Unigine::JointHinge Class
| Header: | #include <UniginePhysics.h> |
| Inherits from: | 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:
- Creating a Simple Mechanism Using Various Types of Joints.
- A set of UnigineScript API samples located in the <UnigineSDK>/data/samples/joints/ folder:
- hinge_00
- hinge_01
- hinge_02
JointHinge Class
Members
float getCurrentAngularVelocity() const#
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
The valid velocity is returned only if both bodies are of BodyRigid type. Otherwise, 0 is returned.
Return value
Current motor velocity, in radians per second.float getCurrentAngularAngle() const#
Returns the current angle between the bodies.
Return value
Current current angle in degrees.void setAngularVelocity ( float velocity ) #
Sets a new target velocity of the attached angular motor.
Arguments
- float velocity - The target velocity in radians per second.
float getAngularVelocity() const#
Returns the current target velocity of the attached angular motor.
Return value
Current target velocity in radians per second.void setAngularSpring ( float spring ) #
Sets a new rigidity coefficient of the angular spring. 0 means that the spring is not attached.
Arguments
- float spring - The rigidity coefficient. If a negative value is provided, 0 will be used instead. 0 detaches the spring.
float getAngularSpring() const#
Returns the current rigidity coefficient of the angular spring. 0 means that the spring is not attached.
Return value
Current rigidity coefficient. If a negative value is provided, 0 will be used instead. 0 detaches the spring.void setAngularLimitTo ( float to ) #
Sets a new high rotation limit angle. Rotation limit specifies how much a connected body can rotate around the joint axis
Arguments
- float to - The high rotation limit angle in degrees. The provided value will be saturated in the range [-180; 180].
float getAngularLimitTo() const#
Returns the current high rotation limit angle. Rotation limit specifies how much a connected body can rotate around the joint axis
Return value
Current high rotation limit angle in degrees. The provided value will be saturated in the range [-180; 180].void setAngularLimitFrom ( float from ) #
Sets a new low rotation limit angle. Rotation limit specifies how much a connected body can rotate around the joint axis.
Arguments
- float from - The Low rotation limit angle in degrees. The provided value will be saturated in the range [-180; 180].
float getAngularLimitFrom() const#
Returns the current low rotation limit angle. Rotation limit specifies how much a connected body can rotate around the joint axis.
Return value
Current Low rotation limit angle in degrees. The provided value will be saturated in the range [-180; 180].void setAngularTorque ( float torque ) #
Sets a new maximum torque of the attached angular motor. 0 means that the motor is not attached.
Arguments
- float torque - The Maximum torque. If a negative value is provided, 0 will be used instead. 0 detaches the motor.
float getAngularTorque() const#
Returns the current maximum torque of the attached angular motor. 0 means that the motor is not attached.
Return value
Current Maximum torque. If a negative value is provided, 0 will be used instead. 0 detaches the motor.void setAngularDamping ( float damping ) #
Sets a new angular damping of the joint.
Arguments
- float damping - The angular damping. If a negative value is provided, 0 will be used instead.
float getAngularDamping() const#
Returns the current angular damping of the joint.
Return value
Current angular damping. If a negative value is provided, 0 will be used instead.void setAngularAngle ( float angle ) #
Sets a new target angle of the attached angular spring. the spring tries to rotate the connected bodies so that they make this angle.
Arguments
- float angle - The target angle in degrees. The provided value will be saturated in the range [-180; 180].
float getAngularAngle() const#
Returns the current target angle of the attached angular spring. the spring tries to rotate the connected bodies so that they make this angle.
Return value
Current target angle in degrees. The provided value will be saturated in the range [-180; 180].void setWorldAxis ( const Math::vec3& axis ) #
Sets a new joint axis. The joint axis is calculated based on the axes of the connected bodies.
Arguments
- const Math::vec3& axis - The joint axis.
Math::vec3 getWorldAxis() const#
Returns the current joint axis. The joint axis is calculated based on the axes of the connected bodies.
Return value
Current joint axis.void setAxis0 ( const Math::vec3& axis0 ) #
Sets a new axis of the first connected body.
Arguments
- const Math::vec3& axis0 - The axis of the first body. The provided vector will be normalized.
Math::vec3 getAxis0() const#
Returns the current axis of the first connected body.
Return value
Current axis of the first body. The provided vector will be normalized.void setAxis1 ( const Math::vec3& axis1 ) #
Sets a new axis of the second connected body.
Arguments
- const Math::vec3& axis1 - The axis of the second body. The provided vector will be normalized.
Math::vec3 getAxis1() const#
Returns the current axis of the second connected body.
Return value
Current axis of the second body. The provided vector will be normalized.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
Last update:
07.08.2024
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