Method getTranslation

src/constraint/SliderJoint.cpp:129–159

Return the current translation value of the joint * @return The current translation distance of the joint (in meters) */

 * @return The current translation distance of the joint (in meters)
 */
decimal SliderJoint::getTranslation() const {

    // TODO : Check if we need to compare rigid body position or center of mass here

    // Get the bodies entities
    const Entity body1Entity = mWorld.mJointsComponents.getBody1Entity(mEntity);
    const Entity body2Entity = mWorld.mJointsComponents.getBody2Entity(mEntity);

    // Get the bodies positions and orientations
    const Transform& transform1 = mWorld.mTransformComponents.getTransform(body1Entity);
    const Transform& transform2 = mWorld.mTransformComponents.getTransform(body2Entity);

    const Vector3& x1 = transform1.getPosition();
    const Vector3& x2 = transform2.getPosition();
    const Quaternion& q1 = transform1.getOrientation();
    const Quaternion& q2 = transform2.getOrientation();

    // Compute the two anchor points in world-space coordinates
    const Vector3 anchorBody1 = x1 + q1 * mWorld.mSliderJointsComponents.getLocalAnchorPointBody1(mEntity);
    const Vector3 anchorBody2 = x2 + q2 * mWorld.mSliderJointsComponents.getLocalAnchorPointBody2(mEntity);

    // Compute the vector u (difference between anchor points)
    const Vector3 u = anchorBody2 - anchorBody1;

    // Compute the slider axis in world-space
    Vector3 sliderAxisWorld = q1 * mWorld.mSliderJointsComponents.getSliderAxisBody1(mEntity);
    sliderAxisWorld.normalize();

    // Compute and return the translation value
    return u.dot(sliderAxisWorld);
}

// Set the minimum translation limit
/**