Unigine::JointCylindrical Class

Example#

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

Source code (C++)

include <UniginePhysics.h>

/* .. */

JointCylindricalPtr joint = JointCylindrical::create(b0, b1);
	
// setting joint axis coordinates
joint->setWorldAxis(vec3(0.0f, 0.0f, 1.0f));

// setting common joint constraint parameters
joint->setLinearRestitution(0.4f);
joint->setAngularRestitution(0.4f);
joint->setLinearSoftness(0.4f);
joint->setAngularSoftness(0.4f);

// setting linear and angular damping
joint->setLinearDamping(4.0f);
joint->setAngularDamping(2.0f);

// setting linear limits [-1.5; 1.5]
joint->setLinearLimitFrom(-1.5f);
joint->setLinearLimitTo(1.5f);

// setting number of iterations
joint->setNumIterations(16);

功能列表:

Name	说明/描述 View: Sort by:
*create*	Constructor.
getCurrentLinearVelocity	Returns the current velocity of the linear motor.
getCurrentLinearDistance	Returns the current distance between the bodies.
getCurrentAngularVelocity	Returns the current velocity of the angular motor.
getCurrentAngularAngle	Returns the current angle between the bodies.
setLinearVelocity	Setter and Getter for target velocity of the attached linear motor.
getLinearVelocity
setLinearSpring	Setter and Getter for rigidity coefficient of the linear spring.
getLinearSpring
setLinearLimitTo	Setter and Getter for high limit distance.
getLinearLimitTo	Setter and Getter for high limit distance.
setLinearLimitFrom	Setter and Getter for low limit distance.
getLinearLimitFrom	Setter and Getter for low limit distance.
setLinearForce	Setter and Getter for maximum force of the attached linear motor.
getLinearForce
setLinearDistance	Setter and Getter for target distance of the attached linear spring.
getLinearDistance
setLinearDamping	Setter and Getter for linear damping of the joint.
getLinearDamping	Setter and Getter for linear damping of the joint.
setAngularVelocity	Setter and Getter for target velocity of the attached angular motor.
getAngularVelocity
setAngularSpring	Setter and Getter for rigidity coefficient of the angular spring.
getAngularSpring
setAngularLimitTo	Setter and Getter for high rotation limit angle.
getAngularLimitTo	Setter and Getter for high rotation limit angle.
setAngularLimitFrom	Setter and Getter for low rotation limit angle.
getAngularLimitFrom	Setter and Getter for low rotation limit angle.
setAngularTorque	Setter and Getter for maximum torque of the attached angular motor.
getAngularTorque
setAngularDamping	Setter and Getter for angular damping of the joint.
getAngularDamping	Setter and Getter for angular damping of the joint.
setAngularAngle	Setter and Getter for target angle of the attached angular spring.
getAngularAngle
setWorldAxis	Setter and Getter for joint axis.
getWorldAxis	Setter and Getter for joint axis.
setAxis0	Setter and Getter for axis of the first connected body.
getAxis0	Setter and Getter for axis of the first connected body.
setAxis1	Setter and Getter for axis of the second connected body.
getAxis1	Setter and Getter for axis of the second connected body.

JointCylindrical Class

Members

float getCurrentLinearVelocity() const#

Returns the current velocity of the linear motor.

Return value

Current current velocity in units per second.

float getCurrentLinearDistance() const#

Returns the current distance between the bodies.

Return value

Current current distance in units.

float getCurrentAngularVelocity() const#

Returns the current velocity of the angular motor.

Return value

Current current velocity in radians per second.

float getCurrentAngularAngle() const#

Returns the current angle between the bodies.

Return value

Current current angle in degrees.

void setLinearVelocity ( float velocity ) #

Sets a new target velocity of the attached linear motor.

Arguments

float velocity - The target velocity in units per second.

float getLinearVelocity() const#

Returns the current target velocity of the attached linear motor.

Return value

Current target velocity in units per second.

void setLinearSpring ( float spring ) #

Sets a new rigidity coefficient of the linear 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 getLinearSpring() const#

Returns the current rigidity coefficient of the linear 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 setLinearLimitTo ( float to ) #

Sets a new high limit distance. This limit specifies how far a connected body can move along the joint axis.

