Unigine::JointHinge Class

Header:	#include <UniginePhysics.h>
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++)

include <UniginePhysics.h>

/* .. */

JointHingePtr joint = JointHinge::create(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);

Methods:

Name	Description View: Sort by:
*create*	Constructor.
setAngularAngle	Sets a target angle of the attached angular spring.
getAngularAngle	Returns the target angle of the attached angular spring.
setAngularDamping	Sets an angular damping of the joint.
getAngularDamping	Returns the angular damping of the joint.
setAngularLimitFrom	Sets a low rotation limit angle.
getAngularLimitFrom	Returns the low rotation limit angle.
setAngularLimitTo	Sets a high rotation limit angle.
getAngularLimitTo	Returns the high rotation limit angle.
setAngularSpring	Sets a rigidity coefficient of the angular spring.
getAngularSpring	Returns the rigidity coefficient of the angular spring.
setAngularTorque	Sets a maximum torque of the angular motor.
getAngularTorque	Returns the maximum torque of the attached angular motor.
setAngularVelocity	Sets a target velocity of the attached angular motor.
getAngularVelocity	Returns the target velocity of the attached angular motor.
setAxis0	Sets an axis of the first connected body.
getAxis0	Returns the axis of the first connected body.
setAxis1	Sets an axis of the second connected body.
getAxis1	Returns the axis of the second connected body.
getCurrentAngularAngle	Returns the current angle between the bodies.
getCurrentAngularVelocity	Returns the current velocity of the motor, i.e. the difference between angular velocities of two bodies connected with a hinge relative the hinge axis.
setWorldAxis	Sets a joint axis.
getWorldAxis	Returns the joint axis.

JointHinge Class

Members

static JointHingePtr create ( ) #

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

static JointHingePtr create ( const Ptr<Body> & body0, const Ptr<Body> & body1 ) #

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

Arguments

const Ptr<Body> & body0 - First body to be connected with the joint.
const Ptr<Body> & body1 - Second body to be connected with the joint.

static JointHingePtr create ( const Ptr<Body> & body0, const Ptr<Body> & body1, const Math::Vec3 & anchor, const Math::vec3 & axis ) #

Constructor. Creates a hinge joint connecting two given bodies with specified axis coordinates and an anchor placed at specified coordinates.

Arguments

const Ptr<Body> & body0 - First body to be connected with the joint.
const Ptr<Body> & body1 - Second body to be connected with the joint.
const Math::Vec3 & anchor - Anchor coordinates.
const Math::vec3 & axis - Axis coordinates.

void setAngularAngle ( float angle ) #

Sets a target angle of the attached angular spring. The spring tries to rotate the connected bodies so that they make this angle.

Arguments

float angle - Angle in degrees. The provided value will be saturated in the range [-180; 180].

float getAngularAngle ( ) #

Returns the target angle of the attached angular spring. The spring tries to rotate the connected bodies so that they make this angle.

Return value

Target angle in degrees.

void setAngularDamping ( float damping ) #

Sets an angular damping of the joint.

Arguments

float damping - Angular damping. If a negative value is provided, 0 will be used instead.

float getAngularDamping ( ) #

Returns the angular damping of the joint.

Return value

Angular damping.

void setAngularLimitFrom ( float from ) #

Sets a low rotation limit angle. Rotation limit specifies how much a connected body can rotate around the joint axis.

Arguments

float from - Angle in degrees. The provided value will be saturated in the range [-180; 180].

float getAngularLimitFrom ( ) #

Returns the low rotation limit angle. Rotation limit specifies how much a connected body can rotate around the joint axis.

Return value

Low rotation limit angle in degrees.

void setAngularLimitTo ( float to ) #

Sets a high rotation limit angle. Rotation limit specifies how much a connected body can rotate around the joint axis.

Arguments

float to - Angle in degrees. The provided value will be saturated in the range [-180; 180].

float getAngularLimitTo ( ) #

Returns the high rotation limit angle. Rotation limit specifies how much a connected body can rotate around the joint axis.

