Unigine::JointPrismatic Class

Header:	#include <UniginePhysics.h>
Inherits from:	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++)

include <UniginePhysics.h>

/* .. */

JointPrismaticPtr joint = JointPrismatic::create(b0, b1);
	
// setting joint axis coordinates
joint->setWorldAxis(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);

Methods:

Name	Description View: Sort by:
*create*	Constructor.
setAxis0	Sets a joint axis in the local coordinates of the first body.
getAxis0	Returns the joint axis in the local coordinates of the first body.
getCurrentLinearDistance	Returns the current distance between the bodies.
getCurrentLinearVelocity	Returns the current velocity of the attached motor.
setLinearDamping	Sets a linear damping of the joint.
getLinearDamping	Returns the linear damping of the joint.
setLinearDistance	Sets a target distance of the attached spring.
getLinearDistance	Returns the target distance of the attached spring.
setLinearForce	Sets a maximum force of the attached motor.
getLinearForce	Returns the maximum force of the attached motor.
setLinearLimitFrom	Sets a low limit distance.
getLinearLimitFrom	Returns the low limit distance.
setLinearLimitTo	Sets a high limit distance.
getLinearLimitTo	Returns the high limit distance.
setLinearSpring	Sets a rigidity coefficient of the spring.
getLinearSpring	Returns the rigidity coefficient of the spring.
setLinearVelocity	Sets a target velocity of the attached motor.
getLinearVelocity	Returns the target velocity of the attached motor.
setRotation0	Sets a rotation matrix of the anchor point in a system of coordinates of the first connected body.
getRotation0	Gets a rotation matrix of the anchor point in a system of coordinates of the first connected body.
setRotation1	Sets a rotation matrix of the anchor point in a system of coordinates of the second connected body.
getRotation1	Gets a rotation matrix of the anchor point in a system of coordinates of the second connected body.
setWorldAxis	Sets a joint axis in the world coordinates.
getWorldAxis	Returns the joint axis in the world coordinates.
setWorldRotation	Sets a rotation matrix of the anchor point in the world system of coordinates.
getWorldRotation	Gets a rotation matrix of the anchor point in the world system of coordinates.

JointPrismatic Class

Members

static JointPrismaticPtr create ( ) #

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

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

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

Arguments

const Ptr<Body> & body0 - First body to be connected with the joint.
const Ptr<Body> & body1 - Second body to be connected with the joint.

static JointPrismaticPtr create ( const Ptr<Body> & body0, const Ptr<Body> & body1, const Math::Vec3 & anchor, const Math::vec3 & size ) #

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

Arguments

const Ptr<Body> & body0 - First body to be connected with the joint.
const Ptr<Body> & body1 - Second body to be connected with the joint.
const Math::Vec3 & anchor - Anchor coordinates.
const Math::vec3 & size - Axis coordinates.

void setAxis0 ( const Math::vec3 & axis0 ) #

Sets a joint axis in the local coordinates of the first body.

Arguments

const Math::vec3 & axis0 - Joint axis in the coordinates of the first body.

Math::vec3 getAxis0 ( ) #

Returns the joint axis in the local coordinates of the first body.

Return value

Joint axis in the coordinates of the first body.

float getCurrentLinearDistance ( ) #

Returns the current distance between the bodies.

Return value

Current distance in units.

float getCurrentLinearVelocity ( ) #

Returns the current velocity of the attached motor.

Return value

Current velocity in units per second.

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.

float getLinearDamping ( ) #

Returns the linear damping of the joint.

Return value

Linear damping.

void setLinearDistance ( float distance ) #

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

Arguments

float distance - Target distance in units.

float getLinearDistance ( ) #

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

Return value

Target distance in units.

void setLinearForce ( float force ) #

Sets a maximum force of the attached motor.

Arguments

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

float getLinearForce ( ) #

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

Return value

Maximum force.

void setLinearLimitFrom ( float from ) #

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

Arguments

float from - Distance in units.

