Unigine::JointBall Class

Example#

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

Source code (C++)

include <UniginePhysics.h>

/* .. */

JointBallPtr joint = JointBall::create(b0, b1);

// setting joint axis coordinates
joint->setWorldAxis(vec3(1.0f, 0.0f, 0.0f));

// setting common joint constraint parameters
joint->setLinearRestitution(0.8f);
joint->setAngularRestitution(0.8f);
joint->setLinearSoftness(0.0f);
joint->setAngularSoftness(0.0f);

// setting angular damping
joint->setAngularDamping(16.0f);

// setting swing angular limit, in degrees
joint->setAngularLimitAngle(30.0f);

// setting twist angular limits, in degrees [-20; 20]
joint->setAngularLimitFrom(-20.0f);
joint->setAngularLimitTo(20.0f);

// setting number of iterations
joint->setNumIterations(16);

Methods:

Name	Description View: Sort by:
*create*	Constructor.
setAngularDamping	Sets an angular damping of the joint.
getAngularDamping	Returns the angular damping of the joint.
setAngularLimitAngle	Sets a swing limit angle.
getAngularLimitAngle	Returns the swing limit angle.
setAngularLimitFrom	Sets a low twist limit angle.
getAngularLimitFrom	Returns the low twist limit angle.
setAngularLimitTo	Sets a high twist limit angle.
getAngularLimitTo	Returns the high twist limit angle.
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.
setWorldAxis	Sets a joint axis.
getWorldAxis	Returns the joint axis.

JointBall Class

Members

static JointBallPtr create ( ) #

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

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

Constructor. Creates a ball 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 JointBallPtr create ( const Ptr<Body> & body0, const Ptr<Body> & body1, const Math::Vec3 & anchor ) #

Constructor. Creates a ball joint connecting two given bodies with 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.

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

Constructor. Creates a ball 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 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 setAngularLimitAngle ( float angle ) #

Sets a swing limit angle. Swing limit specifies how much connected bodies can bend from the joint axis.

Arguments

float angle - Angle in degrees. The provided value will be saturated in the range [0; 180]. 0 means no limit.

float getAngularLimitAngle ( ) #

Returns the swing limit angle. Swing limit specifies how much connected bodies can bend from the joint axis. 0 means there is no limit.

Return value

Swing limit angle in degrees.

void setAngularLimitFrom ( float from ) #

Sets a low twist limit angle. Twist limit specifies how much a connected body can twist 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 twist limit angle. Twist limit specifies how much a connected body can twist around the joint axis.

Return value

Low twist limit angle in degrees.

void setAngularLimitTo ( float to ) #

Sets a high twist limit angle. Twist limit specifies how much a connected body can twist 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 twist limit angle. Twist limit specifies how much a connected body can twist around the joint axis.

Return value

High twist limit angle in degrees.

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.

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: 2023-06-23

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Header:	#include <UniginePhysics.h>
Inherits from:	Joint

Unigine::JointBall Class

In This Article:

Example#

See Also#

Methods:

JointBall Class

Members

static JointBallPtr create ( ) #

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

Arguments

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

Arguments

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

Arguments

void setAngularDamping ( float damping ) #

Arguments

float getAngularDamping ( ) #

Return value

void setAngularLimitAngle ( float angle ) #

Arguments

float getAngularLimitAngle ( ) #

Return value

void setAngularLimitFrom ( float from ) #

Arguments

float getAngularLimitFrom ( ) #

Return value

void setAngularLimitTo ( float to ) #

Arguments

float getAngularLimitTo ( ) #

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

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

Arguments

Math::vec3 getWorldAxis ( ) #

Return value