# Unigine::JointSuspension Class (CPP)

**Header:** #include <UniginePhysics.h>

**Inherits from:** Joint


> **Warning:** This joint type is deprecated and will be removed in the upcoming releases. It is recommended to use the [Wheel Joint](../../../api/library/physics/class.jointwheel_cpp.md) instead.


This class is used to create a suspension joint. The bodies that represent both a frame and a wheel must be [rigid bodies](../../../principles/physics/bodies/rigid/index.md).


### Example


The following code illustrates connection of two [rigid bodies](../../../api/library/physics/class.bodyrigid_cpp.md) (frame and wheel) using a suspension joint.


```cpp
include <UniginePhysics.h>

/* .. */

JointSuspensionPtr joint = JointSuspension::create(frame, wheel);

// setting joint anchor coordinates
joint->setWorldAnchor(wheel->getObject()->getWorldTransform() * Vec3(0.0f));

// setting joint axes coordinates
joint->setWorldAxis0(vec3(0.0f,0.0f,1.0f));
joint->setWorldAxis1(vec3(0.0f,1.0f,0.0f));

// setting linear damping and spring rigidity
joint->setLinearDamping(2.0f);
joint->setLinearSpring(200.0f);

// setting lower and upper suspension ride limits [-0.5; 0.0]
joint->setLinearLimitFrom(-0.5f);
joint->setLinearLimitTo(0.0f);

// setting target suspension height
joint->setLinearDistance(0.5f);

// setting maximum angular velocity and torque
joint->setAngularVelocity(-20.0f);
joint->setAngularTorque(10.0f);

// setting common joint constraint parameters
joint->setLinearRestitution(0.2f);
joint->setAngularRestitution(0.2f);
joint->setLinearSoftness(0.2f);
joint->setAngularSoftness(0.2f);

// setting number of iterations
joint->setNumIterations(8);

```


### See Also


- UnigineScript samples:

  -
  -
  -


## JointSuspension Class

### Members

## float getCurrentLinearDistance () const

Returns the current suspension compression.
### Return value

Current suspension height, in units.
## float getCurrentAngularVelocity () const

Returns the current velocity of wheel rotation.
### Return value

Current velocity, in radians per second.
## void setAngularVelocity ( float velocity )

Sets a new target velocity of wheel rotation.
### Arguments

- *float* **velocity** - The target velocity in radians per second.

## float getAngularVelocity () const

Returns the current target velocity of wheel rotation.
### Return value

Current target velocity in radians per second.
## void setAngularTorque ( float torque )

Sets a new maximum torque of the attached angular motor. **0** means that the motor is not attached.
### Arguments

- *float* **torque** - The maximum torque. If a negative value is provided, **0** will be used instead. **0** detaches the motor.

## float getAngularTorque () const

Returns the current maximum torque of the attached angular motor. **0** means that the motor is not attached.
### Return value

Current maximum torque. If a negative value is provided, **0** will be used instead. **0** detaches the motor.
## void setAngularDamping ( float damping )

Sets a new angular damping of the joint (wheel rotation damping).
### Arguments

- *float* **damping** - The angular damping. If a negative value is provided, **0** will be used instead.

## float getAngularDamping () const

Returns the current angular damping of the joint (wheel rotation damping).
### Return value

Current angular damping. If a negative value is provided, **0** will be used instead.
## void setLinearSpring ( float spring )

Sets a new rigidity coefficient of the suspension. **0** means that the suspension is not attached.
### Arguments

- *float* **spring** - The rigidity coefficient. If a negative value is provided, **0** will be used instead. **0** detaches the suspension.

## float getLinearSpring () const

Returns the current rigidity coefficient of the suspension. **0** means that the suspension is not attached.
### Return value

Current rigidity coefficient. If a negative value is provided, **0** will be used instead. **0** detaches the suspension.
## void setLinearLimitTo ( float to )

Sets a new high limit of the suspension ride. This limit specifies how far a connected body can move along the joint axis.
### Arguments

- *float* **to** - The high limit in units.

## float getLinearLimitTo () const

Returns the current high limit of the suspension ride. This limit specifies how far a connected body can move along the joint axis.
### Return value

Current high limit in units.
## void setLinearLimitFrom ( float from )

Sets a new low limit of the suspension ride. This limit specifies how far a connected body can move along the joint axis.
### Arguments

- *float* **from** - The low limit in units.

## float getLinearLimitFrom () const

Returns the current low limit of the suspension ride. This limit specifies how far a connected body can move along the joint axis.
### Return value

Current low limit in units.
## void setLinearDistance ( float distance )

Sets a new target height of the suspension.
### Arguments

- *float* **distance** - The height, in units.

## float getLinearDistance () const

Returns the current target height of the suspension.
### Return value

Current height, in units.
## void setLinearDamping ( float damping )

Sets a new linear damping of the suspension.
### Arguments

- *float* **damping** - The linear damping. If a negative value is provided, **0** will be used instead.

