6 Degree Of Freedom Constraint setup structure. Allows control over each of the 6 degrees of freedom.
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#include <SixDOFConstraint.h>
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| EConstraintSpace | mSpace = EConstraintSpace::WorldSpace |
| | This determines in which space the constraint is setup, all properties below should be in the specified space.
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| RVec3 | mPosition1 = RVec3::sZero() |
| | Body 1 constraint reference frame (space determined by mSpace)
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| Vec3 | mAxisX1 = Vec3::sAxisX() |
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| Vec3 | mAxisY1 = Vec3::sAxisY() |
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| RVec3 | mPosition2 = RVec3::sZero() |
| | Body 2 constraint reference frame (space determined by mSpace)
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| Vec3 | mAxisX2 = Vec3::sAxisX() |
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| Vec3 | mAxisY2 = Vec3::sAxisY() |
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| float | mMaxFriction [EAxis::Num] = { 0, 0, 0, 0, 0, 0 } |
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| ESwingType | mSwingType = ESwingType::Cone |
| | The type of swing constraint that we want to use.
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| float | mLimitMin [EAxis::Num] = { -FLT_MAX, -FLT_MAX, -FLT_MAX, -FLT_MAX, -FLT_MAX, -FLT_MAX } |
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| float | mLimitMax [EAxis::Num] = { FLT_MAX, FLT_MAX, FLT_MAX, FLT_MAX, FLT_MAX, FLT_MAX } |
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| SpringSettings | mLimitsSpringSettings [EAxis::NumTranslation] |
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| MotorSettings | mMotorSettings [EAxis::Num] |
| | Motor settings for each axis.
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| bool | mEnabled = true |
| | If this constraint is enabled initially. Use Constraint::SetEnabled to toggle after creation.
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| uint32 | mConstraintPriority = 0 |
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| 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.
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| 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.
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| float | mDrawConstraintSize = 1.0f |
| | Size of constraint when drawing it through the debug renderer.
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| uint64 | mUserData = 0 |
| | User data value (can be used by application)
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| virtual void | RestoreBinaryState (StreamIn &inStream) override |
| | This function should not be called directly, it is used by sRestoreFromBinaryState.
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6 Degree Of Freedom Constraint setup structure. Allows control over each of the 6 degrees of freedom.
◆ EAxis
Constraint is split up into translation/rotation around X, Y and Z axis.
| Enumerator |
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| TranslationX | |
| TranslationY | |
| TranslationZ | |
| RotationX | |
| RotationY | |
| RotationZ | |
| Num | |
| NumTranslation | |
◆ Create()
◆ IsFixedAxis()
| bool SixDOFConstraintSettings::IsFixedAxis |
( |
EAxis |
inAxis | ) |
const |
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inline |
◆ IsFreeAxis()
| bool SixDOFConstraintSettings::IsFreeAxis |
( |
EAxis |
inAxis | ) |
const |
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inline |
◆ MakeFixedAxis()
| void SixDOFConstraintSettings::MakeFixedAxis |
( |
EAxis |
inAxis | ) |
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inline |
Make axis fixed (fixed at value 0)
◆ MakeFreeAxis()
| void SixDOFConstraintSettings::MakeFreeAxis |
( |
EAxis |
inAxis | ) |
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inline |
Make axis free (unconstrained)
◆ RestoreBinaryState()
| void SixDOFConstraintSettings::RestoreBinaryState |
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StreamIn & |
inStream | ) |
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overrideprotectedvirtual |
This function should not be called directly, it is used by sRestoreFromBinaryState.
Reimplemented from ConstraintSettings.
◆ SaveBinaryState()
| void SixDOFConstraintSettings::SaveBinaryState |
( |
StreamOut & |
inStream | ) |
const |
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overridevirtual |
Saves the contents of the constraint settings in binary form to inStream.
Reimplemented from ConstraintSettings.
◆ SetLimitedAxis()
| void SixDOFConstraintSettings::SetLimitedAxis |
( |
EAxis |
inAxis, |
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float |
inMin, |
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float |
inMax |
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) |
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inline |
Set a valid range for the constraint (if inMax < inMin, the axis will become fixed)
◆ mAxisX1
◆ mAxisX2
◆ mAxisY1
◆ mAxisY2
◆ mLimitMax
| float SixDOFConstraintSettings::mLimitMax[EAxis::Num] = { FLT_MAX, FLT_MAX, FLT_MAX, FLT_MAX, FLT_MAX, FLT_MAX } |
◆ mLimitMin
| float SixDOFConstraintSettings::mLimitMin[EAxis::Num] = { -FLT_MAX, -FLT_MAX, -FLT_MAX, -FLT_MAX, -FLT_MAX, -FLT_MAX } |
Limits. For translation: Min and max linear limits in m (0 is frame of body 1 and 2 coincide). For rotation: Min and max angular limits in rad (0 is frame of body 1 and 2 coincide). See comments at Axis enum for limit ranges.
Remove degree of freedom by setting min = FLT_MAX and max = -FLT_MAX. The constraint will be driven to 0 for this axis.
Free movement over an axis is allowed when min = -FLT_MAX and max = FLT_MAX.
Rotation limit around X-Axis: When limited, should be \(\in [-\pi, \pi]\). Can be asymmetric around zero.
Rotation limit around Y-Z Axis: Forms a pyramid or cone shaped limit:
- For pyramid, should be \(\in [-\pi, \pi]\) and does not need to be symmetrical around zero.
- For cone should be \(\in [0, \pi]\) and needs to be symmetrical around zero (min limit is assumed to be -max limit).
◆ mLimitsSpringSettings
When enabled, this makes the limits soft. When the constraint exceeds the limits, a spring force will pull it back. Only soft translation limits are supported, soft rotation limits are not currently supported.
◆ mMaxFriction
| float SixDOFConstraintSettings::mMaxFriction[EAxis::Num] = { 0, 0, 0, 0, 0, 0 } |
Friction settings. For translation: Max friction force in N. 0 = no friction. For rotation: Max friction torque in Nm. 0 = no friction.
◆ mMotorSettings
Motor settings for each axis.
◆ mPosition1
Body 1 constraint reference frame (space determined by mSpace)
◆ mPosition2
Body 2 constraint reference frame (space determined by mSpace)
◆ mSpace
This determines in which space the constraint is setup, all properties below should be in the specified space.
◆ mSwingType
The type of swing constraint that we want to use.
The documentation for this class was generated from the following files:
Public Types inherited from ConstraintSettings
1.9.8