A joint between two objects. More...

Public Member Functions
void	MakeFixed ()
	Initializes a fixed joint at the objects' current poses.

void	MakeHinge (const Vector3 &pt, const Vector3 &axis)
	Initializes a hinge joint at the objects' current poses, with world-space axis passing through pt with direction axis.

void	MakeSlider (const Vector3 &dir)
	Initializes a slider joint at the objects' current poses, with world-space axis dir.

void	Destroy ()
	Deallocates this joint. It can be re-allocated using MakeX.

Real	GetPosition ()
	Returns the current position of this joint.

Real	GetVelocity ()
	Returns the current velocity of this joint.

void	SetLimits (Real min, Real max)
	Sets the joint limits.

void	SetBounce (Real coeff)
	Sets the bounce parameter.

void	SetFriction (Real coeff)
	Sets dry friction on this joint.

void	SetFixedVelocity (Real vel, Real fmax)
	Sets a fixed velocity motor with target velocity vel max force fmax.

void	AddForce (Real f)
	Adds a force on this joint to be applied for the next time step.

void	GetConstraintForces (Vector3 &f1, Vector3 &t1, Vector3 &f2, Vector3 &t2)
	Retrieves the solved constraint forces/torques from the prior time step. These are all in world coordinates.

Detailed Description

A joint between two objects.

Should be set up by the simulation using AddJoint. o2 may be left uninitialized.

The documentation for this struct was generated from the following file:

Public Member Functions