Last modified: Tue, 12 Aug 2014
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Hinge joint

• ep_hingejoint_create

• ep_hingejoint_destroy

• ep_hingejoint_exists

• ep_hingejoint_set_max_force

• ep_hingejoint_set_motor

• ep_hingejoint_set_limit_settings

• ep_hingejoint_set_lower_limit

• ep_hingejoint_set_upper_limit

• ep_hingejoint_set_lower_spring

• ep_hingejoint_set_upper_spring

• ep_hingejoint_get_body1

• ep_hingejoint_get_body2

• ep_hingejoint_get_rotation

• ep_hingejoint_get_xforce

• ep_hingejoint_get_yforce

• ep_hingejoint_get_motor_torque

• ep_hingejoint_get_limit_torque

• ep_hingejoint_previous

• ep_hingejoint_next

• ep_hingejoint_set_uservar

• ep_hingejoint_get_uservar

ep_hingejoint_create

ep_hingejoint_create(world_id, body1_id, body2_id, x1, y1, x2, y2, referencerotation)

Creates a new hinge joint.

Returns the id of the new hinge joint.

• world_id: The id of the world.

• body1_id: The id of the first body.

• body2_id: The id of the second body.

• x1: The x component of the anchor point on the first body.

• y1: The y component of the anchor point on the first body.

• x2: The x component of the anchor point on the second body.

• y2: The y component of the anchor point on the second body.

• referencerotation: The reference angle used to calculate the relative rotation of the bodies (rot1-rot2). This is only relevant if you use ep_hingejoint_get_rotation, springs or limits.

ep_hingejoint_destroy

ep_hingejoint_destroy(world_id, hingejoint_id)

Destroys the hinge joint.

• world_id: The id of the world.

• hingejoint_id: The id of the hinge joint.

ep_hingejoint_exists

ep_hingejoint_exists(world_id, hingejoint_id)

Returns whether the hinge joint with the given id exists.

• world_id: The id of the world.

• hingejoint_id: The id of the hinge joint.

ep_hingejoint_set_max_force

ep_hingejoint_set_max_force(world_id, hingejoint_id, maxforce)

Changes the maximum force of the hinge joint.

• world_id: The id of the world.

• hingejoint_id: The id of the hinge joint.

• maxforce: The new maximum force. Use 0 for no limit.

ep_hingejoint_set_motor

ep_hingejoint_set_motor(world_id, hingejoint_id, maxmotortorque, motorvel)

Changes the motor of the hinge joint.

• world_id: The id of the world.

• hingejoint_id: The id of the hinge joint.

• maxmotortorque: The maximum motor torque. Set this to 0 to disable the motor.

• motorvel: The velocity of the motor.

ep_hingejoint_set_limit_settings

ep_hingejoint_set_limit_settings(world_id, hingejoint_id, contact_threshold, velocity_threshold)

Changes the limit settings of the hinge joint.

• world_id: The id of the world.

• hingejoint_id: The id of the hinge joint.

• contact_threshold: The contact threshold.

• velocity_threshold: The velocity threshold.

ep_hingejoint_set_lower_limit

ep_hingejoint_set_lower_limit(world_id, hingejoint_id, maxlimittorque, rotation, restitution, velocity)

Changes the lower limit of the hinge joint.

• world_id: The id of the world.

• hingejoint_id: The id of the hinge joint.

• maxlimittorque: The maximum limit torque. Set this to 0 to disable the limit.

• rotation: The rotation of the limit.

• restitution: The coefficient of restitution.

• velocity: The velocity of the limit. You can use this to change the rotation over time. The rotation will not be updated automatically, you have to do that yourself.

ep_hingejoint_set_upper_limit

ep_hingejoint_set_upper_limit(world_id, hingejoint_id, maxlimittorque, rotation, restitution, velocity)

Changes the upper limit of the hinge joint.

• world_id: The id of the world.

• hingejoint_id: The id of the hinge joint.

• maxlimittorque: The maximum limit torque. Set this to 0 to disable the limit.

• rotation: The rotation of the limit.

• restitution: The coefficient of restitution.

