6 Degree Of Freedom Constraint setup structure. Allows control over each of the 6 degrees of freedom. More...

#include <SixDOFConstraint.h>

Inheritance diagram for SixDOFConstraintSettings:

Public Types
enum	EAxis { TranslationX , TranslationY , TranslationZ , RotationX , RotationY , RotationZ , Num , NumTranslation = TranslationZ + 1 }
	Constraint is split up into translation/rotation around X, Y and Z axis. More...

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

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.

void	MakeFreeAxis (EAxis inAxis)
	Make axis free (unconstrained)

bool	IsFreeAxis (EAxis inAxis) const

void	MakeFixedAxis (EAxis inAxis)
	Make axis fixed (fixed at value 0)

bool	IsFixedAxis (EAxis inAxis) const

void	SetLimitedAxis (EAxis inAxis, float inMin, float inMax)
	Set a valid range for the constraint (if inMax < inMin, the axis will become fixed)

Public Member Functions inherited from TwoBodyConstraintSettings
Public Member Functions inherited from ConstraintSettings
Public Member Functions inherited from SerializableObject
virtual	~SerializableObject ()=default
	Destructor.

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	mPosition1 = RVec3::sZero()
	Body 1 constraint reference frame (space determined by mSpace)

Vec3	mAxisX1 = Vec3::sAxisX()

Vec3	mAxisY1 = Vec3::sAxisY()

RVec3	mPosition2 = RVec3::sZero()
	Body 2 constraint reference frame (space determined by mSpace)

Vec3	mAxisX2 = Vec3::sAxisX()

Vec3	mAxisY2 = Vec3::sAxisY()

float	mMaxFriction [EAxis::Num] = { 0, 0, 0, 0, 0, 0 }

ESwingType	mSwingType = ESwingType::Cone
	The type of swing constraint that we want to use.

float	mLimitMin [EAxis::Num] = { -FLT_MAX, -FLT_MAX, -FLT_MAX, -FLT_MAX, -FLT_MAX, -FLT_MAX }

float	mLimitMax [EAxis::Num] = { FLT_MAX, FLT_MAX, FLT_MAX, FLT_MAX, FLT_MAX, FLT_MAX }

SpringSettings	mLimitsSpringSettings [EAxis::NumTranslation]

MotorSettings	mMotorSettings [EAxis::Num]
	Motor settings for each 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.

Protected Member Functions inherited from ConstraintSettings
	ConstraintSettings ()=default
	Don't allow (copy) constructing this base class, but allow derived classes to (copy) construct themselves.

	ConstraintSettings (const ConstraintSettings &)=default

ConstraintSettings &	operator= (const ConstraintSettings &)=default

Protected Member Functions inherited from SerializableObject
	SerializableObject ()=default
	Don't allow (copy) constructing this base class, but allow derived classes to (copy) construct themselves.

	SerializableObject (const SerializableObject &)=default

SerializableObject &	operator= (const SerializableObject &)=default

Additional Inherited Members
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

6 Degree Of Freedom Constraint setup structure. Allows control over each of the 6 degrees of freedom.

Member Enumeration Documentation

◆ EAxis

enum SixDOFConstraintSettings::EAxis

Constraint is split up into translation/rotation around X, Y and Z axis.

Enumerator
TranslationX
TranslationY
TranslationZ
RotationX
RotationY
RotationZ
Num
NumTranslation

Member Function Documentation

◆ Create()

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

overridevirtual

Create an instance of this constraint.

Implements TwoBodyConstraintSettings.

◆ IsFixedAxis()

bool SixDOFConstraintSettings::IsFixedAxis ( EAxis inAxis ) const

inline

◆ IsFreeAxis()

bool SixDOFConstraintSettings::IsFreeAxis ( EAxis inAxis ) const

inline

◆ MakeFixedAxis()

void SixDOFConstraintSettings::MakeFixedAxis ( EAxis inAxis )

inline

Make axis fixed (fixed at value 0)

◆ MakeFreeAxis()

void SixDOFConstraintSettings::MakeFreeAxis ( EAxis inAxis )

inline

Make axis free (unconstrained)

◆ RestoreBinaryState()

void SixDOFConstraintSettings::RestoreBinaryState ( StreamIn & inStream )

overrideprotectedvirtual

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

Reimplemented from ConstraintSettings.

◆ SaveBinaryState()

void SixDOFConstraintSettings::SaveBinaryState ( StreamOut & inStream ) const

overridevirtual

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

Reimplemented from ConstraintSettings.

◆ SetLimitedAxis()

void SixDOFConstraintSettings::SetLimitedAxis	(	EAxis	inAxis,
		float	inMin,
		float	inMax )

inline

Set a valid range for the constraint (if inMax < inMin, the axis will become fixed)

Member Data Documentation

◆ mAxisX1

Vec3 SixDOFConstraintSettings::mAxisX1 = Vec3::sAxisX()

◆ mAxisX2

Vec3 SixDOFConstraintSettings::mAxisX2 = Vec3::sAxisX()

◆ mAxisY1

Vec3 SixDOFConstraintSettings::mAxisY1 = Vec3::sAxisY()

◆ mAxisY2

Vec3 SixDOFConstraintSettings::mAxisY2 = Vec3::sAxisY()

◆ 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

SpringSettings SixDOFConstraintSettings::mLimitsSpringSettings[EAxis::NumTranslation]

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

MotorSettings SixDOFConstraintSettings::mMotorSettings[EAxis::Num]

Motor settings for each axis.

◆ mPosition1

RVec3 SixDOFConstraintSettings::mPosition1 = RVec3::sZero()

Body 1 constraint reference frame (space determined by mSpace)

◆ mPosition2

RVec3 SixDOFConstraintSettings::mPosition2 = RVec3::sZero()

Body 2 constraint reference frame (space determined by mSpace)

◆ mSpace

EConstraintSpace SixDOFConstraintSettings::mSpace = EConstraintSpace::WorldSpace

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

◆ mSwingType

ESwingType SixDOFConstraintSettings::mSwingType = ESwingType::Cone

The type of swing constraint that we want to use.

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

Jolt/Physics/Constraints/SixDOFConstraint.h
Jolt/Physics/Constraints/SixDOFConstraint.cpp

Public Types

Public Member Functions

Public Attributes

Protected Member Functions

Additional Inherited Members

Detailed Description

Member Enumeration Documentation

◆ EAxis

Member Function Documentation

◆ Create()

◆ IsFixedAxis()

◆ IsFreeAxis()

◆ MakeFixedAxis()

◆ MakeFreeAxis()

◆ RestoreBinaryState()

◆ SaveBinaryState()

◆ SetLimitedAxis()

Member Data Documentation

◆ mAxisX1

◆ mAxisX2

◆ mAxisY1

◆ mAxisY2

◆ mLimitMax

◆ mLimitMin

◆ mLimitsSpringSettings

◆ mMaxFriction

◆ mMotorSettings

◆ mPosition1

◆ mPosition2

◆ mSpace

◆ mSwingType