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# JointCylindrical Class

This class is used to create cylindrical joints.

## JointCylindrical ()

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

## JointCylindrical (const Ptr<Body> & body0, const Ptr<Body> & body1)

Constructor. Creates a cylindrical joint connecting two given bodies. An anchor is placed between centers of mass of the bodies.

### Arguments

• const Ptr<Body> & body0 - The first body to connect with the joint.
• const Ptr<Body> & body1 - The second body to connect with the joint.

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

### Arguments

• const Ptr<Body> & body0
• const Ptr<Body> & body1
• const Math::Vec3 & anchor
• const Math::vec3 & axis

## floatgetAngularTorque ()

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

Maximum torque.

## floatgetAngularDamping ()

Returns the angular damping of the joint.

Angular damping.

## floatgetAngularVelocity ()

Returns the target velocity of the attached angular motor.

### Return value

Target velocity in radians per second.

## voidsetLinearForce (float force)

Sets a maximum force of the attached linear motor.

### Arguments

• float force - Maximum force. If a negative value is provided, 0 will be used instead. 0 detaches the motor.

## floatgetAngularLimitTo ()

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

### Return value

High rotation limit angle in degrees.

## floatgetLinearDamping ()

Returns the linear damping of the joint.

Linear damping.

## Math::vec3getAxis0 ()

Returns the axis of the first connected body.

### Return value

Axis of the first body.

## floatgetLinearVelocity ()

Returns the target velocity of the attached linear motor.

### Return value

Target velocity in units per second.

## floatgetLinearSpring ()

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

### Return value

Rigidity coefficient.

## voidsetAngularLimitFrom (float from)

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

### Arguments

• float from - Angle in degrees. The provided value will be saturated in the range [-180; 180].

## floatgetCurrentLinearDistance ()

Returns the current distance between the bodies.

### Return value

Current distance in units.

## voidsetAngularLimitTo (float to)

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

### Arguments

• float to - Angle in degrees. The provided value will be saturated in the range [-180; 180].

## voidsetAngularVelocity (float velocity)

Sets a target velocity of the attached angular motor.

### Arguments

• float velocity - Velocity in radians per second.

## floatgetCurrentLinearVelocity ()

Returns the current velocity of the linear motor.

### Return value

Current velocity in units per second.

## floatgetLinearLimitTo ()

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

### Return value

High limit distance in units.

## floatgetLinearLimitFrom ()

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

### Return value

Low limit distance in units.

## voidsetLinearDamping (float damping)

Sets a linear damping of the joint.

### Arguments

• float damping - Linear damping. If a negative value is provided, 0 will be used instead.

## floatgetLinearForce ()

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

Maximum force.

## voidsetLinearDistance (float distance)

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

### Arguments

• float distance - Target distance in units.

## voidsetAxis0 (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.

## voidsetLinearVelocity (float velocity)

Sets a target velocity of the attached linear motor.

### Arguments

• float velocity - Target velocity in units per second.

## voidsetWorldAxis (const Math::vec3 & axis)

Sets a joint axis. This method updates axes of the connected bodies.

### Arguments

• const Math::vec3 & axis - Joint axis.

## voidsetLinearSpring (float spring)

Sets a rigidity coefficient of the linear spring.

### Arguments

• float spring - Rigidity coefficient. If a negative value is provided, 0 will be used instead. 0 detaches the spring.

## floatgetCurrentAngularAngle ()

Returns the current angle between the bodies.

### Return value

Current angle in degrees.

## voidsetAngularDamping (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.

## voidsetLinearLimitTo (float to)

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

### Arguments

• float to - Distance in units.

## voidsetAngularSpring (float spring)

Sets a rigidity coefficient of the angular spring.

### Arguments

• float spring - Rigidity coefficient. If a negative value is provided, 0 will be used instead. 0 detaches the spring.

## Math::vec3getAxis1 ()

Returns the axis of the second connected body.

### Return value

Axis of the second body.

## floatgetAngularSpring ()

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

### Return value

Rigidity coefficient.

## voidsetAxis1 (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.

## floatgetLinearDistance ()

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

### Return value

Target distance in units.

## voidsetAngularTorque (float torque)

Sets a maximum torque of the angular motor.

### Arguments

• float torque - Maximum torque. If a negative value is provided, 0 will be used instead. 0 detaches the motor.

## Math::vec3getWorldAxis ()

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

Joint axis.

## floatgetCurrentAngularVelocity ()

Returns the current velocity of the angular motor.

### Return value

Current velocity in radians per second.

## voidsetLinearLimitFrom (float from)

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

### Arguments

• float from - Distance in units.

## floatgetAngularLimitFrom ()

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

### Return value

Low rotation limit angle in degrees.

## voidsetAngularAngle (float angle)

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

### Arguments

• float angle - Angle in degrees. The provided value will be saturated in the range [-180; 180].

## floatgetAngularAngle ()

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

### Return value

Target angle in degrees.
Last update: 2017-07-03