# Unigine::JointFixed Class

This class is used to create fixed joints.

### Example#

The following code illustrates connection of two bodies (b0 and b1) using a fixed joint.

Source code (C++)
``````include <UniginePhysics.h>

/* .. */

JointFixedPtr joint = JointFixed::create(b0, b1);

// setting common joint constraint parameters
joint->setLinearRestitution(0.8f);
joint->setAngularRestitution(0.8f);
joint->setLinearSoftness(0.0f);
joint->setAngularSoftness(0.0f);

// setting number of iterations
joint->setNumIterations(4);``````

Usage examples:

## static JointFixedPtr create ( ) #

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

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

Constructor. Creates a 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 JointFixedPtr create ( const Ptr<Body> & body0, const Ptr<Body> & body1, const Math::Vec3 & anchor ) #

Constructor. Creates a fixed 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.

## voidsetRotation0 ( 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::mat3getRotation0 ( ) #

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.

## voidsetRotation1 ( 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::mat3getRotation1 ( ) #

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.

## voidsetWorldRotation ( 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::mat3getWorldRotation ( ) #

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: 17.09.2021