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.

void setLinearLimitTo ( float to ) #

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

Arguments

float to - 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.

void setLinearSpring ( float spring ) #

Sets a rigidity coefficient of the spring.

Arguments

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

float getLinearSpring ( ) #

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

Return value

Rigidity coefficient.

void setLinearVelocity ( float velocity ) #

Sets a target velocity of the attached motor.

Arguments

float velocity - Target velocity in units per second.

float getLinearVelocity ( ) #

Returns the target velocity of the attached motor.

Return value

Target velocity in units per second.

void setRotation0 ( const Math::mat3 & rotation0 ) #

Sets a rotation matrix of the anchor point in a system of coordinates of the first connected body.

Arguments

const Math::mat3 & rotation0 - Rotation matrix in the body coordinate space.

Math::mat3 getRotation0 ( ) #

Gets a rotation matrix of the anchor point in a system of coordinates of the first connected body.

Return value

Returns a rotation matrix of the anchor point in a system of coordinates of the first connected body.

void setRotation1 ( const Math::mat3 & rotation1 ) #

Sets a rotation matrix of the anchor point in a system of coordinates of the second connected body.

Arguments

const Math::mat3 & rotation1 - Rotation matrix in the body coordinate space.

Math::mat3 getRotation1 ( ) #

Gets a rotation matrix of the anchor point in a system of coordinates of the second connected body.

Return value

Returns a rotation matrix of the anchor point in a system of coordinates of the second connected body.

void setWorldAxis ( const Math::vec3 & axis ) #

Sets a joint axis in the world coordinates.

Arguments

const Math::vec3 & axis - Joint axis in the world coordinates.

Math::vec3 getWorldAxis ( ) #

Returns the joint axis in the world coordinates.

Return value

Joint axis in the world coordinates.

void setWorldRotation ( const Math::mat3 & rotation ) #

Sets a rotation matrix of the anchor point in the world system of coordinates.

Arguments

const Math::mat3 & rotation - Rotation matrix in the world coordinate space.

Math::mat3 getWorldRotation ( ) #

Gets a rotation matrix of the anchor point in the world system of coordinates.

Return value

Returns a rotation matrix of the anchor point in the world system of coordinates.

Last update: 10.10.2022

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Unigine::JointPrismatic Class

Example#

See Also#

Methods:

JointPrismatic Class

Members

static JointPrismaticPtr create ( ) #

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

Arguments

static JointPrismaticPtr create ( const Ptr<Body> & body0, const Ptr<Body> & body1, const Math::Vec3 & anchor, const Math::vec3 & size ) #

Arguments

void setAxis0 ( const Math::vec3 & axis0 ) #

Arguments

Math::vec3 getAxis0 ( ) #

Return value

float getCurrentLinearDistance ( ) #

Return value

float getCurrentLinearVelocity ( ) #

Return value

void setLinearDamping ( float damping ) #

Arguments

float getLinearDamping ( ) #

Return value

void setLinearDistance ( float distance ) #

Arguments

float getLinearDistance ( ) #

Return value

void setLinearForce ( float force ) #

Arguments

float getLinearForce ( ) #

Return value

void setLinearLimitFrom ( float from ) #

Arguments

float getLinearLimitFrom ( ) #

Return value

void setLinearLimitTo ( float to ) #

Arguments

float getLinearLimitTo ( ) #

Return value

void setLinearSpring ( float spring ) #

Arguments

float getLinearSpring ( ) #

Return value

void setLinearVelocity ( float velocity ) #

Arguments

float getLinearVelocity ( ) #

Return value

void setRotation0 ( const Math::mat3 & rotation0 ) #

Arguments

Math::mat3 getRotation0 ( ) #

Return value

void setRotation1 ( const Math::mat3 & rotation1 ) #

Arguments

Math::mat3 getRotation1 ( ) #

Return value

void setWorldAxis ( const Math::vec3 & axis ) #

Arguments

Math::vec3 getWorldAxis ( ) #

Return value

void setWorldRotation ( const Math::mat3 & rotation ) #

Arguments

Math::mat3 getWorldRotation ( ) #

Return value