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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 This version of documentation is OUTDATED, as it describes an older SDK version!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.
Warning! This version of documentation describes an old SDK version which is no longer supported! Please upgrade to the latest SDK version.

Unigine.JointPrismatic Class

Inherits: Joint

This class is used to create prismatic joints.

Example#

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

Source code (C#)
JointPrismatic joint = new JointPrismatic(b0, b1);
	
// setting joint axis coordinates
joint.setWorldAxis(new vec3(0.0f, 0.0f, 1.0f));

// setting common joint constraint parameters
joint.setLinearRestitution(0.4f);
joint.setAngularRestitution(0.4f);
joint.setLinearSoftness(0.4f);
joint.setAngularSoftness(0.4f);

// setting linear damping
joint.setLinearDamping(4.0f);

// setting linear limits [-1.5; 1.5]
joint.setLinearLimitFrom(-1.5f);
joint.setLinearLimitTo(1.5f);

// setting number of iterations
joint.setNumIterations(16);

See Also#

Usage examples:

JointPrismatic Class

Properties

float CurrentLinearVelocity#

The current velocity of the attached motor.

float CurrentLinearDistance#

The current distance between the bodies.

mat3 WorldRotation#

set
Sets a rotation matrix of the anchor point in the world system of coordinates.
set value - Rotation matrix in the world coordinate space.

mat3 Rotation1#

set
Sets a rotation matrix of the anchor point in a system of coordinates of the second connected body.
set value - Rotation matrix in the body coordinate space.

mat3 Rotation0#

set
Sets a rotation matrix of the anchor point in a system of coordinates of the first connected body.
set value - Rotation matrix in the body coordinate space.

float LinearVelocity#

The target velocity of the attached motor.
set
Sets a target velocity of the attached motor.
set value - Target velocity in units per second.

float LinearSpring#

The rigidity coefficient of the spring. 0 means that the spring is not attached.
set
Sets a rigidity coefficient of the spring.
set value - Rigidity coefficient. If a negative value is provided, 0 will be used instead. 0 detaches the spring.

float LinearLimitTo#

The high limit distance. this limit specifies how far a connected body can move along the joint axis.
set
Sets a high limit distance. This limit specifies how far a connected body can move along the joint axis.
set value - Distance in units.

float LinearLimitFrom#

The low limit distance. this limit specifies how far a connected body can move along the joint axis.
set
Sets a low limit distance. This limit specifies how far a connected body can move along the joint axis.
set value - Distance in units.

float LinearForce#

The maximum force of the attached motor. 0 means that the motor is not attached.
set
Sets a maximum force of the attached motor.
set value - Maximum force. If a negative value is provided, 0 will be used instead. 0 detaches the motor.

float LinearDistance#

The target distance of the attached spring. the spring tries to move the connected bodies so that to keep this distance between them.
set
Sets a target distance of the attached spring. The spring tries to move the connected bodies so that to keep this distance between them.
set value - Target distance in units.

float LinearDamping#

The linear damping of the joint.
set
Sets a linear damping of the joint.
set value - Linear damping. If a negative value is provided, 0 will be used instead.

vec3 WorldAxis#

The joint axis in the world coordinates.
set
Sets a joint axis in the world coordinates.
set value - Joint axis in the world coordinates.

vec3 Axis0#

The joint axis in the local coordinates of the first body.
set
Sets a joint axis in the local coordinates of the first body.
set value - Joint axis in the coordinates of the first body.

Members


static JointPrismatic ( ) #

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

static JointPrismatic ( Body body0, Body body1 ) #

Constructor. Creates a prismatic 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 JointPrismatic ( Body body0, Body body1, Vec3 anchor, vec3 size ) #

Constructor. Creates a prismatic joint connecting two given bodies with specified axis coordinates and 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.
  • vec3 size - Axis coordinates.

JointPrismatic Cast ( Joint joint ) #

Casts a JointPrismatic out of the Joint instance.

Arguments

  • Joint joint - Joint instance.

Return value

JointPrismatic.
Last update: 2019-08-16
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