This class represents a ball-and-socket joint that allows arbitrary rotation between two bodies. More...

#include <include/reactphysics3d/constraint/BallAndSocketJoint.h>

Inheritance diagram for reactphysics3d::BallAndSocketJoint:

Public Member Functions
	BallAndSocketJoint (Entity entity, PhysicsWorld &world, const BallAndSocketJointInfo &jointInfo)
	Constructor.

virtual	~BallAndSocketJoint () override=default
	Destructor.

	BallAndSocketJoint (const BallAndSocketJoint &constraint)=delete
	Deleted copy-constructor.

void	enableConeLimit (bool isLimitEnabled)
	Enable/disable the cone limit of the joint. More...

bool	isConeLimitEnabled () const
	Return true if the cone limit or the joint is enabled. More...

void	setConeLimitHalfAngle (decimal coneHalfAngle)
	Set the cone limit half angle. More...

decimal	getConeLimitHalfAngle () const
	Return the cone limit half angle (in radians) More...

decimal	getConeHalfAngle () const
	Return the current cone half angle (in radians) More...

virtual Vector3	getReactionForce (decimal timeStep) const override
	Return the force (in Newtons) on body 2 required to satisfy the joint constraint in world-space. More...

virtual Vector3	getReactionTorque (decimal timeStep) const override
	Return the torque (in Newtons * meters) on body 2 required to satisfy the joint constraint in world-space. More...

virtual std::string	to_string () const override
	Return a string representation.

BallAndSocketJoint &	operator= (const BallAndSocketJoint &constraint)=delete
	Deleted assignment operator.

Public Member Functions inherited from reactphysics3d::Joint
	Joint (Entity entity, PhysicsWorld &world)
	Constructor.

virtual	~Joint ()=default
	Destructor.

	Joint (const Joint &constraint)=delete
	Deleted copy-constructor.

Joint &	operator= (const Joint &constraint)=delete
	Deleted assignment operator.

RigidBody *	getBody1 () const
	Return the reference to the body 1. More...

RigidBody *	getBody2 () const
	Return the reference to the body 2. More...

JointType	getType () const
	Return the type of the constraint. More...

bool	isCollisionEnabled () const
	Return true if the collision between the two bodies of the joint is enabled. More...

Entity	getEntity () const
	Return the entity id of the joint. More...

Detailed Description

This class represents a ball-and-socket joint that allows arbitrary rotation between two bodies.

This joint has three degrees of freedom. It can be used to create a chain of bodies for instance.

Member Function Documentation

◆ enableConeLimit()

void BallAndSocketJoint::enableConeLimit ( bool isLimitEnabled )

Enable/disable the cone limit of the joint.

It is possible to enable a cone-limit for the BallAndSocketJoint in order to restrict the angular motion between the two bodies.

Use this method to enable/disable the cone-limit.

Parameters

isLimitEnabled True if the limit must be enabled and false otherwise

◆ getConeHalfAngle()

decimal BallAndSocketJoint::getConeHalfAngle ( ) const

Return the current cone half angle (in radians)

Returns: The current half-angle (in radians) of the joint with respect to the cone-limit axis

◆ getConeLimitHalfAngle()

decimal BallAndSocketJoint::getConeLimitHalfAngle ( ) const

Return the cone limit half angle (in radians)

Returns: The half-angle (in radians) of the cone-limit

◆ getReactionForce()

Vector3 BallAndSocketJoint::getReactionForce ( decimal timeStep ) const

overridevirtual

Return the force (in Newtons) on body 2 required to satisfy the joint constraint in world-space.

Returns: The current force (in Newtons) applied on body 2

Implements reactphysics3d::Joint.

◆ getReactionTorque()

Vector3 BallAndSocketJoint::getReactionTorque ( decimal timeStep ) const

overridevirtual

Return the torque (in Newtons * meters) on body 2 required to satisfy the joint constraint in world-space.

Returns: The current torque (in Newtons * meters) on body 2

Implements reactphysics3d::Joint.

◆ isConeLimitEnabled()

bool BallAndSocketJoint::isConeLimitEnabled ( ) const

Return true if the cone limit or the joint is enabled.

Returns: True if the cone-limit is enabled for this joint

◆ setConeLimitHalfAngle()

void BallAndSocketJoint::setConeLimitHalfAngle ( decimal coneHalfAngle )

Set the cone limit half angle.