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JointPath Class

A path joint is used with BodyPath: it attaches an arbitrary BodyRigid to move along its path.

Notice
The path is a spline along which an object can be moved.

See Also

  • A set of samples located in the data/samples/ directory, namely:
    1. physics/train_00.cpp
    2. joints/path_00.cpp

JointPath Class

Members


JointPath ()

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

JointPath (const Ptr<Body> & body0, const Ptr<Body> & body1)

Constructor. Creates a path joint connecting two given bodies. An anchor is placed in the center of the rigid body attached the path body.

Arguments

  • const Ptr<Body> & body0 - BodyRigid to be connected with the joint.
  • const Ptr<Body> & body1 - BodyPath to be connected with the joint.

JointPath (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 connected rigid body.

Arguments

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

float getCurrentLinearVelocity ()

Returns the current linear velocity of the attached motor.

Return value

Current linear velocity in units per second.

void setLinearForce (float force)

Sets a maximum force of the attached motor. 0 means that the motor is not attached.

Arguments

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

float getLinearVelocity ()

Returns the current linear velocity of the attached motor.

Return value

Target velocity in units per second.

float getLinearForce ()

Returns the maximum force of the attached motor.

Return value

Maximum force.

float getLinearDamping ()

Returns the current damping factor for linear velocities of bodies connected by the joint.

Return value

Linear damping.

void setLinearDamping (float damping)

Sets damping factor of linear velocities of bodies connected by the joint.

Arguments

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

Math::mat3 getWorldRotation ()

Return value

void setLinearVelocity (float velocity)

Sets a target linear velocity of the attached motor.

Arguments

  • float velocity - Target velocity in units per second.

Math::mat3 getRotation0 ()

Return value

void setWorldRotation (const Math::mat3 & rotation)

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

Arguments

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