Joint Class
Warning
The scope of applications for UnigineScript is limited to implementing materials-related logic (material expressions, scriptable materials, brush materials). Do not use UnigineScript as a language for application logic, please consider C#/C++ instead, as these APIs are the preferred ones. Availability of new Engine features in UnigineScript (beyond its scope of applications) is not guaranteed, as the current level of support assumes only fixing critical issues.
This class is used to simulate various types of joints and define common parameters shared by all joints.
See Also#
- A C++ API sample located in the <UnigineSDK>/source/samples/Api/Physics/JointCallbacks folder
- A C# API sample located in the <UnigineSDK>/source/csharp/samples/Api/Physics/JointCallbacks folder
- A UnigineScript API sample <UnigineSDK>/data/samples/physics/callbacks_03
Joint Class
Members
void setWorldAnchor ( Vec3 anchor ) #
Sets a new anchor point in the world coordinates.
Arguments
- Vec3 anchor - The coordinates of the anchor point in the world space.
Vec3 getWorldAnchor() const#
Returns the current anchor point in the world coordinates.
Return value
Current coordinates of the anchor point in the world space.void setAnchor1 ( Vec3 anchor1 ) #
Sets a new coordinates of the anchor point in a system of coordinates of the second connected body.
Arguments
- Vec3 anchor1 - The coordinates of the anchor point in the body coordinate space.
Vec3 getAnchor1() const#
Returns the current coordinates of the anchor point in a system of coordinates of the second connected body.
Return value
Current coordinates of the anchor point in the body coordinate space.void setAnchor0 ( Vec3 anchor0 ) #
Sets a new coordinates of the anchor point in a system of coordinates of the first connected body.
Arguments
- Vec3 anchor0 - The coordinates of the anchor point in the body coordinate space.
Vec3 getAnchor0() const#
Returns the current coordinates of the anchor point in a system of coordinates of the first connected body.
Return value
Current coordinates of the anchor point in the body coordinate space.void setAngularSoftness ( float softness ) #
Sets a new angular softness (elasticity) of the joint. when the joint is twisted, angular softness defines whether angular velocities of the bodies are averaged out. for example:
- 0 means that the joint is rigid. Angular velocities of the first and the second body are independent.
- 1 means that the joint is elastic (jelly-like). If the first body changes its velocity, velocity of the second body is equalized with it.
Arguments
- float softness - The angular softness. The provided value will be clamped in the range [0;1].
float getAngularSoftness() const#
Returns the current angular softness (elasticity) of the joint. when the joint is twisted, angular softness defines whether angular velocities of the bodies are averaged out. for example:
- 0 means that the joint is rigid. Angular velocities of the first and the second body are independent.
- 1 means that the joint is elastic (jelly-like). If the first body changes its velocity, velocity of the second body is equalized with it.
Return value
Current angular softness. The provided value will be clamped in the range [0;1].void setLinearSoftness ( float softness ) #
Sets a new linear softness (elasticity) of the joint. when the joint is stretched, linear softness defines whether linear velocities of the bodies are averaged out. for example:
- 0 means that the joint is rigid. Velocities of the first and the second body are independent.
- 1 means that the joint is elastic (jelly-like). If the first body changes its velocity, velocity of the second body is equalized with it.
Arguments
- float softness - The linear softness. The provided value will be clamped in the range [0;1].
float getLinearSoftness() const#
Returns the current linear softness (elasticity) of the joint. when the joint is stretched, linear softness defines whether linear velocities of the bodies are averaged out. for example:
- 0 means that the joint is rigid. Velocities of the first and the second body are independent.
- 1 means that the joint is elastic (jelly-like). If the first body changes its velocity, velocity of the second body is equalized with it.
Return value
Current linear softness. The provided value will be clamped in the range [0;1].void setAngularRestitution ( float restitution ) #
Sets a new angular restitution (stiffness) of the joint. angular restitution defines how fast the joint compensates for change of the angle between two bodies. when bodies are turned relative each other, restitution controls the magnitude of force which is applied to both bodies so that their anchor points to become aligned again. for example:
- 1 means that the joint is to return bodies in place throughout 1 physics tick.
- 0.2 means that the joint is to return bodies in place throughout 5 physics ticks.