• velocity: The velocity of the limit. You can use this to change the rotation over time. The rotation will not be updated automatically, you have to do that yourself.

ep_hingejoint_set_lower_spring

ep_hingejoint_set_lower_spring(world_id, hingejoint_id, k, rotation, damping)

Sets the lower spring of the hinge joint.

• world_id: The id of the world.

• hingejoint_id: The id of the hinge joint.

• k: The spring constant. Set this to 0 to disable the spring.

• rotation: The rotation of the spring.

• damping: The damping force of the spring. Set this to 0 to disable damping (not recommended).

ep_hingejoint_set_upper_spring

ep_hingejoint_set_upper_spring(world_id, hingejoint_id, k, rotation, damping)

Sets the upper spring of the hinge joint.

• world_id: The id of the world.

• hingejoint_id: The id of the hinge joint.

• k: The spring constant. Set this to 0 to disable the spring.

• rotation: The rotation of the spring.

• damping: The damping force of the spring. Set this to 0 to disable damping (not recommended).

ep_hingejoint_get_body1

ep_hingejoint_get_body1(world_id, hingejoint_id)

Returns the id of the first body connected to the hinge joint.

• world_id: The id of the world.

• hingejoint_id: The id of the hinge joint.

ep_hingejoint_get_body2

ep_hingejoint_get_body2(world_id, hingejoint_id)

Returns the id of the second body connected to the hinge joint.

• world_id: The id of the world.

• hingejoint_id: The id of the hinge joint.

ep_hingejoint_get_rotation

ep_hingejoint_get_rotation(world_id, hingejoint_id)

Returns the current rotation of the hinge joint (body1.rot-body2.rot-referencerotation).

• world_id: The id of the world.

• hingejoint_id: The id of the hinge joint.

ep_hingejoint_get_xforce

ep_hingejoint_get_xforce(world_id, hingejoint_id)

Returns the x component of the force applied during the last step.

• world_id: The id of the world.

• hingejoint_id: The id of the hinge joint.

ep_hingejoint_get_yforce

ep_hingejoint_get_yforce(world_id, hingejoint_id)

Returns the y component of the force applied during the last step.

• world_id: The id of the world.

• hingejoint_id: The id of the hinge joint.

ep_hingejoint_get_motor_torque

ep_hingejoint_get_motor_torque(world_id, hingejoint_id)

Returns the motor torque applied during the last step.

• world_id: The id of the world.

• hingejoint_id: The id of the hinge joint.

ep_hingejoint_get_limit_torque

ep_hingejoint_get_limit_torque(world_id, hingejoint_id)

Returns the limit torque applied during the last step.

• world_id: The id of the world.

• hingejoint_id: The id of the hinge joint.

ep_hingejoint_previous

ep_hingejoint_previous(world_id, hingejoint_id)

Returns the id of the previous hinge joint, or 0 if there is no previous hinge joint.

• world_id: The id of the world.

• hingejoint_id: The id of the hinge joint.

ep_hingejoint_next

ep_hingejoint_next(world_id, hingejoint_id)

Returns the id of the next hinge joint, or 0 if there is no next hinge joint.

• world_id: The id of the world.

• hingejoint_id: The id of the hinge joint.

ep_hingejoint_set_uservar

ep_hingejoint_set_uservar(world_id, hingejoint_id, index, value)

Changes the value of the user variable with the given index.

• world_id: The id of the world.

• hingejoint_id: The id of the hinge joint.

• index: The index (0-4).

• value: The new value.

ep_hingejoint_get_uservar

ep_hingejoint_get_uservar(world_id, hingejoint_id, index)

Returns the value of the user variable with the given index.

• world_id: The id of the world.

• hingejoint_id: The id of the hinge joint.

• index: The index (0-4).

Comments

ep_hingejoint_set_lower_limit(global.world,joint1,1000,degtorad(60),0.4,1);

ep_hingejoint_set_lower_limit(global.world,joint_leg1,100000,degtorad(-130),0.72,0);
ep_hingejoint_set_upper_limit(global.world,joint_leg1,100000,degtorad(80),0.72,0);

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