Unigine::JointSuspension Class
| Header: | #include <UniginePhysics.h> |
| 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);See Also
- Creating a Car with Suspension Joints usage example.
JointSuspension Class
Members
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.
Return value
JointSuspension.void setAngularDamping(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.
float getAngularDamping()
Returns the angular damping of the joint (wheel rotation damping).Return value
Angular damping.void setAngularTorque(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.
float getAngularTorque()
Returns the maximum torque of the attached angular motor.Return value
Maximum torque.void setAngularVelocity(float velocity)
Sets a maximum velocity of wheel rotation.Arguments
- float velocity - Velocity in radians per second.
float getAngularVelocity()
Returns the target velocity of wheel rotation.Return value
Target velocity in radians per second.void setAxis00(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::vec3 getAxis00()
Returns suspension axis coordinates.Return value
Suspension axis.void setAxis10(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::vec3 getAxis10()
Returns the wheel spindle axis in coordinates of the wheel.Return value
Wheel spindle axis in coordinates of the wheel.void setAxis11(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::vec3 getAxis11()
Returns the wheel spindle in coordinates of the frame.Return value
Wheel spindle axis in coordinates of the frame.float getCurrentAngularVelocity()
Returns the current velocity of wheel rotation.Return value
Current velocity in radians per second.float getCurrentLinearDistance()
Returns the current suspension compression.Return value
Current suspension height in units.void setLinearDamping(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.
float getLinearDamping()
Returns the linear damping of the suspension.Return value
Linear damping.void setLinearDistance(float distance)
Sets a target height of the suspension.Arguments
- float distance - Height in units.
float getLinearDistance()
Returns the target height of the suspension.Return value
Target height in units.void setLinearLimitFrom(float from)
Sets a low limit of the suspension ride.Arguments
- float from - Limit in units.
float getLinearLimitFrom()
Returns the low limit of the suspension ride.Return value
Low limit in units.void setLinearLimitTo(float to)
Sets a high limit of the suspension ride.Arguments
- float to - Limit in units.
float getLinearLimitTo()
Returns the high limit of the suspension ride.Return value
High limit in units.void setLinearSpring(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.
float getLinearSpring()
Returns the rigidity coefficient of the suspension.Return value
Rigidity coefficient.void setWorldAxis0(const Math::vec3 & axis0)
Sets suspension axis in the world coordinates.Arguments
- const Math::vec3 & axis0 - Suspension axis in the world coordinates.
Math::vec3 getWorldAxis0()
Returns the suspension axis in the world coordinates.Return value
Suspension axis in the world coordinates.void setWorldAxis1(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::vec3 getWorldAxis1()
Returns the wheel spindle axis in the world coordinates.Return value
Wheel spindle axis in the world coordinates.Last update: 2018-08-10
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