Unigine.Joint Class

Joint Class

Enums

TYPE#

Properties

vec3 WorldAnchor#

vec3 Anchor1#

vec3 Anchor0#

float AngularSoftness#

float LinearSoftness#

float AngularRestitution#

float LinearRestitution#

float MaxTorque#

float MaxForce#

int NumIterations#

string Name#

bool Frozen#

bool Broken#

int Collision#

bool IsEnabledSelf#

bool Enabled#

Body Body1#

Body Body0#

string TypeName#

Joint.TYPE Type#

Node Node1#

Node Node0#

Members

Joint CreateJoint ( int type ) #

Arguments

• int type - Joint type. One of the JOINT_* values.

Return value

Joint CreateJoint ( string type_name ) #

Arguments

• string type_name - Joint type name.

Return value

void SetNode0 ( Node node0 ) #

Arguments

• Node node0 - Node possessing the first body connected to the joint is assigned. The node must be an object and must have a body assigned.

Node GetNode0 ( ) #

Return value

void SetNode1 ( Node node1 ) #

Arguments

• Node node1 - Node possessing the second body connected to the joint is assigned. The node must be an object and must have a body assigned.

Node GetNode1 ( ) #

Return value

BodyRigid GetBodyRigid0 ( ) #

Return value

BodyRigid GetBodyRigid1 ( ) #

Return value

IntPtr addBrokenCallback ( BrokenDelegate func ) #

void broken_callback_function_name(Body body);

You can set a callback function as follows:

addBrokenCallback(broken_callback_function_name);

Example: Setting a joint broken callback function for a certain class:

class SomeClass
{
	// joint for which a broken callback function is to be set
	Unigine.Joint Joint;

	/*...*/

	// callback function
	private void on_broken(Joint joint)
	{
		// insert your code handling joint breaking here
	}

	private void registerCallback()
	{
		// setting the on_broken() function to handle breaking for the joint
		joint.addBrokenCallback(on_broken);
	}
	
	/*...*/
}

Arguments

• BrokenDelegate func - Callback function with the following signature: void BrokenDelegate(Joint joint)

Return value

bool removeBrokenCallback ( IntPtr id ) #

Arguments

• IntPtr id - Broken callback ID obtained when adding it.

Return value

void clearBrokenCallbacks ( ) #

int SetID ( int id ) #

Arguments

• int id - Unique ID.

Return value

int GetID ( ) #

Return value

string GetTypeName ( int type ) #

Arguments

• int type - Joint type ID. One of the JOINT_* values.

Return value

Joint Clone ( ) #

Return value

void RenderVisualizer ( vec4 color ) #

Arguments

• vec4 color - Color, in which the joint will be rendered.

bool SaveState ( Stream stream ) #

• If a node is a parent for other nodes, states of these child nodes need to be saved manually.
• To save the state from a buffer, file or a message from a socket, make sure the stream is opened. For buffers and files, you also need to set the proper position for reading.

Example using saveState() and restoreState() methods:

// set the joint state
joint.AngularRestitution = 0.8f;

// save state
Blob blob_state = new Blob();
joint.SaveState(blob_state);

// change the state
joint.AngularRestitution = 0.4f;

// restore state
blob_state.SeekSet(0);        // returning the carriage to the start of the blob
joint.RestoreState(blob_state);

Arguments

• Stream stream - Stream to save node state data.

Return value

bool RestoreState ( Stream stream ) #

• If a node is a parent for other nodes, states of these child nodes need to be restored manually.
• To save the state into a buffer, file or a message from a socket, make sure the stream is opened. If necessary, you can set a position for writing for buffers and files.

Example using saveState() and restoreState() methods:

// set the joint state
joint.AngularRestitution = 0.8f;

// save state
Blob blob_state = new Blob();
joint.SaveState(blob_state);

// change the state
joint.AngularRestitution = 0.4f;

// restore state
blob_state.SeekSet(0);        // returning the carriage to the start of the blob
joint.RestoreState(blob_state);

Arguments

• Stream stream - Stream with saved node state data.

Return value

void Swap ( Joint joint ) #

Arguments

• Joint joint - A joint to swap.