JointCylindrical Class

This class is used to create cylindrical joints.

JointCylindrical Class

This class inherits from Joint

Members

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JointCylindrical ()

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

JointCylindrical (Body body0, Body body1)

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

Arguments

• Body body0 - The first body to connect with the joint.
• Body body1 - The second body to connect with the joint.

JointCylindrical (Body body0, Body body1, vec3 anchor, vec3 axis)

Constructor. Creates a cylindrical joint connecting two given bodies using a given anchor and an axis.

Arguments

• Body body0 - The first body to connect with the joint.
• Body body1 - The second body to connect with the joint.
• vec3 anchor - Anchor of the joint.
• vec3 axis - Axis of the joint.

float getAngularAngle ()

Returns the target angle of the attached angular spring. The spring tries to rotate the connected bodies so that they make this angle.

Return value

Target angle in degrees.

float getAngularDamping ()

Returns the angular damping of the joint.

Return value

Angular damping.

float getAngularLimitFrom ()

Returns the low rotation limit angle. Rotation limit specifies how much a connected body can rotate around the joint axis.

Return value

Low rotation limit angle in degrees.

float getAngularLimitTo ()

Returns the high rotation limit angle. Rotation limit specifies how much a connected body can rotate around the joint axis

Return value

High rotation limit angle in degrees.

float getAngularSpring ()

Returns the rigidity coefficient of the angular spring. 0 means that the spring is not attached.

Return value

Rigidity coefficient.

float getAngularTorque ()

Returns the maximum torque of the attached angular motor. 0 means that the motor is not attached.

Return value

Maximum torque.

float getAngularVelocity ()

Returns the target velocity of the attached angular motor.

Return value

Target velocity in radians per second.

vec3 getAxis0 ()

Returns the axis of the first connected body.

Return value

Axis of the first body.

vec3 getAxis1 ()

Returns the axis of the second connected body.

Return value

Axis of the second body.

float getCurrentAngularAngle ()

Returns the current angle between the bodies.

Return value

Current angle in degrees.

float getCurrentAngularVelocity ()

Returns the current velocity of the angular motor.

Return value

Current velocity in radians per second.

float getCurrentLinearDistance ()

Returns the current distance between the bodies.

Return value

Current distance in units.

float getCurrentLinearVelocity ()

Returns the current velocity of the linear motor.

Return value

Current velocity in units per second.

float getLinearDamping ()

Returns the linear damping of the joint.

Return value

Linear damping.

float getLinearDistance ()

Returns the target distance of the attached linear spring. The spring tries to move the connected bodies so that to keep this distance between them.

Return value

Target distance in units.

float getLinearForce ()

Returns the maximum force of the attached linear motor. 0 means that the motor is not attached.

Return value

Maximum force.

float getLinearLimitFrom ()

Returns the low limit distance. This limit specifies how far a connected body can move along the joint axis.

Return value

Low limit distance in units.

float getLinearLimitTo ()

Returns the high limit distance. This limit specifies how far a connected body can move along the joint axis.

Return value

High limit distance in units.

float getLinearSpring ()

Returns the rigidity coefficient of the linear spring. 0 means that the spring is not attached.

Return value

Rigidity coefficient.

float getLinearVelocity ()

Returns the target velocity of the attached linear motor.

Return value

Target velocity in units per second.

vec3 getWorldAxis ()

Returns the joint axis. The joint axis is calculated based on the axes of the connected bodies.

Return value

Joint axis.

void setAngularAngle (float angle)

Sets a target angle of the attached angular spring. The spring tries to rotate the connected bodies so that they make this angle.

Arguments

• float angle - Angle in degrees. The provided value will be saturated in the range [-180; 180].

void setAngularDamping (float damping)

Sets an angular damping of the joint.

Arguments

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

void setAngularLimitFrom (float angle)

Sets a low rotation limit angle. Rotation limit specifies how much a connected body can rotate around the joint axis.

Arguments

• float angle - Angle in degrees. The provided value will be saturated in the range [-180; 180].

void setAngularLimitTo (float angle)

Sets a high rotation limit angle. Rotation limit specifies how much a connected body can rotate around the joint axis.

Arguments

• float angle - Angle in degrees. The provided value will be saturated in the range [-180; 180].

void setAngularSpring (float rigidity)

Sets a rigidity coefficient of the angular spring.

Arguments

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

void setAngularTorque (float torque)

Sets a maximum torque of the angular motor.

Arguments

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

void setAngularVelocity (float velocity)

Sets a target velocity of the attached angular motor.

Arguments

• float velocity - Velocity in radians per second.

void setAxis0 (vec3 axis)

Sets an axis of the first connected body.

Arguments

• vec3 axis - Axis of the first body. The provided vector will be normalized.

void setAxis1 (vec3 axis)

Sets an axis of the second connected body.

Arguments

• vec3 axis - Axis of the second body. The provided vector will be normalized.

void setLinearDamping (float damping)

Sets a linear damping of the joint.

Arguments

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

void setLinearDistance (float distance)

Sets a target distance of the attached linear spring. The spring tries to move the connected bodies so that to keep this distance between them.

Arguments

• float distance - Target distance in units.

void setLinearForce (float force)

Sets a maximum force of the attached linear motor.

Arguments

• float force - Maximum force. If a negative value is provided, 0 will be used instead. 0 detaches the motor.

void setLinearLimitFrom (float distance)

Sets a low limit distance. This limit specifies how far a connected body can move along the joint axis.

Arguments

• float distance - Distance in units.

void setLinearLimitTo (float distance)

Sets a high limit distance. This limit specifies how far a connected body can move along the joint axis.

Arguments

• float distance - Distance in units.

void setLinearSpring (float rigidity)

Sets a rigidity coefficient of the linear spring.

Arguments

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

void setLinearVelocity (float velocity)

Sets a target velocity of the attached linear motor.

Arguments

• float velocity - Target velocity in units per second.

void setWorldAxis (vec3 axis)

Sets a joint axis. This method updates axes of the connected bodies.

Arguments

• vec3 axis - Joint axis.