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Unigine::Plugins::IG::ArticulatedPart Class

Warning
The functionality described in this article is not available in the Community SDK edition.
You should upgrade to Sim SDK edition to use it.
Header: #include <plugins/UnigineIG.h>

This class represents the IG Articulated Part interface.

Notice
IG plugin must be loaded.

ArticulatedPart Class

Members


int getID ( ) #

Returns the ID of the articulated part.

Return value

Articulated part ID.

int getNumNodes ( ) #

Returns the total number of nodes representing the articulated part.

Return value

Number of nodes representing the articulated part.

const Ptr<Node> & getNode ( int num ) #

Returns the given node from the array of nodes representing the articulated part.

Arguments

  • int num - Node number.

Return value

Node.

void setEnabled ( bool enable ) #

Sets the value indicating if the articulated part is enabled.

Arguments

  • bool enable - true to enable the articulated part; false - to disable it.

int getEnabled ( ) #

Returns the value indicating if the articulated part is enabled.

Return value

1 if the articulated part is enabled; otherwise, 0.

void setPosition ( const Math::vec3 & offset ) #

Sets the offset of the articulated part in the submodel coordinate system (SCS).

Arguments

  • const Math::vec3 & offset - Articulated part offset coordinates to set (X - back, Y - left, Z - down).

vec3 getPosition ( ) #

Returns the current offset of the articulated part in the submodel coordinate system (SCS).

Return value

Articulated part offset coordinates (X - back, Y - left, Z - down).

void setRotation ( const Math::vec3 & rotation_euler ) #

Sets the rotation of the articulated part in the submodel coordinate system (SCS).

Arguments

  • const Math::vec3 & rotation_euler - Articulated part rotation euler angles to set.

vec3 getRotationEuler ( ) #

Returns the rotation of the articulated part in the submodel coordinate system (SCS).

Return value

Articulated part rotation euler angles.

void setLinearRate ( const vec3 & rate ) #

Sets the rate of linear motion of the articulated part.

Arguments

  • const vec3 & rate - Vector of linear motion rates to be set for the corresponding axes (the result is automatically converted for the current coordinate system).

vec3 getLinearRate ( ) const#

Returns the current rate of linear motion of the articulated part.

Return value

Vector of linear motion rates for the corresponding axes (the result is automatically converted for the current coordinate system).

void setAngularRate ( const vec3 & rate ) #

Sets the rate of angular motion of the articulated part.

Arguments

  • const vec3 & rate - Vector of angular motion rates to be set for the corresponding axes (the result is automatically converted for the current coordinate system).

vec3 getAngularRate ( ) const#

Returns the current rate of angular motion of the articulated part.

Return value

Vector of angular motion rates for the corresponding axes (the result is automatically converted for the current coordinate system).

void update ( ) #

Updates the articulated part based on current linear and angular rates.
Last update: 29.09.2021
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