Unigine::JointHinge Class
| Header: | #include <UniginePhysics.h> |
| Inherits: | Joint |
This class is used to create hinge joints.
Example
The following code illustrates connection of two bodies (b0 and b1) using a hinge joint.
Source code (C++)
include <UniginePhysics.h>
/* .. */
JointHingePtr joint = JointHinge::create(b0, b1);
// setting joint axis coordinates
joint->setWorldAxis(vec3(1.0f, 0.0f, 0.0f));
// setting common joint constraint parameters
joint->setLinearRestitution(0.4f);
joint->setAngularRestitution(0.4f);
joint->setLinearSoftness(0.4f);
joint->setAngularSoftness(0.4f);
// setting angular damping
joint->setAngularDamping(8.0f);
// setting angular limits, in degrees [-20; 20]
joint->setAngularLimitFrom(-20.0f);
joint->setAngularLimitTo(20.0f);
// setting spring rigidity coefficient
joint->setAngularSpring(8.0f);
// setting number of iterations
joint->setNumIterations(16);See Also
Usage examples:
JointHinge Class
Members
static JointHingePtr create()
Constructor. Creates a hinge joint with an anchor at the origin of the world coordinates.static JointHingePtr create(const Ptr<Body> & body0, const Ptr<Body> & body1)
Constructor. Creates a hinge 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 JointHingePtr create(const Ptr<Body> & body0, const Ptr<Body> & body1, const Math::Vec3 & anchor, const Math::vec3 & axis)
Constructor. Creates a hinge 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<JointHinge> cast(const Ptr<Joint> & joint)
Casts a JointHinge out of the Joint instance.Arguments
- const Ptr<Joint> & joint - Joint instance.
Return value
JointHinge.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].
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.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 setAngularLimitFrom(float from)
Sets a low rotation limit angle. Rotation limit specifies how much a connected body can rotate 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 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.void setAngularLimitTo(float to)
Sets a high rotation limit angle. Rotation limit specifies how much a connected body can rotate 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 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.void setAngularSpring(float spring)
Sets a rigidity coefficient of the angular spring.Arguments
- float spring - Rigidity coefficient. If a negative value is provided, 0 will be used instead. 0 detaches the spring.
float getAngularSpring()
Returns the rigidity coefficient of the angular spring. 0 means that the spring is not attached.Return value
Rigidity coefficient.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.
float getAngularTorque()
Returns the maximum torque of the attached angular motor. 0 means that the motor is not attached.Return value
Maximum torque.void setAngularVelocity(float velocity)
Sets a target velocity of the attached angular motor.Arguments
- float velocity - Velocity in radians per second.
float getAngularVelocity()
Returns the target velocity of the attached angular motor.Return value
Target velocity in radians per second.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.float getCurrentAngularAngle()
Returns the current angle between the bodies.Return value
Current angle in degrees.float getCurrentAngularVelocity()
Returns the current velocity of the motor, i.e. the difference between angular velocities of two bodies connected with a hinge relative the hinge axis.Notice
This function returns the valid velocity only if both bodies are of BodyRigid type. Otherwise, 0 is returned.
Return value
Current motor velocity in radians per second.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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