Unigine::JointSuspension Class
Header: | #include <UniginePhysics.h> |
Inherits from: | Joint |
This joint type is deprecated and will be removed in the upcoming releases. It is recommended to use the Wheel Joint instead.
This class is used to create a suspension joint. The bodies that represent both a frame and a wheel must be rigid bodies.
Example#
The following code illustrates connection of two rigid bodies (frame and wheel) using a suspension joint.
include <UniginePhysics.h>
/* .. */
JointSuspensionPtr joint = JointSuspension::create(frame, wheel);
// setting joint anchor coordinates
joint->setWorldAnchor(wheel->getObject()->getWorldTransform() * Vec3(0.0f));
// setting joint axes coordinates
joint->setWorldAxis0(vec3(0.0f,0.0f,1.0f));
joint->setWorldAxis1(vec3(0.0f,1.0f,0.0f));
// setting linear damping and spring rigidity
joint->setLinearDamping(2.0f);
joint->setLinearSpring(200.0f);
// setting lower and upper suspension ride limits [-0.5; 0.0]
joint->setLinearLimitFrom(-0.5f);
joint->setLinearLimitTo(0.0f);
// setting target suspension height
joint->setLinearDistance(0.5f);
// setting maximum angular velocity and torque
joint->setAngularVelocity(-20.0f);
joint->setAngularTorque(10.0f);
// setting common joint constraint parameters
joint->setLinearRestitution(0.2f);
joint->setAngularRestitution(0.2f);
joint->setLinearSoftness(0.2f);
joint->setAngularSoftness(0.2f);
// setting number of iterations
joint->setNumIterations(8);
See Also#
-
A set of UnigineScript API samples located in the <UnigineSDK>/data/samples/physics/ folder:
- car_00
- car_01
- car_02
JointSuspension Class
Members
float getCurrentLinearDistance() const#
Returns the current suspension compression.
Return value
Current suspension height, in units.float getCurrentAngularVelocity() const#
Returns the current velocity of wheel rotation.
Return value
Current current velocity, in radians per second.void setAngularVelocity ( float velocity ) #
Sets a new target velocity of wheel rotation.
Arguments
- float velocity - The target velocity in radians per second.
float getAngularVelocity() const#
Returns the current target velocity of wheel rotation.
Return value
Current target velocity in radians per second.void setAngularTorque ( float torque ) #
Sets a new maximum torque of the attached angular motor. 0 means that the motor is not attached.
Arguments
- float torque - The maximum torque. If a negative value is provided, 0 will be used instead. 0 detaches the motor.
float getAngularTorque() const#
Returns the current maximum torque of the attached angular motor. 0 means that the motor is not attached.
Return value
Current maximum torque. If a negative value is provided, 0 will be used instead. 0 detaches the motor.void setAngularDamping ( float damping ) #
Sets a new angular damping of the joint (wheel rotation damping).
Arguments
- float damping - The angular damping. If a negative value is provided, 0 will be used instead.
float getAngularDamping() const#
Returns the current angular damping of the joint (wheel rotation damping).
Return value
Current angular damping. If a negative value is provided, 0 will be used instead.void setLinearSpring ( float spring ) #
Sets a new rigidity coefficient of the suspension. 0 means that the suspension is not attached.
Arguments
- float spring - The rigidity coefficient. If a negative value is provided, 0 will be used instead. 0 detaches the suspension.
float getLinearSpring() const#
Returns the current rigidity coefficient of the suspension. 0 means that the suspension is not attached.
Return value
Current rigidity coefficient. If a negative value is provided, 0 will be used instead. 0 detaches the suspension.void setLinearLimitTo ( float to ) #
Sets a new high limit of the suspension ride. This limit specifies how far a connected body can move along the joint axis.
Arguments
- float to - The high limit in units.
float getLinearLimitTo() const#
Returns the current high limit of the suspension ride. This limit specifies how far a connected body can move along the joint axis.
