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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 This version of documentation is OUTDATED, as it describes an older SDK version!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.JointCylindrical Class

Inherits from: Joint

This class is used to create cylindrical joints.

Example#

The following code illustrates connection of two bodies (b0 and b1) using a cylindrical joint.

Source code (C#)
JointCylindrical joint = new JointCylindrical(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 and angular damping
joint.setLinearDamping(4.0f);
joint.setAngularDamping(2.0f);

// 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:

JointCylindrical Class

Properties

float CurrentLinearVelocity#

The current velocity of the linear motor.

float CurrentLinearDistance#

The current distance between the bodies.

float CurrentAngularVelocity#

The current velocity of the angular motor.

float CurrentAngularAngle#

The current angle between the bodies.

float LinearVelocity#

The target velocity of the attached linear motor.

float LinearSpring#

The rigidity coefficient of the linear spring. 0 means that the spring is not attached.

float LinearLimitTo#

The high limit distance. this limit specifies how far a connected body can move along the joint axis.

float LinearLimitFrom#

The low limit distance. this limit specifies how far a connected body can move along the joint axis.

float LinearForce#

The maximum force of the attached linear motor. 0 means that the motor is not attached.

float LinearDistance#

The target distance of the attached linear spring. the spring tries to move the connected bodies so that to keep this distance between them.

float LinearDamping#

The linear damping of the joint.

float AngularVelocity#

The target velocity of the attached angular motor.

float AngularSpring#

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

float AngularLimitTo#

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

float AngularLimitFrom#

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

float AngularTorque#

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

float AngularDamping#

The angular damping of the joint.

float AngularAngle#

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

vec3 WorldAxis#

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

vec3 Axis1#

The axis of the second connected body.

vec3 Axis0#

The axis of the first connected body.

Members


JointCylindrical ( ) #

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

JointCylindrical ( Body body0, Body body1 ) #

Constructor. Creates a cylindrical 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.

JointCylindrical ( Body body0, Body body1, vec3 anchor, vec3 axis ) #

Constructor. Creates a cylindrical 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 axis - Axis coordinates.
Last update: 2022-12-14
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