Unigine.JointHinge Class

Example#

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

Source code (C#)

JointHinge joint = new JointHinge(b0, b1);

	// setting joint axis coordinates
	joint.WorldAxis = new vec3(1.0f, 0.0f, 0.0f);

	// setting common joint constraint parameters
	joint.LinearRestitution = 0.4f;
	joint.AngularRestitution = 0.4f;
	joint.LinearSoftness = 0.4f;
	joint.AngularSoftness = 0.4f;

	// setting angular damping
	joint.AngularDamping = 8.0f;

	// setting angular limits, in degrees [-20; 20]
	joint.AngularLimitFrom = -20.0f;
	joint.AngularLimitTo = 20.0f;

	// setting spring rigidity coefficient
	joint.AngularSpring = 8.0f;

	// setting number of iterations
	joint.NumIterations = 16;

Properties:

Name	Description
float CurrentAngularVelocity	The velocity of the motor, i.e. the difference between angular velocities of two bodies connected with a hinge relative the hinge axis.
float CurrentAngularAngle	The angle between the bodies.
float AngularVelocity	The target velocity of the attached angular motor.
float AngularSpring	The rigidity coefficient of the angular spring.
float AngularLimitTo	The high rotation limit angle.
float AngularLimitFrom	The low rotation limit angle.
float AngularTorque	The maximum torque of the attached angular motor.
float AngularDamping	The angular damping of the joint.
float AngularAngle	The target angle of the attached angular spring.
vec3 WorldAxis	The joint axis.
vec3 Axis0	The axis of the first connected body.
vec3 Axis1	The axis of the second connected body.

Methods:

Name	Description View: Sort by:
JointHinge	Constructor.

JointHinge Class

Properties

float CurrentAngularVelocity#

The velocity of the motor, i.e. the difference between angular velocities of two bodies connected with a hinge relative the hinge axis.

Notice

The valid velocity is returned only if both bodies are of BodyRigid type. Otherwise, 0 is returned.

float CurrentAngularAngle#

The angle between the bodies.

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 Axis0#

The axis of the first connected body.

vec3 Axis1#

The axis of the second connected body.

Members

JointHinge ( ) #

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

JointHinge ( Body body0, Body body1 ) #

Constructor. Creates a hinge 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.

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

Constructor. Creates a hinge 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: 2024-12-13

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Unigine.JointHinge Class

In This Article:

Example#

See Also#

Properties:

Methods:

JointHinge Class

Properties

float CurrentAngularVelocity#

float CurrentAngularAngle#

float AngularVelocity#

float AngularSpring#

float AngularLimitTo#

float AngularLimitFrom#

float AngularTorque#

float AngularDamping#

float AngularAngle#

vec3 WorldAxis#

vec3 Axis0#

vec3 Axis1#

Members

JointHinge ( ) #

JointHinge ( Body body0, Body body1 ) #

Arguments

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

Arguments