies connected with a hinge relative the hinge axis.
Notice
This function returns the valid velocity only if both bodies are of BodyRigid type. Otherwise, 0 is returned.
float CurrentAngularAngle#
The current angle between the bodies.
float AngularVelocity#
The target velocity of the attached angular motor.
set
Sets a target velocity of the attached angular motor.
set value -
Velocity in radians per second.
float AngularSpring#
The rigidity coefficient of the angular spring. 0 means that the spring is not attached.
set
Sets a rigidity coefficient of the angular spring.
set value -
Rigidity coefficient. If a negative value is provided, 0 will be used instead. 0 detaches the spring.
float AngularLimitTo#
The high rotation limit angle. rotation limit specifies how much a connected body can rotate around the joint axis.
set
Sets a high rotation limit angle. Rotation limit specifies how much a connected body can rotate around the joint axis.
set value -
Angle in degrees. The provided value will be saturated in the range [-180; 180].
float AngularLimitFrom#
The low rotation limit angle. rotation limit specifies how much a connected body can rotate around the joint axis.
set
Sets a low rotation limit angle. Rotation limit specifies how much a connected body can rotate around the joint axis.
set value -
Angle in degrees. The provided value will be saturated in the range [-180; 180].
float AngularTorque#
The maximum torque of the attached angular motor. 0 means that the motor is not attached.
set
Sets a maximum torque of the angular motor.
set value -
Maximum torque. If a negative value is provided, 0 will be used instead. 0 detaches the motor.
float AngularDamping#
The angular damping of the joint.
set
Sets an angular damping of the joint.
set value -
Angular damping. If a negative value is provided, 0 will be used instead.
float AngularAngle#
The target angle of the attached angular spring. the spring tries to rotate the connected bodies so that they make this angle.
set
Sets a target angle of the attached angular spring. The spring tries to rotate the connected bodies so that they make this angle.
set value -
Angle in degrees. The provided value will be saturated in the range [-180; 180].
vec3 WorldAxis#
The joint axis. the joint axis is calculated based on the axes of the connected bodies.
set
Sets a joint axis. This method updates axes of the connected bodies.
set value -
Joint axis.
vec3 Axis1#
The axis of the second connected body.
set
Sets an axis of the second connected body.
set value -
Axis of the second body. The provided vector will be normalized.
vec3 Axis0#
The axis of the first connected body.
set
Sets an axis of the first connected body.
set value -
Axis of the first body. The provided vector will be normalized.
Members
static JointHinge ( ) #
Constructor. Creates a hinge joint with an anchor at the origin of the world coordinates.static JointHinge ( Body body0, Body body1 ) #
Constructor. Creates a hinge joint connecting two given bodies. An anchor is placed between centers of mass of the bodies.Arguments
- Body body0 - First body to be connected with the joint.
- Body body1 - Second body to be connected with the joint.
static JointHinge ( Body body0, Body body1, vec3 anchor, vec3 axis ) #
Constructor. Creates a hinge joint connecting two given bodies with specified axis coordinates and an anchor placed at specified coordinates.Arguments
- Body body0 - First body to be connected with the joint.
- Body body1 - Second body to be connected with the joint.
- vec3 anchor - Anchor coordinates.
- vec3 axis - Axis coordinates.
Last update:
2020-04-10
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