Return value

High rotation limit angle in degrees.

void setAngularSpring ( float spring ) #

Sets a rigidity coefficient of the angular spring.

Arguments

float spring - Rigidity coefficient. If a negative value is provided, 0 will be used instead. 0 detaches the spring.

float getAngularSpring ( ) #

Returns the rigidity coefficient of the angular spring. 0 means that the spring is not attached.

Return value

Rigidity coefficient.

void setAngularTorque ( float torque ) #

Sets a maximum torque of the angular motor.

Arguments

float torque - Maximum torque. If a negative value is provided, 0 will be used instead. 0 detaches the motor.

float getAngularTorque ( ) #

Returns the maximum torque of the attached angular motor. 0 means that the motor is not attached.

Return value

Maximum torque.

void setAngularVelocity ( float velocity ) #

Sets a target velocity of the attached angular motor.

Arguments

float velocity - Velocity in radians per second.

float getAngularVelocity ( ) #

Returns the target velocity of the attached angular motor.

Return value

Target velocity in radians per second.

void setAxis0 ( const Math::vec3 & axis0 ) #

Sets an axis of the first connected body.

Arguments

const Math::vec3 & axis0 - Axis of the first body. The provided vector will be normalized.

Math::vec3 getAxis0 ( ) #

Returns the axis of the first connected body.

Return value

Axis of the first body.

void setAxis1 ( const Math::vec3 & axis1 ) #

Sets an axis of the second connected body.

Arguments

const Math::vec3 & axis1 - Axis of the second body. The provided vector will be normalized.

Math::vec3 getAxis1 ( ) #

Returns the axis of the second connected body.

Return value

Axis of the second body.

float getCurrentAngularAngle ( ) #

Returns the current angle between the bodies.

Return value

Current angle in degrees.

float getCurrentAngularVelocity ( ) #

Returns 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.

Return value

Current motor velocity in radians per second.

void setWorldAxis ( const Math::vec3 & axis ) #

Sets a joint axis. This method updates axes of the connected bodies.

Arguments

const Math::vec3 & axis - Joint axis.

Math::vec3 getWorldAxis ( ) #

Returns the joint axis. The joint axis is calculated based on the axes of the connected bodies.

Return value

Joint axis.

Last update: 2020-11-24

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Unigine::JointHinge Class

Example#

See Also#

Methods:

JointHinge Class

Members

static JointHingePtr create ( ) #

static JointHingePtr create ( const Ptr<Body> & body0, const Ptr<Body> & body1 ) #

Arguments

static JointHingePtr create ( const Ptr<Body> & body0, const Ptr<Body> & body1, const Math::Vec3 & anchor, const Math::vec3 & axis ) #

Arguments

void setAngularAngle ( float angle ) #

Arguments

float getAngularAngle ( ) #

Return value

void setAngularDamping ( float damping ) #

Arguments

float getAngularDamping ( ) #

Return value

void setAngularLimitFrom ( float from ) #

Arguments

float getAngularLimitFrom ( ) #

Return value

void setAngularLimitTo ( float to ) #

Arguments

float getAngularLimitTo ( ) #

Return value

void setAngularSpring ( float spring ) #

Arguments

float getAngularSpring ( ) #

Return value

void setAngularTorque ( float torque ) #

Arguments

float getAngularTorque ( ) #

Return value

void setAngularVelocity ( float velocity ) #

Arguments

float getAngularVelocity ( ) #

Return value

void setAxis0 ( const Math::vec3 & axis0 ) #

Arguments

Math::vec3 getAxis0 ( ) #

Return value

void setAxis1 ( const Math::vec3 & axis1 ) #

Arguments

Math::vec3 getAxis1 ( ) #

Return value

float getCurrentAngularAngle ( ) #

Return value

float getCurrentAngularVelocity ( ) #

Return value

void setWorldAxis ( const Math::vec3 & axis ) #

Arguments

Math::vec3 getWorldAxis ( ) #

Return value