Unigine::JointFixed Class
| Header: | #include <UniginePhysics.h> |
| Inherits from: | Joint |
This class is used to create fixed joints.
Example#
The following code illustrates connection of two bodies (b0 and b1) using a fixed joint.
Source code (C++)
include <UniginePhysics.h>
/* .. */
JointFixedPtr joint = JointFixed::create(b0, b1);
// setting common joint constraint parameters
joint->setLinearRestitution(0.8f);
joint->setAngularRestitution(0.8f);
joint->setLinearSoftness(0.0f);
joint->setAngularSoftness(0.0f);
// setting number of iterations
joint->setNumIterations(4);See Also#
Usage examples:
- Creating a Simple Mechanism Using Various Types of Joints.
- A set of UnigineScript API samples located in the <UnigineSDK>/data/samples/joints/ folder:
- fixed_00
- fixed_01
- fixed_02
- fixed_03
- fixed_04
- fixed_05
JointFixed Class
Members
void setWorldRotation ( const Math::mat3& rotation ) #
Sets a new rotation matrix of the anchor point in the world system of coordinates.
Arguments
- const Math::mat3& rotation - The rotation matrix in the world coordinate space.
Math::mat3 getWorldRotation() const#
Returns the current rotation matrix of the anchor point in the world system of coordinates.
Return value
Current rotation matrix in the world coordinate space.void setRotation0 ( const Math::mat3& rotation0 ) #
Sets a new rotation matrix of the anchor point in the system of coordinates of the first connected body.
Arguments
- const Math::mat3& rotation0 - The rotation matrix in the body coordinate space.
Math::mat3 getRotation0() const#
Returns the current rotation matrix of the anchor point in the system of coordinates of the first connected body.
Return value
Current rotation matrix in the body coordinate space.void setRotation1 ( const Math::mat3& rotation1 ) #
Sets a new rotation matrix of the anchor point in the system of coordinates of the second connected body.
Arguments
- const Math::mat3& rotation1 - The rotation matrix in the body coordinate space.
Math::mat3 getRotation1() const#
Returns the current rotation matrix of the anchor point in the system of coordinates of the second connected body.
Return value
Current rotation matrix in the body coordinate space.static JointFixedPtr create ( ) #
Constructor. Creates a joint with an anchor at the origin of the world coordinates.static JointFixedPtr create ( const Ptr<Body> & body0, const Ptr<Body> & body1 ) #
Constructor. Creates a 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 JointFixedPtr create ( const Ptr<Body> & body0, const Ptr<Body> & body1, const Math::Vec3 & anchor ) #
Constructor. Creates a fixed joint connecting two given bodies with an anchor placed at specified coordinates.Arguments
Last update:
2024-08-16
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