Hinge constraint settings, used to create a hinge constraint. More...

#include <HingeConstraint.h>

Inheritance diagram for HingeConstraintSettings:

Public Member Functions
virtual void	SaveBinaryState (StreamOut &inStream) const override
	Saves the contents of the constraint settings in binary form to inStream.

virtual TwoBodyConstraint *	Create (Body &inBody1, Body &inBody2) const override
	Create an instance of this constraint.

Public Member Functions inherited from SerializableObject
virtual	~SerializableObject ()=default
	Constructor.

Public Member Functions inherited from NonCopyable
	NonCopyable ()=default

	NonCopyable (const NonCopyable &)=delete

void	operator= (const NonCopyable &)=delete

Public Member Functions inherited from RefTarget< ConstraintSettings >
	RefTarget ()=default
	Constructor.

	RefTarget (const RefTarget &)

	~RefTarget ()
	assert no one is referencing us

void	SetEmbedded () const

RefTarget &	operator= (const RefTarget &)
	Assignment operator.

uint32	GetRefCount () const
	Get current refcount of this object.

void	AddRef () const
	Add or release a reference to this object.

void	Release () const

Public Attributes
EConstraintSpace	mSpace = EConstraintSpace::WorldSpace
	This determines in which space the constraint is setup, all properties below should be in the specified space.

RVec3	mPoint1 = RVec3::sZero()

Vec3	mHingeAxis1 = Vec3::sAxisY()

Vec3	mNormalAxis1 = Vec3::sAxisX()

RVec3	mPoint2 = RVec3::sZero()
	Body 2 constraint reference frame (space determined by mSpace)

Vec3	mHingeAxis2 = Vec3::sAxisY()

Vec3	mNormalAxis2 = Vec3::sAxisX()

float	mLimitsMin = -JPH_PI

float	mLimitsMax = JPH_PI

SpringSettings	mLimitsSpringSettings
	When enabled, this makes the limits soft. When the constraint exceeds the limits, a spring force will pull it back.

float	mMaxFrictionTorque = 0.0f
	Maximum amount of torque (N m) to apply as friction when the constraint is not powered by a motor.

MotorSettings	mMotorSettings
	In case the constraint is powered, this determines the motor settings around the hinge axis.

Public Attributes inherited from ConstraintSettings
bool	mEnabled = true
	If this constraint is enabled initially. Use Constraint::SetEnabled to toggle after creation.

uint32	mConstraintPriority = 0

uint	mNumVelocityStepsOverride = 0
	Used only when the constraint is active. Override for the number of solver velocity iterations to run, 0 means use the default in PhysicsSettings::mNumVelocitySteps. The number of iterations to use is the max of all contacts and constraints in the island.

uint	mNumPositionStepsOverride = 0
	Used only when the constraint is active. Override for the number of solver position iterations to run, 0 means use the default in PhysicsSettings::mNumPositionSteps. The number of iterations to use is the max of all contacts and constraints in the island.

float	mDrawConstraintSize = 1.0f
	Size of constraint when drawing it through the debug renderer.

uint64	mUserData = 0
	User data value (can be used by application)

Protected Member Functions
virtual void	RestoreBinaryState (StreamIn &inStream) override
	This function should not be called directly, it is used by sRestoreFromBinaryState.

Additional Inherited Members
Public Types inherited from ConstraintSettings
using	ConstraintResult = Result< Ref< ConstraintSettings > >

Static Public Member Functions inherited from ConstraintSettings
static ConstraintResult	sRestoreFromBinaryState (StreamIn &inStream)
	Creates a constraint of the correct type and restores its contents from the binary stream inStream.

Static Public Member Functions inherited from RefTarget< ConstraintSettings >
static int	sInternalGetRefCountOffset ()
	INTERNAL HELPER FUNCTION USED BY SERIALIZATION.

Protected Attributes inherited from RefTarget< ConstraintSettings >
atomic< uint32 >	mRefCount
	Current reference count.

Static Protected Attributes inherited from RefTarget< ConstraintSettings >
static constexpr uint32	cEmbedded
	A large value that gets added to the refcount to mark the object as embedded.

Detailed Description

Hinge constraint settings, used to create a hinge constraint.

Member Function Documentation

◆ Create()

TwoBodyConstraint * HingeConstraintSettings::Create	(	Body &	inBody1,
		Body &	inBody2
	)		const

overridevirtual

Create an instance of this constraint.

Implements TwoBodyConstraintSettings.

◆ RestoreBinaryState()

void HingeConstraintSettings::RestoreBinaryState ( StreamIn & inStream )

overrideprotectedvirtual

This function should not be called directly, it is used by sRestoreFromBinaryState.

Reimplemented from ConstraintSettings.

◆ SaveBinaryState()

void HingeConstraintSettings::SaveBinaryState ( StreamOut & inStream ) const

overridevirtual

Saves the contents of the constraint settings in binary form to inStream.

Reimplemented from ConstraintSettings.

Member Data Documentation

◆ mHingeAxis1

Vec3 HingeConstraintSettings::mHingeAxis1 = Vec3::sAxisY()

◆ mHingeAxis2

Vec3 HingeConstraintSettings::mHingeAxis2 = Vec3::sAxisY()

◆ mLimitsMax

float HingeConstraintSettings::mLimitsMax = JPH_PI

◆ mLimitsMin

float HingeConstraintSettings::mLimitsMin = -JPH_PI

Rotation around the hinge axis will be limited between [mLimitsMin, mLimitsMax] where mLimitsMin e [-pi, 0] and mLimitsMax e [0, pi]. Both angles are in radians.

◆ mLimitsSpringSettings

SpringSettings HingeConstraintSettings::mLimitsSpringSettings

When enabled, this makes the limits soft. When the constraint exceeds the limits, a spring force will pull it back.

◆ mMaxFrictionTorque

float HingeConstraintSettings::mMaxFrictionTorque = 0.0f

Maximum amount of torque (N m) to apply as friction when the constraint is not powered by a motor.

◆ mMotorSettings

MotorSettings HingeConstraintSettings::mMotorSettings

In case the constraint is powered, this determines the motor settings around the hinge axis.

◆ mNormalAxis1

Vec3 HingeConstraintSettings::mNormalAxis1 = Vec3::sAxisX()

◆ mNormalAxis2

Vec3 HingeConstraintSettings::mNormalAxis2 = Vec3::sAxisX()

◆ mPoint1

RVec3 HingeConstraintSettings::mPoint1 = RVec3::sZero()

Body 1 constraint reference frame (space determined by mSpace). Hinge axis is the axis where rotation is allowed. When the normal axis of both bodies align in world space, the hinge angle is defined to be 0. mHingeAxis1 and mNormalAxis1 should be perpendicular. mHingeAxis2 and mNormalAxis2 should also be perpendicular. If you configure the joint in world space and create both bodies with a relative rotation you want to be defined as zero, you can simply set mHingeAxis1 = mHingeAxis2 and mNormalAxis1 = mNormalAxis2.

◆ mPoint2

RVec3 HingeConstraintSettings::mPoint2 = RVec3::sZero()

Body 2 constraint reference frame (space determined by mSpace)

◆ mSpace

EConstraintSpace HingeConstraintSettings::mSpace = EConstraintSpace::WorldSpace

This determines in which space the constraint is setup, all properties below should be in the specified space.

The documentation for this class was generated from the following files:

Jolt/Physics/Constraints/HingeConstraint.h
Jolt/Physics/Constraints/HingeConstraint.cpp

Public Member Functions

Public Attributes

Protected Member Functions

Additional Inherited Members