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JointFixed Class

This class is used to create fixed joints.

JointFixed Class

Members


JointFixed ()

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

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

JointFixed (const Ptr<Body> & body0, const Ptr<Body> & body1, const Math::Vec3 & anchor)

Arguments

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

void setRotation0 (const Math::mat3 & rotation0)

Sets a rotation matrix of the anchor point in a system of coordinates of the first connected body.

Arguments

  • const Math::mat3 & rotation0 - Rotation matrix in the body coordinate space.

Math::mat3 getRotation1 ()

Return value

void setRotation1 (const Math::mat3 & rotation1)

Sets a rotation matrix of the anchor point in a system of coordinates of the second connected body.

Arguments

  • const Math::mat3 & rotation1 - Rotation matrix in the body coordinate space.

Math::mat3 getWorldRotation ()

Return value

Math::mat3 getRotation0 ()

Return value

void setWorldRotation (const Math::mat3 & rotation)

Sets a rotation matrix of the anchor point in the world system of coordinates.

Arguments

  • const Math::mat3 & rotation - Rotation matrix in the world coordinate space.
Last update: 2017-07-03