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Warning! This version of documentation is OUTDATED, as it describes an older SDK version! Please switch to the documentation for the latest SDK version.
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Unigine.JointFixed Class

Inherits:Joint

This class is used to create fixed joints.

Example

The following code illustrates connection of two bodies (b0 and b1) using a fixed joint.

Source code (C#)
JointFixed joint = new JointFixed(b0, b1);

// setting common joint constraint parameters
joint.setLinearRestitution(0.8f);
joint.setAngularRestitution(0.8f);
joint.setLinearSoftness(0.0f);
joint.setAngularSoftness(0.0f);

// setting number of iterations
joint.setNumIterations(4);

See Also

JointFixed Class

Members


static JointFixed()

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

static 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 - First body to be connected with the joint.
  • Body body1 - Second body to be connected with the joint.

static JointFixed(Body body0, Body body1, Vec3 anchor)

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

Arguments

  • Body body0 - First body to be connected with the joint.
  • Body body1 - Second body to be connected with the joint.
  • Vec3 anchor - Anchor coordinates.

JointFixed cast(Joint joint)

Casts a JointFixed out of the Joint instance.

Arguments

  • Joint joint - Joint instance.

Return value

JointFixed.

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 getRotation0()

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 getRotation1()

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.

mat3 getWorldRotation()

Last update: 2018-06-04
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