JointPrismatic Class

This class is used to create prismatic joints.

JointPrismatic Class

This class inherits from Joint

Members

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JointPrismatic ()

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

JointPrismatic (Body body0, Body body1)

Constructor. Creates a prismatic joint connecting two given bodies. An anchor is placed between centers of mass of the bodies.

Arguments

• Body body0 - The first body to connect with the joint.
• Body body1 - The second body to connect with the joint.

JointPrismatic (Body body0, Body body1, vec3 anchor, vec3 axis)

Constructor. Creates a prismatic joint connecting two given bodies using a given anchor and an axis.

Arguments

• Body body0 - The first body to connect with the joint.
• Body body1 - The second body to connect with the joint.
• vec3 anchor - Anchor of the joint.
• vec3 axis - Axis of the joint.

vec3 getAxis0 ()

Returns the joint axis in the local coordinates of the first body.

Return value

Joint axis in the coordinates of the first body.

float getCurrentLinearDistance ()

Returns the current distance between the bodies.

Return value

Current distance in units.

float getCurrentLinearVelocity ()

Returns the current velocity of the attached motor.

Return value

Current velocity in units per second.

float getLinearDamping ()

Returns the linear damping of the joint.

Return value

Linear damping.

float getLinearDistance ()

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

Return value

Target distance in units.

float getLinearForce ()

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

Return value

Maximum force.

float getLinearLimitFrom ()

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

Return value

Low limit distance in units.

float getLinearLimitTo ()

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

Return value

High limit distance in units.

float getLinearSpring ()

Returns the rigidity coefficient of the spring. 0 means that the spring is not attached.

Return value

Rigidity coefficient.

float getLinearVelocity ()

Returns the target velocity of the attached motor.

Return value

Target velocity in units per second.

vec3 getWorldAxis ()

Returns the joint axis in the world coordinates.

Return value

Joint axis in the world coordinates.

void setAxis0 (vec3 axis)

Sets a joint axis in the local coordinates of the first body.

Arguments

• vec3 axis - Joint axis in the coordinates of the first body.

void setLinearDamping (float damping)

Sets a linear damping of the joint.

Arguments

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

void setLinearDistance (float distance)

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

Arguments

• float distance - Target distance in units.

void setLinearForce (float force)

Sets a maximum force of the attached motor.

Arguments

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

void setLinearLimitFrom (float distance)

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

Arguments

• float distance - Distance in units.

void setLinearLimitTo (float distance)

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

Arguments

• float distance - Distance in units.

void setLinearSpring (float rigidity)

Sets a rigidity coefficient of the spring.

Arguments

• float rigidity - Rigidity coefficient. If a negative value is provided, 0 will be used instead. 0 detaches the spring.

void setLinearVelocity (float velocity)

Sets a target velocity of the attached motor.

Arguments

• float velocity - Target velocity in units per second.

void setRotation0 (mat3 rotation)

Sets a rotation matrix of the anchor point in a system of coordinates of the first connected body.

Arguments

• mat3 rotation - Rotation matrix in the body coordinate space.

void setRotation1 (mat3 rotation)

Sets a rotation matrix of the anchor point in a system of coordinates of the second connected body.

Arguments

• mat3 rotation - Rotation matrix in the body coordinate space.

void setWorldAxis (vec3 axis)

Sets a joint axis in the world coordinates.

Arguments

• vec3 axis - Joint axis in the world coordinates.

void setWorldRotation (mat3 rotation)

Sets a rotation matrix of the anchor point in the world system of coordinates.

Arguments

• mat3 rotation - Rotation matrix in the world coordinate space.