Arguments
- float restitution - The angular restitution. The provided value will be clamped in the range [0;1].
float getAngularRestitution() const#
Returns the current angular restitution (stiffness) of the joint. angular restitution defines how fast the joint compensates for change of the angle between two bodies. when bodies are turned relative each other, restitution controls the magnitude of force which is applied to both bodies so that their anchor points to become aligned again. for example:
- 1 means that the joint is to return bodies in place throughout 1 physics tick.
- 0.2 means that the joint is to return bodies in place throughout 5 physics ticks.
Return value
Current angular restitution. The provided value will be clamped in the range [0;1].void setLinearRestitution ( float restitution ) #
Sets a new linear restitution (stiffness) of the joint. linear restitution defines how fast the joint compensates for linear coordinate change between two bodies. when bodies are dragged apart, restitution controls the magnitude of force which is applied to both bodies so that their anchor points to become aligned again. for example:
- 1 means that the joint is to return bodies in place throughout 1 physics tick.
- 0.2 means that the joint is to return bodies in place throughout 5 physics ticks.
Arguments
- float restitution - The linear restitution. The provided value will be clamped in the range [0;1].
float getLinearRestitution() const#
Returns the current linear restitution (stiffness) of the joint. linear restitution defines how fast the joint compensates for linear coordinate change between two bodies. when bodies are dragged apart, restitution controls the magnitude of force which is applied to both bodies so that their anchor points to become aligned again. for example:
- 1 means that the joint is to return bodies in place throughout 1 physics tick.
- 0.2 means that the joint is to return bodies in place throughout 5 physics ticks.
Return value
Current linear restitution. The provided value will be clamped in the range [0;1].void setMaxTorque ( float torque ) #
Sets a new maximum amount of torque that can be exerted on the joint. if this limit is exceeded, the joint breaks.
Arguments
- float torque - The maximum amount of torque.
float getMaxTorque() const#
Returns the current maximum amount of torque that can be exerted on the joint. if this limit is exceeded, the joint breaks.
Return value
Current maximum amount of torque.void setMaxForce ( float force ) #
Sets a new maximum amount of force that can be exerted on the joint. if this limit is exceeded, the joint breaks.
Arguments
- float force - The maximum amount of force.
float getMaxForce() const#
Returns the current maximum amount of force that can be exerted on the joint. if this limit is exceeded, the joint breaks.
Return value
Current maximum amount of force.void setNumIterations ( int iterations ) #
Sets a new number of iterations used to solve joints. If a non-positive value is set as a value, 1 will be used instead.
Arguments
- int iterations - The number of iterations.
int getNumIterations() const#
Returns the current number of iterations used to solve joints. If a non-positive value is set as a value, 1 will be used instead.
Return value
Current number of iterations.void setName ( string name ) #
Sets a new name of the joint.
Arguments
- string name - The name of the joint.
string getName() const#
Returns the current name of the joint.
Return value
Current name of the joint.void setFrozen ( int frozen ) #
Sets a new value indicating if the joint is frozen.
Arguments
- int frozen - The the joint frozen state
int isFrozen() const#
Returns the current value indicating if the joint is frozen.
Return value
Current the joint frozen statevoid setBroken ( int broken ) #
Sets a new value indicating if the joint is broken or intact.
Arguments
- int broken - The the joint broken state
int isBroken() const#
Returns the current value indicating if the joint is broken or intact.
Return value
Current the joint broken statevoid setCollision ( int collision ) #
Sets a new value indicating if collisions between the connected bodies are enabled.
Arguments
- int collision - The value indicating if collisions between the connected bodies are enabled: positive number for enabled collisions between the bodies, 0 for disabled collisions.
int getCollision() const#
Returns the current value indicating if collisions between the connected bodies are enabled.
Return value
Current value indicating if collisions between the connected bodies are enabled: positive number for enabled collisions between the bodies, 0 for disabled collisions.bool isEnabledSelf() const#
Returns the current value indicating is the joint is enabled.
Return value
true if the joint is enabled; otherwise false.void setEnabled ( bool enabled ) #
Sets a new value indicating if the joint calculations are enabled.
Arguments
- bool enabled - Set true to enable the joint calculations; false - to disable it.
bool isEnabled() const#
Returns the current value indicating if the joint calculations are enabled.
Return value
true if the joint calculations is enabled; otherwise false.void setBody1 ( Body body1 ) #
Sets a new second body connected using the joint.
Arguments
- Body body1 - The second body connected with the joint.
Body getBody1() const#
Returns the current second body connected using the joint.
