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JointBall Class

This class is used to create ball joints.

JointBall Class

Members


JointBall ()

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

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

Constructor. Creates a ball 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.

JointBall (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

JointBall (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

void setAngularLimitTo (float to)

Sets a high twist limit angle. Twist limit specifies how much a connected body can twist around the joint axis.

Arguments

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

float getAngularLimitAngle ()

Returns the swing limit angle. Swing limit specifies how much connected bodies can bend from the joint axis. 0 means there is no limit.

Return value

Swing limit angle in degrees.

float getAngularDamping ()

Returns the angular damping of the joint.

Return value

Angular damping.

void setAngularLimitAngle (float angle)

Sets a swing limit angle. Swing limit specifies how much connected bodies can bend from the joint axis.

Arguments

  • float angle - Angle in degrees. The provided value will be saturated in the range [0; 180]. 0 means no limit.

Math::vec3 getWorldAxis ()

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

Return value

Joint axis.

void setAngularLimitFrom (float from)

Sets a low twist limit angle. Twist limit specifies how much a connected body can twist around the joint axis.

Arguments

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

void setAngularDamping (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.

void setAxis0 (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.

Math::vec3 getAxis0 ()

Returns the axis of the first connected body.

Return value

Axis of the first body.

Math::vec3 getAxis1 ()

Returns the axis of the second connected body.

Return value

Axis of the second body.

float getAngularLimitTo ()

Returns the high twist limit angle. Twist limit specifies how much a connected body can twist around the joint axis.

Return value

High twist limit angle in degrees.

float getAngularLimitFrom ()

Returns the low twist limit angle. Twist limit specifies how much a connected body can twist around the joint axis.

Return value

Low twist limit angle in degrees.

void setAxis1 (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.

void setWorldAxis (const Math::vec3 & axis)

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

Arguments

  • const Math::vec3 & axis - Joint axis.
Last update: 2017-07-03