This page has been translated automatically.
UnigineEditor
Interface Overview
Assets Workflow
Settings and Preferences
Working With Projects
Adjusting Node Parameters
Setting Up Materials
Setting Up Properties
Landscape Tool
Using Editor Tools for Specific Tasks
Extending Editor Functionality
Programming
Fundamentals
Setting Up Development Environment
Usage Examples
UnigineScript
C++
C#
UUSL (Unified UNIGINE Shader Language)
File Formats
Rebuilding the Engine Tools
GUI
Double Precision Coordinates
API
Containers
Common Functionality
Controls-Related Classes
Engine-Related Classes
Filesystem Functionality
GUI-Related Classes
Math Functionality
Node-Related Classes
Objects-Related Classes
Networking Functionality
Pathfinding-Related Classes
Plugins-Related Classes
IG Plugin
CIGIConnector Plugin
Rendering-Related Classes
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 This version of documentation is OUTDATED, as it describes an older SDK version!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.JointSuspension Class

Inherits: Joint

Warning
This joint type is deprecated and will be removed in the upcoming releases. It is recommended to use the Wheel Joint instead.

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 (C#)
JointSuspension joint = new JointSuspension(frame, wheel);

// setting joint anchor coordinates
joint.WorldAnchor = wheel.Object.WorldTransform * new dvec3(0.0f);

// setting joint axes coordinates
joint.WorldAxis0 = new vec3(0.0f,0.0f,1.0f);
joint.WorldAxis1 = new vec3(0.0f,1.0f,0.0f);

// setting linear damping and spring rigidity
joint.LinearDamping = 2.0f;
joint.LinearSpring = 200.0f;

// setting lower and upper suspension ride limits [-0.5; 0.0]
joint.LinearLimitFrom = -0.5f;
joint.LinearLimitTo = 0.0f;

// setting target suspension height 
joint.LinearDistance = 0.5f;

// setting maximum angular velocity and torque
joint.AngularVelocity = -20.0f;
joint.AngularTorque = 10.0f;

// setting common joint constraint parameters
joint.LinearRestitution = 0.2f;
joint.AngularRestitution = 0.2f;
joint.LinearSoftness = 0.2f;
joint.AngularSoftness = 0.2f;

// setting number of iterations
joint.NumIterations = 8;

See Also#

  • A set of UnigineScript API samples located in the <UnigineSDK>/data/samples/physics/ folder:
    • car_00
    • car_01
    • car_03

JointSuspension Class

Properties

float CurrentLinearDistance#

The current suspension compression.

float CurrentAngularVelocity#

The current velocity of wheel rotation.

float AngularVelocity#

The target velocity of wheel rotation.
set
Sets a maximum velocity of wheel rotation.
set value - Velocity in radians per second.

float AngularTorque#

The maximum torque of the attached angular motor.
set
Sets a maximum torque of the attached angular motor.
set value - Maximum torque. If a negative value is provided, 0 will be used instead.

float AngularDamping#

The angular damping of the joint (wheel rotation damping).
set
Sets an angular damping of the joint (wheel rotation damping).
set value - Angular damping. If a negative value is provided, 0 will be used instead.

float LinearSpring#

The rigidity coefficient of the suspension.
set
Sets a rigidity coefficient of the suspension.
set value - Rigidity coefficient. If a negative value is provided, 0 will be used instead.

float LinearLimitTo#

The high limit of the suspension ride.
set
Sets a high limit of the suspension ride.
set value - Limit in units.

float LinearLimitFrom#

The low limit of the suspension ride.
set
Sets a low limit of the suspension ride.
set value - Limit in units.

float LinearDistance#

The target height of the suspension.
set
Sets a target height of the suspension.
set value - Height in units.

float LinearDamping#

The linear damping of the suspension.
set
Sets a linear damping of the suspension.
set value - Linear damping. If a negative value is provided, 0 will be used instead.

vec3 WorldAxis1#

The wheel spindle axis in the world coordinates.
set
Sets a wheel spindle axis in the world coordinates.
set value - Wheel spindle axis in the world coordinates.

vec3 WorldAxis0#

The suspension axis in the world coordinates.
set
Sets suspension axis in the world coordinates.
set value - Suspension axis in the world coordinates.

vec3 Axis11#

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

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

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

vec3 Axis10#

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

set

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

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

vec3 Axis00#

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

Members


static JointSuspension ( ) #

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

static JointSuspension ( Body body0, Body body1 ) #

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

Arguments

  • Body body0 - Frame to be connected with the joint.
  • Body body1 - Wheel to be connected with the joint.

static JointSuspension ( Body body0, Body body1, vec3 anchor, vec3 axis0, 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

  • Body body0 - Frame to be connected with the joint.
  • Body body1 - Wheel to be connected with the joint.
  • vec3 anchor - Anchor coordinates.
  • vec3 axis0 - Suspension axis coordinates.
  • vec3 axis1 - Wheel spindle axis coordinates.
Last update: 2020-07-31
Build: ()