Joint

The Joint class provides an interface for Scene joints. It defines a connection between two bodies using local anchor transformations. Force and torque limits can be specified to automatically disable the joint when exceeded.

#include <scene/TellusimJoint.h>

Constructors

Joint()

Methods

static Joint create(Type type, const char *name = nullptr)

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Clear joint.

void clear()

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Joint type.

Type getType() const
static const char *getTypeName(Type type)
const char *getTypeName() const
bool isFixed() const
bool isSixDof() const
bool isSlider() const
bool isHinge() const
bool isRange() const
bool isBall() const

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Joint unique identifier.

uint32_t getID() const

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Joint index.

uint32_t getIndex() const

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Joint address.

uint32_t getAddress() const

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Joint name.

void setName(const char *name)
void setName(const String &name)
String getName() const

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Joint body.

void setBody0(Body &body, bool check = true)
void setBody1(Body &body, bool check = true)
const Body getBody0() const
const Body getBody1() const
Body getBody0()
Body getBody1()

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Joint objects.

const NodeObject getObject0() const
const NodeObject getObject1() const
NodeObject getObject0()
NodeObject getObject1()

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Enabled flag.

void setEnabled(bool enabled)
bool isEnabled() const

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Disabled flag.

void setDisabled(bool disabled)
bool isDisabled() const

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Collision flag.

void setCollision(bool collision)
bool getCollision() const

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Object mask.

void setObjectMask(uint32_t mask)
uint32_t getObjectMask() const

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Hidden flag.

void setHidden(bool flag)
bool isHidden() const

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Internal flag.

void setInternal(bool flag)
bool isInternal() const

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Virtual flag.

void setVirtual(bool flag)
bool isVirtual() const

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Changed flag.

void setChanged(bool flag)
bool isChanged() const

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Joint disable limits.

void setDisableForce(float32_t force)
void setDisableTorque(float32_t torque)
float32_t getDisableForce() const
float32_t getDisableTorque() const

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Joint transforms.

void setTransform0(Matrix4x3f transform)
void setTransform1(Matrix4x3f transform)
const Matrix4x3f getTransform0() const
const Matrix4x3f getTransform1() const

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Load joint.

bool load(const Xml &xml)
bool load(const Json &json)
bool load(Stream &stream)

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Save joint.

bool save(Xml &xml) const
bool save(Json &json) const
bool save(Stream &stream) const

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Clone joint.

Joint clone(Body &body) const

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Copy joint.

void copy(const Joint &joint)

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Updated flags.

bool isUpdated() const
bool isTransform0Updated() const
bool isTransform1Updated() const

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Update scene.

void updateScene()

Enums

Type

Joint types.

Name	Value
TypeUnknown	0
TypeFixed	1
TypeSixDof	2
TypeSlider	3
TypeHinge	4
TypeRange	5
TypeBall	6
NumTypes	7