Unigine::JointBall Class
| Header: | #include <UniginePhysics.h> |
| Inherits: | Joint |
This class is used to create ball joints.
Example
The following code illustrates connection of two bodies (b0 and b1) using a ball joint.
Source code (C++)
include <UniginePhysics.h>
/* .. */
JointBallPtr joint = JointBall::create(b0, b1);
// setting joint axis coordinates
joint->setWorldAxis(vec3(1.0f, 0.0f, 0.0f));
// setting common joint constraint parameters
joint->setLinearRestitution(0.8f);
joint->setAngularRestitution(0.8f);
joint->setLinearSoftness(0.0f);
joint->setAngularSoftness(0.0f);
// setting angular damping
joint->setAngularDamping(16.0f);
// setting swing angular limit, in degrees
joint->setAngularLimitAngle(30.0f);
// setting twist angular limits, in degrees [-20; 20]
joint->setAngularLimitFrom(-20.0f);
joint->setAngularLimitTo(20.0f);
// setting number of iterations
joint->setNumIterations(16);JointBall Class
Members
static JointBallPtr create()
Constructor. Creates a ball joint with an anchor at the origin of the world coordinates.static JointBallPtr create(const Ptr<Body> & body0, const Ptr<Body> & body1)
Constructor. Creates a ball 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 JointBallPtr create(const Ptr<Body> & body0, const Ptr<Body> & body1, const Math::Vec3 & anchor)
Constructor. Creates a ball joint connecting two given bodies with 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.
static JointBallPtr create(const Ptr<Body> & body0, const Ptr<Body> & body1, const Math::Vec3 & anchor, const Math::vec3 & axis)
Constructor. Creates a ball 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 & axis - Axis coordinates.
Ptr<JointBall> cast(const Ptr<Joint> & joint)
Casts a JointFixed out of the Joint instance.Arguments
- const Ptr<Joint> & joint - Joint instance.
Return value
JointBall.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.
float getAngularDamping()
Returns the angular damping of the joint.Return value
Angular damping.void setAngularLimitAngle(float angle)
Sets a swing limit angle. Swing limit specifies how much connected bodies can bend from the joint axis.Arguments
- float angle - Angle in degrees. The provided value will be saturated in the range [0; 180]. 0 means no limit.
float getAngularLimitAngle()
Returns the swing limit angle. Swing limit specifies how much connected bodies can bend from the joint axis. 0 means there is no limit.Return value
Swing limit angle in degrees.void setAngularLimitFrom(float from)
Sets a low twist limit angle. Twist limit specifies how much a connected body can twist around the joint axis.Arguments
- float from - Angle in degrees. The provided value will be saturated in the range [-180; 180].
float getAngularLimitFrom()
Returns the low twist limit angle. Twist limit specifies how much a connected body can twist around the joint axis.Return value
Low twist limit angle in degrees.void setAngularLimitTo(float to)
Sets a high twist limit angle. Twist limit specifies how much a connected body can twist around the joint axis.Arguments
- float to - Angle in degrees. The provided value will be saturated in the range [-180; 180].
float getAngularLimitTo()
Returns the high twist limit angle. Twist limit specifies how much a connected body can twist around the joint axis.Return value
High twist limit angle in degrees.void setAxis0(const Math::vec3 & axis0)
Sets an axis of the first connected body.Arguments
- const Math::vec3 & axis0 - Axis of the first body. The provided vector will be normalized.
Math::vec3 getAxis0()
Returns the axis of the first connected body.Return value
Axis of the first body.void setAxis1(const Math::vec3 & axis1)
Sets an axis of the second connected body.Arguments
- const Math::vec3 & axis1 - Axis of the second body. The provided vector will be normalized.
Math::vec3 getAxis1()
Returns the axis of the second connected body.Return value
Axis of the second body.void setWorldAxis(const Math::vec3 & axis)
Sets a joint axis. This method updates axes of the connected bodies.Arguments
- const Math::vec3 & axis - Joint axis.
Math::vec3 getWorldAxis()
Returns the joint axis. The joint axis is calculated based on the axes of the connected bodies.Return value
Joint axis.Last update: 10.08.2018
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