JointFixed Class

JointFixed Class

Members

---

JointFixed ()

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

JointFixed (Body body0, Body body1)

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

Arguments

• Body body0 - The first body to connect with the joint.
• Body body1 - The second body to connect with the joint.

JointFixed (Body body0, Body body1, Vec3 anchor)

Arguments

• Body body0
• Body body1
• Vec3 anchor

void setRotation0 (mat3 rotation0)

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

Arguments

• mat3 rotation0 - Rotation matrix in the body coordinate space.

mat3 getRotation1 ()

Return value

void setRotation1 (mat3 rotation1)

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

Arguments

• mat3 rotation1 - Rotation matrix in the body coordinate space.

mat3 getWorldRotation ()

Return value

mat3 getRotation0 ()

Return value

void setWorldRotation (mat3 rotation)

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

Arguments

• mat3 rotation - Rotation matrix in the world coordinate space.