SixDOFConstraint Class Reference

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

#include <SixDOFConstraint.h>

Inheritance diagram for SixDOFConstraint:

Public Types
using	EAxis = SixDOFConstraintSettings::EAxis
	Get Axis from settings class. More...

Public Member Functions
	SixDOFConstraint (Body &inBody1, Body &inBody2, const SixDOFConstraintSettings &inSettings)
	Construct six DOF constraint. More...
virtual EConstraintSubType	GetSubType () const override
	Generic interface of a constraint. More...
virtual void	NotifyShapeChanged (const BodyID &inBodyID, Vec3Arg inDeltaCOM) override
virtual void	SetupVelocityConstraint (float inDeltaTime) override
virtual void	ResetWarmStart () override
virtual void	WarmStartVelocityConstraint (float inWarmStartImpulseRatio) override
virtual bool	SolveVelocityConstraint (float inDeltaTime) override
virtual bool	SolvePositionConstraint (float inDeltaTime, float inBaumgarte) override
virtual void	DrawConstraint (DebugRenderer *inRenderer) const override
virtual void	DrawConstraintLimits (DebugRenderer *inRenderer) const override
virtual void	SaveState (StateRecorder &inStream) const override
	Saving state for replay. More...
virtual void	RestoreState (StateRecorder &inStream) override
	Restoring state for replay. More...
virtual Ref< ConstraintSettings >	GetConstraintSettings () const override
	Debug function to convert a constraint to its settings, note that this will not save to which bodies the constraint is connected to. More...
virtual Mat44	GetConstraintToBody1Matrix () const override
	Calculates the transform that transforms from constraint space to body 1 space. The first column of the matrix is the primary constraint axis (e.g. the hinge axis / slider direction), second column the secondary etc. More...
virtual Mat44	GetConstraintToBody2Matrix () const override
	Calculates the transform that transforms from constraint space to body 2 space. The first column of the matrix is the primary constraint axis (e.g. the hinge axis / slider direction), second column the secondary etc. More...
void	SetTranslationLimits (Vec3Arg inLimitMin, Vec3Arg inLimitMax)
	Update the translation limits for this constraint. More...
void	SetRotationLimits (Vec3Arg inLimitMin, Vec3Arg inLimitMax)
	Update the rotational limits for this constraint. More...
float	GetLimitsMin (EAxis inAxis) const
	Get constraint Limits. More...
float	GetLimitsMax (EAxis inAxis) const
Vec3	GetTranslationLimitsMin () const
Vec3	GetTranslationLimitsMax () const
Vec3	GetRotationLimitsMin () const
Vec3	GetRotationLimitsMax () const
bool	IsFixedAxis (EAxis inAxis) const
	Check which axis are fixed/free. More...
bool	IsFreeAxis (EAxis inAxis) const
const SpringSettings &	GetLimitsSpringSettings (EAxis inAxis) const
	Update the limits spring settings. More...
void	SetLimitsSpringSettings (EAxis inAxis, const SpringSettings &inLimitsSpringSettings)
void	SetMaxFriction (EAxis inAxis, float inFriction)
	Set the max friction for each axis. More...
float	GetMaxFriction (EAxis inAxis) const
Quat	GetRotationInConstraintSpace () const
	Get rotation of constraint in constraint space. More...
MotorSettings &	GetMotorSettings (EAxis inAxis)
	Motor settings. More...
const MotorSettings &	GetMotorSettings (EAxis inAxis) const
void	SetMotorState (EAxis inAxis, EMotorState inState)
EMotorState	GetMotorState (EAxis inAxis) const
Vec3	GetTargetVelocityCS () const
	Set the target velocity in body 1 constraint space. More...
void	SetTargetVelocityCS (Vec3Arg inVelocity)
void	SetTargetAngularVelocityCS (Vec3Arg inAngularVelocity)
	Set the target angular velocity in body 2 constraint space (!) More...
Vec3	GetTargetAngularVelocityCS () const
Vec3	GetTargetPositionCS () const
	Set the target position in body 1 constraint space. More...
void	SetTargetPositionCS (Vec3Arg inPosition)
void	SetTargetOrientationCS (QuatArg inOrientation)
	Set the target orientation in body 1 constraint space. More...
Quat	GetTargetOrientationCS () const
void	SetTargetOrientationBS (QuatArg inOrientation)
Public Member Functions inherited from TwoBodyConstraint
JPH_OVERRIDE_NEW_DELETE	TwoBodyConstraint (Body &inBody1, Body &inBody2, const TwoBodyConstraintSettings &inSettings)
	Constructor. More...
virtual EConstraintType	GetType () const override
	Get the type of a constraint. More...
virtual bool	IsActive () const override
	Solver interface. More...
virtual void	DrawConstraintReferenceFrame (DebugRenderer *inRenderer) const override
Body *	GetBody1 () const
	Access to the connected bodies. More...
Body *	GetBody2 () const
virtual Mat44	GetConstraintToBody1Matrix () const =0
	Calculates the transform that transforms from constraint space to body 1 space. The first column of the matrix is the primary constraint axis (e.g. the hinge axis / slider direction), second column the secondary etc. More...
virtual Mat44	GetConstraintToBody2Matrix () const =0
	Calculates the transform that transforms from constraint space to body 2 space. The first column of the matrix is the primary constraint axis (e.g. the hinge axis / slider direction), second column the secondary etc. More...
virtual void	BuildIslands (uint32 inConstraintIndex, IslandBuilder &ioBuilder, BodyManager &inBodyManager) override
	Link bodies that are connected by this constraint in the island builder. More...
virtual uint	BuildIslandSplits (LargeIslandSplitter &ioSplitter) const override
	Link bodies that are connected by this constraint in the same split. Returns the split index. More...
Public Member Functions inherited from Constraint
JPH_OVERRIDE_NEW_DELETE	Constraint (const ConstraintSettings &inSettings)
	Constructor. More...
virtual	~Constraint ()=default
	Virtual destructor. More...
virtual EConstraintType	GetType () const
	Get the type of a constraint. More...
virtual EConstraintSubType	GetSubType () const =0
	Get the sub type of a constraint. More...
uint32	GetConstraintPriority () const
void	SetConstraintPriority (uint32 inPriority)
void	SetNumVelocityStepsOverride (uint inN)
	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. More...
uint	GetNumVelocityStepsOverride () const
void	SetNumPositionStepsOverride (uint inN)
	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. More...
uint	GetNumPositionStepsOverride () const
void	SetEnabled (bool inEnabled)
bool	GetEnabled () const
	Test if a constraint is enabled. More...
uint64	GetUserData () const
	Access to the user data, can be used for anything by the application. More...
void	SetUserData (uint64 inUserData)
virtual void	NotifyShapeChanged (const BodyID &inBodyID, Vec3Arg inDeltaCOM)=0
virtual void	ResetWarmStart ()=0
virtual void	BuildIslands (uint32 inConstraintIndex, IslandBuilder &ioBuilder, BodyManager &inBodyManager)=0
	Link bodies that are connected by this constraint in the island builder. More...
virtual uint	BuildIslandSplits (LargeIslandSplitter &ioSplitter) const =0
	Link bodies that are connected by this constraint in the same split. Returns the split index. More...
virtual void	DrawConstraint (DebugRenderer *inRenderer) const =0
virtual void	DrawConstraintLimits (DebugRenderer *inRenderer) const
virtual void	DrawConstraintReferenceFrame (DebugRenderer *inRenderer) const
float	GetDrawConstraintSize () const
	Size of constraint when drawing it through the debug renderer. More...
void	SetDrawConstraintSize (float inSize)
virtual void	SaveState (StateRecorder &inStream) const
	Saving state for replay. More...
virtual void	RestoreState (StateRecorder &inStream)
	Restoring state for replay. More...
virtual Ref< ConstraintSettings >	GetConstraintSettings () const =0
	Debug function to convert a constraint to its settings, note that this will not save to which bodies the constraint is connected to. More...
Public Member Functions inherited from RefTarget< Constraint >
	RefTarget ()=default
	Constructor. More...
	RefTarget (const RefTarget &)
	~RefTarget ()
	assert no one is referencing us More...
void	SetEmbedded () const
RefTarget &	operator= (const RefTarget &)
	Assignment operator. More...
uint32	GetRefCount () const
	Get current refcount of this object. More...
void	AddRef () const
	Add or release a reference to this object. More...
void	Release () const
Public Member Functions inherited from NonCopyable
	NonCopyable ()=default
	NonCopyable (const NonCopyable &)=delete
void	operator= (const NonCopyable &)=delete