Arguments

float to - The high limit distance in units.

float getLinearLimitTo() const#

Returns the current high limit distance. This limit specifies how far a connected body can move along the joint axis.

Return value

Current high limit distance in units.

void setLinearLimitFrom ( float from ) #

Sets a new low limit distance. This limit specifies how far a connected body can move along the joint axis.

Arguments

float from - The low limit distance in units.

float getLinearLimitFrom() const#

Returns the current low limit distance. This limit specifies how far a connected body can move along the joint axis.

Return value

Current low limit distance in units.

void setLinearForce ( float force ) #

Sets a new maximum force of the attached linear motor. 0 means that the motor is not attached.

Arguments

float force - The maximum force. If a negative value is provided, 0 will be used instead. 0 detaches the motor.

float getLinearForce() const#

Returns the current maximum force of the attached linear motor. 0 means that the motor is not attached.

Return value

Current maximum force. If a negative value is provided, 0 will be used instead. 0 detaches the motor.

void setLinearDistance ( float distance ) #

Sets a new target distance of the attached linear spring. The spring tries to move the connected bodies so that to keep this distance between them.

Arguments

float distance - The target distance in units.

float getLinearDistance() const#

Returns the current target distance of the attached linear spring. The spring tries to move the connected bodies so that to keep this distance between them.

Return value

Current target distance in units.

void setLinearDamping ( float damping ) #

Sets a new linear damping of the joint.

Arguments

float damping - The linear damping. If a negative value is provided, 0 will be used instead.

float getLinearDamping() const#

Returns the current linear damping of the joint.

Return value

Current linear damping. If a negative value is provided, 0 will be used instead.

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 JointCylindricalPtr create ( ) #

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

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

Constructor. Creates a cylindrical 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 JointCylindricalPtr create ( const Ptr<Body> & body0, const Ptr<Body> & body1, const Math::Vec3 & anchor, const Math::vec3 & axis ) #

Constructor. Creates a cylindrical 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.

Last update: 2024-08-07

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Header:	#include <UniginePhysics.h>
Inherits from:	Joint

Unigine::JointCylindrical Class

In This Article:

Example#

See Also#

功能列表:

JointCylindrical Class

Members

float getCurrentLinearVelocity() const#

Return value

float getCurrentLinearDistance() const#

Return value

float getCurrentAngularVelocity() const#

Return value

float getCurrentAngularAngle() const#

Return value

void setLinearVelocity ( float velocity ) #

Arguments

float getLinearVelocity() const#

Return value

void setLinearSpring ( float spring ) #

Arguments

float getLinearSpring() const#

Return value

void setLinearLimitTo ( float to ) #

Arguments

float getLinearLimitTo() const#

Return value

void setLinearLimitFrom ( float from ) #

Arguments

float getLinearLimitFrom() const#

Return value

void setLinearForce ( float force ) #

Arguments

float getLinearForce() const#

Return value

void setLinearDistance ( float distance ) #

Arguments

float getLinearDistance() const#

Return value

void setLinearDamping ( float damping ) #

Arguments

float getLinearDamping() const#

Return value

void setAngularVelocity ( float velocity ) #

Arguments

float getAngularVelocity() const#

Return value

void setAngularSpring ( float spring ) #

Arguments

float getAngularSpring() const#

Return value

void setAngularLimitTo ( float to ) #

Arguments

float getAngularLimitTo() const#

Return value

void setAngularLimitFrom ( float from ) #

Arguments

float getAngularLimitFrom() const#

Return value

void setAngularTorque ( float torque ) #

Arguments

float getAngularTorque() const#

Return value

void setAngularDamping ( float damping ) #

Arguments

float getAngularDamping() const#

Return value

void setAngularAngle ( float angle ) #

Arguments

float getAngularAngle() const#

Return value

void setWorldAxis ( const Math::vec3& axis ) #

Arguments

Math::vec3 getWorldAxis() const#

Return value

void setAxis0 ( const Math::vec3& axis0 ) #

Arguments

Math::vec3 getAxis0() const#

Return value

void setAxis1 ( const Math::vec3& axis1 ) #