Return value
Current second body connected with the joint.void setBody0 ( Body body0 ) #
Sets a new first body connected using the joint.
Arguments
- Body body0 - The first body connected with the joint.
Body getBody0() const#
Returns the current first body connected using the joint.
Return value
Current first body connected with the joint.string getTypeName() const#
Returns the current name of the joint type.
Return value
Current name of the joint type.int getType() const#
Returns the current type of the joint.
Return value
Current type of the joint, one of the JOINT_* pre-defined variables.void setNode1 ( Node node1 ) #
Sets a new node possessing the second body connected to the joint.
Arguments
- Node node1 - The node possessing the second body connected to the joint is assigned. The node must be an object and must have a body assigned.
Node getNode1() const#
Returns the current node possessing the second body connected to the joint.
Return value
Current node possessing the second body connected to the joint is assigned. The node must be an object and must have a body assigned.void setNode0 ( Node node0 ) #
Sets a new node possessing the first body connected to the joint.
Arguments
- Node node0 - The node possessing the first body connected to the joint is assigned. The node must be an object and must have a body assigned.
Node getNode0() const#
Returns the current node possessing the first body connected to the joint.
Return value
Current node possessing the first body connected to the joint is assigned. The node must be an object and must have a body assigned.getEventBroken() const#
The event handler signature is as follows: myhandler()Usage Example
Source code
Return value
Event reference.Joint createJoint ( int type ) #
Creates a new joint of the specified type.Arguments
- int type - Joint type. One of the JOINT_* values.
Return value
New created joint instance.Joint createJoint ( string type_name ) #
Creates a new joint of the specified type.Arguments
- string type_name - Joint type name.
Return value
New created joint instance.BodyRigid getBodyRigid0 ( ) #
Returns the first connected body as a rigid body.Return value
The first rigid body connected using the joint or NULL (0), if the body is not rigid.BodyRigid getBodyRigid1 ( ) #
Returns the second connected body as a rigid body.Return value
The second rigid body connected using the joint or NULL (0), if the body is not rigid.int setID ( int id ) #
Sets the unique ID for the joint.Arguments
- int id - Unique ID.
Return value
1 if the ID is set successfully; otherwise, 0.int getID ( ) #
Returns the unique ID of the joint.Return value
Unique ID.string getTypeName ( int type ) #
Returns the name of a joint type with a given ID.Arguments
- int type - Joint type ID. One of the JOINT_* values.
Return value
Joint type name.Joint clone ( ) #
Clones the joint.Return value
Copy of the joint.void renderVisualizer ( vec4 color ) #
Renders the joint.Notice
You should enable the engine visualizer by the show_visualizer 1 console command.
Arguments
- vec4 color - Color, in which the joint will be rendered.
int saveState ( Stream stream ) #
Saves the state of a given node into a binary stream.- If a node is a parent for other nodes, states of these child nodes need to be saved manually.
- To save the state from a buffer, file or a message from a socket, make sure the stream is opened. For buffers and files, you also need to set the proper position for reading.
Example using saveState() and restoreState() methods:
Source code (UnigineScript)
// set the joint state
joint.angularRestitution(0.8f);
// save state
Blob blob_state = new Blob();
joint.saveState(blob_state);
// change state
joint.angularRestitution(0.4f);
// restore state
blob_state.seekSet(0); // returning the carriage to the start of the blob
joint.restoreState(blob_state);Arguments
- Stream stream - Stream to save node state data.
Return value
1 if the node state is saved successfully; otherwise, 0.int restoreState ( Stream stream ) #
Restores the state of a given node from a binary stream.- If a node is a parent for other nodes, states of these child nodes need to be restored manually.
- To save the state into a buffer, file or a message from a socket, make sure the stream is opened. If necessary, you can set a position for writing for buffers and files.
Example using saveState() and restoreState() methods:
Source code (UnigineScript)
// set the joint state
joint.angularRestitution(0.8f);
// save state
Blob blob_state = new Blob();
joint.saveState(blob_state);
// change state
joint.angularRestitution(0.4f);
// restore state
blob_state.seekSet(0); // returning the carriage to the start of the blob
joint.restoreState(blob_state);Arguments
- Stream stream - Stream with saved node state data.
Return value
1 if the node state is restored successfully; otherwise, 0.void swap ( Joint joint ) #
Swaps the joints saving the pointers.Arguments
- Joint joint - A joint to swap.
Last update:
2024-03-27
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