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Unigine::JointFixed Class

Header:#include <UniginePhysics.h>
Inherits:Joint

This class is used to create fixed joints.

JointFixed Class

Members


static JointFixedPtr create()

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

static JointFixedPtr create(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 - First body to be connected with the joint.
  • const Ptr<Body> & body1 - Second body to be connected with the joint.

static JointFixedPtr create(const Ptr<Body> & body0, const Ptr<Body> & body1, const Math::Vec3 & anchor)

Constructor. Creates a fixed joint connecting two given bodies with an anchor placed at specified coordinates.

Arguments

  • const Ptr<Body> & body0 - First body to be connected with the joint.
  • const Ptr<Body> & body1 - Second body to be connected with the joint.
  • const Math::Vec3 & anchor - Anchor coordinates.

Ptr<JointFixed> cast(const Ptr<Joint> & joint)

Casts a JointFixed out of the Joint instance.

Arguments

  • const Ptr<Joint> & joint - Joint instance.

Return value

JointFixed.

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 getRotation0()

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 getRotation1()

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.

Math::mat3 getWorldRotation()

Last update: 2017-07-03