## float getLinearDamping () const

Returns the current linear damping of the suspension.
### Return value

Current linear damping. If a negative value is provided, **0** will be used instead.
## void setWorldAxis0 ( const Math:: vec3 & axis0 )

Sets a new suspension axis in the world coordinates.
### Arguments

- *const  Math::[vec3](../../../api/library/math/class.vec3_cpp.md)&* **axis0** - The suspension axis in the world coordinates.

## Math:: vec3 getWorldAxis0 () const

Returns the current suspension axis in the world coordinates.
### Return value

Current suspension axis in the world coordinates.
## void setWorldAxis1 ( const Math:: vec3 & axis1 )

Sets a new wheel spindle axis in the world coordinates.
### Arguments

- *const  Math::[vec3](../../../api/library/math/class.vec3_cpp.md)&* **axis1** - The wheel spindle axis in the world coordinates.

## Math:: vec3 getWorldAxis1 () const

Returns the current wheel spindle axis in the world coordinates.
### Return value

Current wheel spindle axis in the world coordinates.
## void setAxis00 ( const Math:: vec3 & axis00 )

Sets a new coordinates of suspension axis, along which a wheel moves vertically. This is a shock absorber.
### Arguments

- *const  Math::[vec3](../../../api/library/math/class.vec3_cpp.md)&* **axis00** - The suspension axis, in the world coordinates.

## Math:: vec3 getAxis00 () const

Returns the current coordinates of suspension axis, along which a wheel moves vertically. This is a shock absorber.
### Return value

Current suspension axis, in the world coordinates.
## void setAxis10 ( const Math:: vec3 & axis10 )

Sets a new wheel spindle axis in coordinates of the frame (body 0): an axis around which a wheel rotates when moving forward (or backward).
![](../../../principles/physics/joints/wheel_joint1.jpg)


### Arguments

- *const  Math::[vec3](../../../api/library/math/class.vec3_cpp.md)&* **axis10** - The wheel spindle axis in coordinates of the frame (body 0).

## Math:: vec3 getAxis10 () const

Returns the current wheel spindle axis in coordinates of the frame (body 0): an axis around which a wheel rotates when moving forward (or backward).
![](../../../principles/physics/joints/wheel_joint1.jpg)


### Return value

Current wheel spindle axis in coordinates of the frame (body 0).
## void setAxis11 ( const Math:: vec3 & axis11 )

Sets a new wheel spindle axis in coordinates of the wheel (body 1): an axis around which a wheel rotates when steering.
![](../../../principles/physics/joints/wheel_joint1.jpg)


### Arguments

- *const  Math::[vec3](../../../api/library/math/class.vec3_cpp.md)&* **axis11** - The wheel spindle axis in coordinates of the wheel (body 1).

## Math:: vec3 getAxis11 () const

Returns the current wheel spindle axis in coordinates of the wheel (body 1): an axis around which a wheel rotates when steering.
![](../../../principles/physics/joints/wheel_joint1.jpg)


### Return value

Current wheel spindle axis in coordinates of the wheel (body 1).
---

## static JointSuspensionPtr create ( )

Constructor. Creates a suspension joint with an anchor at the origin of the world coordinates.
## static JointSuspensionPtr create ( const Ptr < Body > & body0 , const Ptr < Body > & body1 )

Constructor. Creates a suspension joint connecting two given bodies. An anchor is placed between centers of mass of the bodies.
### Arguments

- *const [Ptr](../../../api/library/common/class.ptr_cpp.md)<[Body](../../../api/library/physics/class.body_cpp.md)> &* **body0** - Frame to be connected with the joint.
- *const [Ptr](../../../api/library/common/class.ptr_cpp.md)<[Body](../../../api/library/physics/class.body_cpp.md)> &* **body1** - Wheel to be connected with the joint.

## static JointSuspensionPtr create ( const Ptr < Body > & body0 , const Ptr < Body > & body1 , const Math:: Vec3 & anchor , const Math:: vec3 & axis0 , const Math:: vec3 & axis1 )

Constructor. Creates a suspension joint connecting two given bodies with specified suspension and spindle axis coordinates and an anchor placed at specified coordinates.
### Arguments

- *const [Ptr](../../../api/library/common/class.ptr_cpp.md)<[Body](../../../api/library/physics/class.body_cpp.md)> &* **body0** - Frame to be connected with the joint.
- *const [Ptr](../../../api/library/common/class.ptr_cpp.md)<[Body](../../../api/library/physics/class.body_cpp.md)> &* **body1** - Wheel to be connected with the joint.
- *const  Math::[Vec3](../../../api/library/math/class.vec3_cpp.md) &* **anchor** - Anchor coordinates.
- *const  Math::[vec3](../../../api/library/math/class.vec3_cpp.md) &* **axis0** - Suspension axis coordinates.
- *const  Math::[vec3](../../../api/library/math/class.vec3_cpp.md) &* **axis1** - Wheel spindle axis coordinates.