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Add documentation for ball and socket joint cone limit in user manual

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Daniel Chappuis 2021-11-23 17:36:59 +01:00
parent 80c7d1289c
commit b9e363fe87
2 changed files with 19 additions and 1 deletions
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documentation/UserManual/ReactPhysics3D-UserManual.pdf
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documentation/UserManual/ReactPhysics3D-UserManual.tex
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@ -1569,7 +1569,25 @@ BallAndSocketJoint* joint;
joint = dynamic_cast<BallAndSocketJoint*>(world->createJoint(jointInfo)); joint = dynamic_cast<BallAndSocketJoint*>(world->createJoint(jointInfo));
\end{lstlisting} \end{lstlisting}
\vspace{0.6cm} \subsubsection{Cone limit}
With the ball and socket joint, it is possible to enable a cone limit. The idea is to constrain the rotation of body 2 around the anchor point
in to stay inside a cone. This can be used to limit the rotation angle of body 2 with respect to the main cone axis. \\
In the following example, we enable the cone limit for a given ball and socket joint. We limit the rotation with a maximum angle with respect to
the main axis of the cone (here the local-space Y axis of each body). \\
\begin{lstlisting}
// Set the main axis of the cone (in both local-spaces of body 1 and 2)
joint->setConeLimitLocalAxisBody1(rp3d::Vector3(0, 1, 0));
joint->setConeLimitLocalAxisBody2(rp3d::Vector3(0, 1, 0));
// Set the maximum half angle (in radians)
joint->setConeLimitHalfAngle(45.0 * PI / 180.0);
// Enable the cone limit for this joint
joint->enableConeLimit(true);
\end{lstlisting}
\subsection{Hinge Joint} \subsection{Hinge Joint}