Unigine.JointPrismatic Class
| Inherits: | Joint |
This class is used to create prismatic joints.
Example#
The following code illustrates connection of two bodies (b0 and b1) using a prismatic joint.
Source code (C#)
JointPrismatic joint = new JointPrismatic(b0, b1);
// setting joint axis coordinates
joint.setWorldAxis(new 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 damping
joint.setLinearDamping(4.0f);
// setting linear limits [-1.5; 1.5]
joint.setLinearLimitFrom(-1.5f);
joint.setLinearLimitTo(1.5f);
// setting number of iterations
joint.setNumIterations(16);See Also#
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:
- prismatic_00
- prismatic_01
JointPrismatic Class
Properties
float CurrentLinearVelocity#
The current velocity of the attached motor.
float CurrentLinearDistance#
The current distance between the bodies.
mat3 WorldRotation#
set
Sets a rotation matrix of the anchor point in the world system of coordinates.
set value -
Rotation matrix in the world coordinate space.
mat3 Rotation1#
set
Sets a rotation matrix of the anchor point in a system of coordinates of the second connected body.
set value -
Rotation matrix in the body coordinate space.
mat3 Rotation0#
set
Sets a rotation matrix of the anchor point in a system of coordinates of the first connected body.
set value -
Rotation matrix in the body coordinate space.
float LinearVelocity#
The target velocity of the attached motor.
set
Sets a target velocity of the attached motor.
set value -
Target velocity in units per second.
float LinearSpring#
The rigidity coefficient of the spring. 0 means that the spring is not attached.
set
Sets a rigidity coefficient of the spring.
set value -
Rigidity coefficient. If a negative value is provided, 0 will be used instead. 0 detaches the spring.
float LinearLimitTo#
The high limit distance. this limit specifies how far a connected body can move along the joint axis.
set
Sets a high limit distance. This limit specifies how far a connected body can move along the joint axis.
set value -
Distance in units.
float LinearLimitFrom#
The low limit distance. this limit specifies how far a connected body can move along the joint axis.
set
Sets a low limit distance. This limit specifies how far a connected body can move along the joint axis.
set value -
Distance in units.
float LinearForce#
The maximum force of the attached motor. 0 means that the motor is not attached.
set
Sets a maximum force of the attached motor.
set value -
Maximum force. If a negative value is provided, 0 will be used instead. 0 detaches the motor.
float LinearDistance#
The target distance of the attached spring. the spring tries to move the connected bodies so that to keep this distance between them.
set
Sets a target distance of the attached spring. The spring tries to move the connected bodies so that to keep this distance between them.
set value -
Target distance in units.
float LinearDamping#
The linear damping of the joint.
set
Sets a linear damping of the joint.
set value -
Linear damping. If a negative value is provided, 0 will be used instead.
vec3 WorldAxis#
The joint axis in the world coordinates.
set
Sets a joint axis in the world coordinates.
set value -
Joint axis in the world coordinates.
vec3 Axis0#
The joint axis in the local coordinates of the first body.
set
Sets a joint axis in the local coordinates of the first body.
set value -
Joint axis in the coordinates of the first body.
Members
static JointPrismatic ( ) #
Constructor. Creates a prismatic joint with an anchor at the origin of the world coordinates.static JointPrismatic ( Body body0, Body body1 ) #
Constructor. Creates a prismatic 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 JointPrismatic ( Body body0, Body body1, vec3 anchor, vec3 size ) #
Constructor. Creates a prismatic 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 size - Axis coordinates.
Last update:
2020-07-31
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