Joint Class

Joint Class

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 setAnchor0 ( Vec3 anchor ) #

Arguments

• Vec3 anchor - Coordinates of the anchor point in the body coordinate space.

Vec3 getAnchor0 ( ) #

Return value

void setAnchor1 ( Vec3 anchor ) #

Arguments

• Vec3 anchor - Coordinates of the anchor point in the body coordinate space.

Vec3 getAnchor1 ( ) #

Return value

void setAngularRestitution ( float restitution ) #

• 1 means that the joint is to return bodies in place throughout 1 physics tick.
• 0.2 means that the joint is to return bodies in place throughout 5 physics ticks.

Arguments

• float restitution - Angular restitution. The provided value will be clamped in the range [0;1].

float getAngularRestitution ( ) #

• 1 means that the joint is to return bodies in place throughout 1 physics tick.
• 0.2 means that the joint is to return bodies in place throughout 5 physics ticks.

Return value

void setAngularSoftness ( float softness ) #

• 0 means that the joint is rigid. Angular velocities of the first and the second body are independent.
• 1 means that the joint is elastic (jelly-like). If the first body changes its velocity, velocity of the second body is equalized with it.

Arguments

• float softness - Angular softness. The provided value will be clamped in the range [0;1].

float getAngularSoftness ( ) #

• 0 means that the joint is rigid. Angular velocities of the first and the second body are independent.
• 1 means that the joint is elastic (jelly-like). If the first body changes its velocity, velocity of the second body is equalized with it.

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

void setBody0 ( Body body ) #

Arguments

• Body body - The first body connected with the joint.

Body getBody0 ( ) #

Return value

void setBody1 ( Body body ) #

Arguments

• Body body - The second body connected with the joint.

Body getBody1 ( ) #

Return value

BodyRigid getBodyRigid0 ( ) #

Return value

BodyRigid getBodyRigid1 ( ) #

Return value

void setBroken ( int broken ) #

Arguments

• int broken - Positive number to break the joint, 0 to make it intact.

int isBroken ( ) #

Return value

void setBrokenCallback ( int func ) #

The signature of the broken callback function must be as follows:

void broken_callback_function_name(Joint joint);

You can set a callback function as follows:

setBrokenCallback("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
	Joint joint;

	/*...*/

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

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

Arguments

• int func - Callback function name.

void setCollision ( int c ) #

Arguments

• int c - Positive number to enable collisions between the bodies, 0 to disable them.

int getCollision ( ) #

Return value

void setEnabled ( int enable ) #

Arguments

• int enable - Positive number to enable the joint, 0 to disable it.

int isEnabled ( ) #

Return value

int isEnabledSelf ( ) #

Return value

void setFrozen ( int f ) #

Arguments

• int f - Positive number to freeze the joint, 0 to unfreeze it.

int isFrozen ( ) #

Return value

int setID ( int id ) #

Arguments

• int id - Unique ID.

Return value

int getID ( ) #

Return value

void setLinearRestitution ( float restitution ) #

• 1 means that the joint is to return bodies in place throughout 1 physics tick.
• 0.2 means that the joint is to return bodies in place throughout 5 physics ticks.

Arguments

• float restitution - Linear restitution. The provided value will be clamped in the range [0;1].

float getLinearRestitution ( ) #

• 1 means that the joint is to return bodies in place throughout 1 physics tick.
• 0.2 means that the joint is to return bodies in place throughout 5 physics ticks.

Return value

void setLinearSoftness ( float softness ) #

• 0 means that the joint is rigid. Linear velocities of the first and the second body are independent.
• 1 means that the joint is elastic (jelly-like). If the first body changes its velocity, velocity of the second body is equalized with it.

Arguments

• float softness - Linear softness. The provided value will be clamped in the range [0;1].

float getLinearSoftness ( ) #

• 0 means that the joint is rigid. Velocities of the first and the second body are independent.
• 1 means that the joint is elastic (jelly-like). If the first body changes its velocity, velocity of the second body is equalized with it.

Return value

void setMaxForce ( float force ) #

Arguments

• float force - Maximum amount of force.

float getMaxForce ( ) #

Return value

void setMaxTorque ( float torque ) #

Arguments

• float torque - Maximum amount of torque.

float getMaxTorque ( ) #

Return value

void setName ( string name ) #

Arguments

• string name - Name of the joint.

string getName ( ) #

Return value

void setNumIterations ( int num_iterations ) #

Arguments

• int num_iterations - Number of iterations. If a non-positive value is provided, 1 will be used instead.

int getNumIterations ( ) #

Return value

int getType ( ) #

Return value

string getTypeName ( ) #

Return value

string getTypeName ( int type ) #

Arguments

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

Return value

void setWorldAnchor ( Vec3 anchor ) #

Arguments

• Vec3 anchor - Coordinates of the anchor point in the world space.

Vec3 getWorldAnchor ( ) #

Return value

Joint clone ( ) #

Return value

void renderVisualizer ( vec4 color ) #

Arguments

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

int 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 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

int 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 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.