Class UnitImpulseJoint

Hierarchy

ImpulseJoint
- UnitImpulseJoint
  - PrismaticImpulseJoint
  - RevoluteImpulseJoint

Constructors

constructor

new UnitImpulseJoint(rawSet: RawImpulseJointSet, bodySet: RigidBodySet, handle: number): UnitImpulseJoint
Parameters
- rawSet: RawImpulseJointSet
- bodySet: RigidBodySet
- handle: number
Returns UnitImpulseJoint
Inherited from ImpulseJoint.constructor
- Defined in dynamics/impulse_joint.d.ts:60

Properties

`Protected` bodySet

bodySet: RigidBodySet

handle

handle: number

`Protected` rawSet

rawSet: RawImpulseJointSet

Methods

anchor1

anchor1(): Vector
The position of the first anchor of this joint.

The first anchor gives the position of the application point on the local frame of the first rigid-body it is attached to.

Returns Vector
Inherited from ImpulseJoint.anchor1
- Defined in dynamics/impulse_joint.d.ts:95

anchor2

anchor2(): Vector
The position of the second anchor of this joint.

The second anchor gives the position of the application point on the local frame of the second rigid-body it is attached to.

Returns Vector
Inherited from ImpulseJoint.anchor2
- Defined in dynamics/impulse_joint.d.ts:102

body1

body1(): RigidBody
The first rigid-body this joint it attached to.

Returns RigidBody
Inherited from ImpulseJoint.body1
- Defined in dynamics/impulse_joint.d.ts:72

body2

body2(): RigidBody
The second rigid-body this joint is attached to.

Returns RigidBody
Inherited from ImpulseJoint.body2
- Defined in dynamics/impulse_joint.d.ts:76

configureMotor

configureMotor(targetPos: number, targetVel: number, stiffness: number, damping: number): void
Parameters
- targetPos: number
- targetVel: number
- stiffness: number
- damping: number
Returns void
- Defined in dynamics/impulse_joint.d.ts:155

configureMotorModel

configureMotorModel(model: MotorModel): void
Parameters
- model: MotorModel
Returns void
- Defined in dynamics/impulse_joint.d.ts:152

configureMotorPosition

configureMotorPosition(targetPos: number, stiffness: number, damping: number): void
Parameters
- targetPos: number
- stiffness: number
- damping: number
Returns void
- Defined in dynamics/impulse_joint.d.ts:154

configureMotorVelocity

configureMotorVelocity(targetVel: number, factor: number): void
Parameters
- targetVel: number
- factor: number
Returns void
- Defined in dynamics/impulse_joint.d.ts:153

contactsEnabled

contactsEnabled(): boolean
Indicates if contacts are enabled between colliders attached to the rigid-bodies linked by this joint.

Returns boolean
Inherited from ImpulseJoint.contactsEnabled
- Defined in dynamics/impulse_joint.d.ts:126

finalizeDeserialization

finalizeDeserialization(bodySet: RigidBodySet): void
Internal
Parameters
- bodySet: RigidBodySet
Returns void
Inherited from ImpulseJoint.finalizeDeserialization
- Defined in dynamics/impulse_joint.d.ts:63

frameX1

frameX1(): Rotation
The rotation quaternion that aligns this joint's first local axis to the x axis.

Returns Rotation
Inherited from ImpulseJoint.frameX1
- Defined in dynamics/impulse_joint.d.ts:84

frameX2

frameX2(): Rotation
The rotation matrix that aligns this joint's second local axis to the x axis.

Returns Rotation
Inherited from ImpulseJoint.frameX2
- Defined in dynamics/impulse_joint.d.ts:88

isValid

isValid(): boolean
Checks if this joint is still valid (i.e. that it has not been deleted from the joint set yet).

Returns boolean
Inherited from ImpulseJoint.isValid
- Defined in dynamics/impulse_joint.d.ts:68

limitsEnabled

limitsEnabled(): boolean
Are the limits enabled for this joint?

Returns boolean
- Defined in dynamics/impulse_joint.d.ts:136

limitsMax

limitsMax(): number
The max limit of this joint.

Returns number
- Defined in dynamics/impulse_joint.d.ts:144

limitsMin

limitsMin(): number
The min limit of this joint.

Returns number
- Defined in dynamics/impulse_joint.d.ts:140

`Protected` `Optional` rawAxis

rawAxis(): RawJointAxis
The axis left free by this joint.

Returns RawJointAxis
- Defined in dynamics/impulse_joint.d.ts:132

setAnchor1

setAnchor1(newPos: Vector): void
Sets the position of the first anchor of this joint.

The first anchor gives the position of the application point on the local frame of the first rigid-body it is attached to.
Parameters
- newPos: Vector
Returns void
Inherited from ImpulseJoint.setAnchor1
- Defined in dynamics/impulse_joint.d.ts:109

setAnchor2

setAnchor2(newPos: Vector): void
Sets the position of the second anchor of this joint.

The second anchor gives the position of the application point on the local frame of the second rigid-body it is attached to.
Parameters
- newPos: Vector
Returns void
Inherited from ImpulseJoint.setAnchor2
- Defined in dynamics/impulse_joint.d.ts:116

setContactsEnabled

setContactsEnabled(enabled: boolean): void
Controls whether contacts are computed between colliders attached to the rigid-bodies linked by this joint.
Parameters
- enabled: boolean
Returns void
Inherited from ImpulseJoint.setContactsEnabled
- Defined in dynamics/impulse_joint.d.ts:121

setLimits

setLimits(min: number, max: number): void
Sets the limits of this joint.
Parameters
- min: number
  
  The minimum bound of this joint’s free coordinate.
- max: number
  
  The maximum bound of this joint’s free coordinate.
Returns void
- Defined in dynamics/impulse_joint.d.ts:151

type

type(): JointType
The type of this joint given as a string.

Returns JointType
Inherited from ImpulseJoint.type
- Defined in dynamics/impulse_joint.d.ts:80

`Static` newTyped

newTyped(rawSet: RawImpulseJointSet, bodySet: RigidBodySet, handle: number): ImpulseJoint
Parameters
- rawSet: RawImpulseJointSet
- bodySet: RigidBodySet
- handle: number
Returns ImpulseJoint
Inherited from ImpulseJoint.newTyped
- Defined in dynamics/impulse_joint.d.ts:61

Generated using TypeDoc