Warning! This version of documentation is OUTDATED, as it describes an older SDK version! Please switch to the documentation for the latest SDK version.
Warning! This version of documentation describes an old SDK version which is no longer supported! Please upgrade to the latest SDK version.

# JointFixed Class

This class is used to create fixed joints.

## 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

## voidsetRotation0 (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.

## voidsetRotation1 (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.

## voidsetWorldRotation (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