Unigine::JointSuspension Class

 Header: #include Inherits: Joint

This class is used to create a suspension joint. The bodies that represent both a frame and a wheel need to be rigid bodies.

Example

The following code illustrates connection of two rigid bodies (frame and wheel) using a suspension joint.

Source code (UnigineScript)
include <UniginePhysics.h>

/* .. */

JointSuspensionPtr joint = JointSuspension::create(frame, wheel);

// setting joint anchor coordinates
joint->setWorldAnchor(wheel->getObject()->getWorldTransform() * Vec3(0.0f));

// setting joint axes coordinates
joint->setWorldAxis0(vec3(0.0f,0.0f,1.0f));
joint->setWorldAxis1(vec3(0.0f,1.0f,0.0f));

// setting linear damping and spring rigidity
joint->setLinearDamping(2.0f);
joint->setLinearSpring(200.0f);

// setting lower and upper suspension ride limits [-0.5; 0.0]
joint->setLinearLimitFrom(-0.5f);
joint->setLinearLimitTo(0.0f);

// setting target suspension height
joint->setLinearDistance(0.5f);

// setting maximum angular velocity and torque
joint->setAngularVelocity(-20.0f);
joint->setAngularTorque(10.0f);

// setting common joint constraint parameters
joint->setLinearRestitution(0.2f);
joint->setAngularRestitution(0.2f);
joint->setLinearSoftness(0.2f);
joint->setAngularSoftness(0.2f);

// setting number of iterations
joint->setNumIterations(8);

static JointSuspensionPtr create()

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

static JointSuspensionPtr create(const Ptr<Body> & body0, const Ptr<Body> & body1)

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

Arguments

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

static JointSuspensionPtr create(const Ptr<Body> & body0, const Ptr<Body> & body1, const Math::Vec3 & anchor, const Math::vec3 & axis0, const Math::vec3 & axis1)

Constructor. Creates a suspension joint connecting two given bodies with specified suspension and spindle axis coordinates and an anchor placed at specified coordinates.

Arguments

• const Ptr<Body> & body0 - Frame to be connected with the joint.
• const Ptr<Body> & body1 - Wheel to be connected with the joint.
• const Math::Vec3 & anchor - Anchor coordinates.
• const Math::vec3 & axis0 - Suspension axis coordinates.
• const Math::vec3 & axis1 - Wheel spindle axis coordinates.

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

Casts a JointWheel out of the Joint instance.

Arguments

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

JointSuspension.

voidsetAngularDamping(float damping)

Sets an angular damping of the joint (wheel rotation damping).

Arguments

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

floatgetAngularDamping()

Returns the angular damping of the joint (wheel rotation damping).

Angular damping.

voidsetAngularTorque(float torque)

Sets a maximum torque of the attached angular motor.

Arguments

• float torque - Maximum torque. If a negative value is provided, 0 will be used instead.

floatgetAngularTorque()

Returns the maximum torque of the attached angular motor.

Maximum torque.

voidsetAngularVelocity(float velocity)

Sets a maximum velocity of wheel rotation.

Arguments

• float velocity - Velocity in radians per second.

floatgetAngularVelocity()

Returns the target velocity of wheel rotation.

Return value

Target velocity in radians per second.

voidsetAxis00(const Math::vec3 & axis00)

Sets coordinates of suspension axis, along which a wheel moves vertically. This is a shock absorber.

Arguments

• const Math::vec3 & axis00 - Suspension axis.

Math::vec3getAxis00()

Returns suspension axis coordinates.

Suspension axis.

voidsetAxis10(const Math::vec3 & axis10)

Sets a wheel spindle axis in coordinates of the wheel: an axis around which a wheel rotates when moving forward (or backward).

Arguments

• const Math::vec3 & axis10 - Wheel spindle axis in coordinates of the wheel.

Math::vec3getAxis10()

Returns the wheel spindle axis in coordinates of the wheel.

Return value

Wheel spindle axis in coordinates of the wheel.

voidsetAxis11(const Math::vec3 & axis11)

Sets a wheel spindle axis in coordinates of the frame: an axis around which a wheel rotates when steering.

Arguments

• const Math::vec3 & axis11 - Wheel spindle axis in coordinates of the frame.

Math::vec3getAxis11()

Returns the wheel spindle in coordinates of the frame.

Return value

Wheel spindle axis in coordinates of the frame.

floatgetCurrentAngularVelocity()

Returns the current velocity of wheel rotation.

Return value

Current velocity in radians per second.

floatgetCurrentLinearDistance()

Returns the current suspension compression.

Return value

Current suspension height in units.

voidsetLinearDamping(float damping)

Sets a linear damping of the suspension.

Arguments

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

floatgetLinearDamping()

Returns the linear damping of the suspension.

Linear damping.

voidsetLinearDistance(float distance)

Sets a target height of the suspension.

Arguments

• float distance - Height in units.

floatgetLinearDistance()

Returns the target height of the suspension.

Return value

Target height in units.

voidsetLinearLimitFrom(float from)

Sets a low limit of the suspension ride.

Arguments

• float from - Limit in units.

floatgetLinearLimitFrom()

Returns the low limit of the suspension ride.

Return value

Low limit in units.

voidsetLinearLimitTo(float to)

Sets a high limit of the suspension ride.

Arguments

• float to - Limit in units.

floatgetLinearLimitTo()

Returns the high limit of the suspension ride.

Return value

High limit in units.

voidsetLinearSpring(float spring)

Sets a rigidity coefficient of the suspension.

Arguments

• float spring - Rigidity coefficient. If a negative value is provided, 0 will be used instead.

floatgetLinearSpring()

Returns the rigidity coefficient of the suspension.

Return value

Rigidity coefficient.

voidsetWorldAxis0(const Math::vec3 & axis0)

Sets suspension axis in the world coordinates.

Arguments

• const Math::vec3 & axis0 - Suspension axis in the world coordinates.

Math::vec3getWorldAxis0()

Returns the suspension axis in the world coordinates.

Return value

Suspension axis in the world coordinates.

voidsetWorldAxis1(const Math::vec3 & axis1)

Sets a wheel spindle axis in the world coordinates.

Arguments

• const Math::vec3 & axis1 - Wheel spindle axis in the world coordinates.

Math::vec3getWorldAxis1()

Returns the wheel spindle axis in the world coordinates.

Return value

Wheel spindle axis in the world coordinates.
Last update: 2018-08-10