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Warning! This version of documentation is OUTDATED, as it describes an older SDK version! Please switch to the documentation for the latest SDK version.
Warning! This version of documentation describes an old SDK version which is no longer supported! Please upgrade to the latest SDK version.

Unigine.JointBall Class

Inherits: Joint

This class is used to create ball joints.

Example#

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

Source code (C#)
JointBall joint = new JointBall(b0, b1);

// setting joint axis coordinates
joint.setWorldAxis(new vec3(1.0f, 0.0f, 0.0f));

// setting common joint constraint parameters
joint.setLinearRestitution(0.8f);
joint.setAngularRestitution(0.8f);
joint.setLinearSoftness(0.0f);
joint.setAngularSoftness(0.0f);

// setting angular damping
joint.setAngularDamping(16.0f);

// setting swing angular limit, in degrees
joint.setAngularLimitAngle(30.0f);

// setting twist angular limits, in degrees [-20; 20]
joint.setAngularLimitFrom(-20.0f);
joint.setAngularLimitTo(20.0f);

// setting number of iterations
joint.setNumIterations(16);

See Also#

  • A set of UnigineScript API samples located in the <UnigineSDK>/data/samples/joints/ folder:
    • ball_00
    • ball_01
    • ball_02
    • ball_03
    • ball_04
    • ball_05
    • ball_06

JointBall Class

Properties

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.

float AngularLimitTo#

The high twist limit angle. twist limit specifies how much a connected body can twist around the joint axis.
set
Sets a high twist limit angle. Twist limit specifies how much a connected body can twist around the joint axis.
set value - Angle in degrees. The provided value will be saturated in the range [-180; 180].

float AngularLimitFrom#

The low twist limit angle. twist limit specifies how much a connected body can twist around the joint axis.
set
Sets a low twist limit angle. Twist limit specifies how much a connected body can twist around the joint axis.
set value - Angle in degrees. The provided value will be saturated in the range [-180; 180].

float AngularLimitAngle#

The swing limit angle. swing limit specifies how much connected bodies can bend from the joint axis. 0 means there is no limit.
set
Sets a swing limit angle. Swing limit specifies how much connected bodies can bend from the joint axis.
set value - Angle in degrees. The provided value will be saturated in the range [0; 180]. 0 means no limit.

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.

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 JointBall ( ) #

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

static JointBall ( Body body0, Body body1 ) #

Constructor. Creates a ball 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 JointBall ( Body body0, Body body1, vec3 anchor ) #

Constructor. Creates a ball joint connecting two given bodies with 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.

static JointBall ( Body body0, Body body1, vec3 anchor, vec3 axis ) #

Constructor. Creates a ball 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: 2020-07-31
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