Unigine::JointSuspension Class

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);

JointSuspension Class

Members

float getCurrentLinearDistance() const#

Return value

Current suspension height, in units.

float getCurrentAngularVelocity() const#

Return value

Current current velocity, in radians per second.

void setAngularVelocity ( float velocity ) #

Arguments

• float velocity - The target velocity in radians per second.

float getAngularVelocity() const#

Return value

Current target velocity in radians per second.

void setAngularTorque ( float torque ) #

Arguments

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

float getAngularTorque() const#

Return value

Current maximum torque. If a negative value is provided, 0 will be used instead. 0 detaches the motor.

void setAngularDamping ( float damping ) #

Arguments

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

float getAngularDamping() const#

Return value

Current angular damping. If a negative value is provided, 0 will be used instead.

void setLinearSpring ( float spring ) #

Arguments

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

float getLinearSpring() const#

Return value

Current rigidity coefficient. If a negative value is provided, 0 will be used instead. 0 detaches the suspension.

void setLinearLimitTo ( float to ) #

Arguments

• float to - The high limit in units.

float getLinearLimitTo() const#

Return value

Current high limit in units.

void setLinearLimitFrom ( float from ) #

Arguments

• float from - The low limit in units.

float getLinearLimitFrom() const#

Return value

Current low limit in units.

void setLinearDistance ( float distance ) #

Arguments

• float distance - The height, in units.

float getLinearDistance() const#

Return value

Current height, in units.

void setLinearDamping ( float damping ) #

Arguments

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

float getLinearDamping() const#

Return value

Current linear damping. If a negative value is provided, 0 will be used instead.

void setWorldAxis0 ( const Math::vec3& axis0 ) #

Arguments

• const Math::vec3& axis0 - The suspension axis in the world coordinates.

Math::vec3 getWorldAxis0() const#

Return value

Current suspension axis in the world coordinates.

void setWorldAxis1 ( const Math::vec3& axis1 ) #

Arguments

• const Math::vec3& axis1 - The wheel spindle axis in the world coordinates.

Math::vec3 getWorldAxis1() const#

Return value

Current wheel spindle axis in the world coordinates.

void setAxis00 ( const Math::vec3& axis00 ) #

Arguments

• const Math::vec3& axis00 - The suspension axis, in the world coordinates.

Math::vec3 getAxis00() const#

Return value

Current suspension axis, in the world coordinates.

void setAxis10 ( const Math::vec3& axis10 ) #

Arguments

• const Math::vec3& axis10 - The wheel spindle axis in coordinates of the frame (body 0).

Math::vec3 getAxis10() const#

Return value

Current wheel spindle axis in coordinates of the frame (body 0).

void setAxis11 ( const Math::vec3& axis11 ) #

Arguments

• const Math::vec3& axis11 - The wheel spindle axis in coordinates of the wheel (body 1).

Math::vec3 getAxis11() const#

Return value

Current wheel spindle axis in coordinates of the wheel (body 1).

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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.