Return value
Current high limit in units.void setLinearLimitFrom ( float from ) #
Sets a new low limit of the suspension ride. This limit specifies how far a connected body can move along the joint axis.
Arguments
- float from - The low limit in units.
float getLinearLimitFrom() const#
Returns the current low limit of the suspension ride. This limit specifies how far a connected body can move along the joint axis.
Return value
Current low limit in units.void setLinearDistance ( float distance ) #
Sets a new target height of the suspension.
Arguments
- float distance - The height, in units.
float getLinearDistance() const#
Returns the current target height of the suspension.
Return value
Current height, in units.void setLinearDamping ( float damping ) #
Sets a new linear damping of the suspension.
Arguments
- float damping - The linear damping. If a negative value is provided, 0 will be used instead.
float getLinearDamping() const#
Returns the current linear damping of the suspension.
Return value
Current linear damping. If a negative value is provided, 0 will be used instead.void setWorldAxis0 ( const Math::vec3& axis0 ) #
Sets a new suspension axis in the world coordinates.
Arguments
- const Math::vec3& axis0 - The suspension axis in the world coordinates.
Math::vec3 getWorldAxis0() const#
Returns the current suspension axis in the world coordinates.
Return value
Current suspension axis in the world coordinates.void setWorldAxis1 ( const Math::vec3& axis1 ) #
Sets a new wheel spindle axis in the world coordinates.
Arguments
- const Math::vec3& axis1 - The wheel spindle axis in the world coordinates.
Math::vec3 getWorldAxis1() const#
Returns the current wheel spindle axis in the world coordinates.
Return value
Current wheel spindle axis in the world coordinates.void setAxis00 ( const Math::vec3& axis00 ) #
Sets a new coordinates of suspension axis, along which a wheel moves vertically. This is a shock absorber.
Arguments
- const Math::vec3& axis00 - The suspension axis, in the world coordinates.
Math::vec3 getAxis00() const#
Returns the current coordinates of suspension axis, along which a wheel moves vertically. This is a shock absorber.
Return value
Current suspension axis, in the world coordinates.void setAxis10 ( const Math::vec3& axis10 ) #
Sets a new wheel spindle axis in coordinates of the frame (body 0): an axis around which a wheel rotates when moving forward (or backward).
Arguments
- const Math::vec3& axis10 - The wheel spindle axis in coordinates of the frame (body 0).
Math::vec3 getAxis10() const#
Returns the current wheel spindle axis in coordinates of the frame (body 0): an axis around which a wheel rotates when moving forward (or backward).
Return value
Current wheel spindle axis in coordinates of the frame (body 0).void setAxis11 ( const Math::vec3& axis11 ) #
Sets a new wheel spindle axis in coordinates of the wheel (body 1): an axis around which a wheel rotates when steering.
Arguments
- const Math::vec3& axis11 - The wheel spindle axis in coordinates of the wheel (body 1).
Math::vec3 getAxis11() const#
Returns the current wheel spindle axis in coordinates of the wheel (body 1): an axis around which a wheel rotates when steering.
Return value
Current wheel spindle axis in coordinates of the wheel (body 1).static JointSuspensionPtr create ( ) #
Constructor. Creates a suspension joint with an anchor at the origin of the world coordinates.static JointSuspensionPtr create ( const Ptr<Body> & body0, const Ptr<Body> & body1 ) #
Constructor. Creates a suspension joint connecting two given bodies. An anchor is placed between centers of mass of the bodies.Arguments
- const Ptr<Body> & body0 - Frame to be connected with the joint.
- const Ptr<Body> & body1 - Wheel to be connected with the joint.
static JointSuspensionPtr create ( const Ptr<Body> & body0, const Ptr<Body> & body1, const Math::Vec3 & anchor, const Math::vec3 & axis0, const Math::vec3 & axis1 ) #
Constructor. Creates a suspension joint connecting two given bodies with specified suspension and spindle axis coordinates and an anchor placed at specified coordinates.Arguments
Last update:
2024-08-16
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