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Table of Contents
Warning! This version of documentation is OUTDATED, as it describes an older SDK version! Please switch to the documentation for the latest SDK version.
Warning! This version of documentation describes an old SDK version which is no longer supported! Please upgrade to the latest SDK version.

Unigine::JointFixed Class

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

List of functions:

This class is used to create fixed joints.

JointFixed Class

Members

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.

Ptr<JointFixed> cast(const Ptr<Joint> & joint)

Casts a JointFixed out of the Joint instance.

Arguments

  • const Ptr<Joint> & joint - Joint instance.

Return value

JointFixed.

void setRotation0(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::mat3 getRotation0()

void setRotation1(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::mat3 getRotation1()

void setWorldRotation(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::mat3 getWorldRotation()

Last update: 2017-07-03
Build: ()