Get Lagrange multiplier from last physics update (the linear/angular impulse applied to satisfy the constraint)
Vec3	GetTotalLambdaPosition () const
Vec3	GetTotalLambdaRotation () const
Vec3	GetTotalLambdaMotorTranslation () const
Vec3	GetTotalLambdaMotorRotation () const

Additional Inherited Members
Static Public Member Functions inherited from RefTarget< Constraint >
static int	sInternalGetRefCountOffset ()
	INTERNAL HELPER FUNCTION USED BY SERIALIZATION. More...
Protected Member Functions inherited from Constraint
void	ToConstraintSettings (ConstraintSettings &outSettings) const
	Helper function to copy settings back to constraint settings for this base class. More...
Protected Attributes inherited from TwoBodyConstraint
Body *	mBody1
	The two bodies involved. More...
Body *	mBody2
Protected Attributes inherited from Constraint
float	mDrawConstraintSize
	Size of constraint when drawing it through the debug renderer. More...
Protected Attributes inherited from RefTarget< Constraint >
atomic< uint32 >	mRefCount
	Current reference count. More...
Static Protected Attributes inherited from RefTarget< Constraint >
static constexpr uint32	cEmbedded
	A large value that gets added to the refcount to mark the object as embedded. More...

Detailed Description

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

Member Typedef Documentation

EAxis

using SixDOFConstraint::EAxis = SixDOFConstraintSettings::EAxis

Get Axis from settings class.

Constructor & Destructor Documentation

SixDOFConstraint()

SixDOFConstraint::SixDOFConstraint	(	Body &	inBody1,
		Body &	inBody2,
		const SixDOFConstraintSettings &	inSettings
	)

Construct six DOF constraint.

Member Function Documentation

DrawConstraint()

void SixDOFConstraint::DrawConstraint ( DebugRenderer *  inRenderer ) const

overridevirtual

Implements Constraint.

DrawConstraintLimits()

void SixDOFConstraint::DrawConstraintLimits ( DebugRenderer *  inRenderer ) const

overridevirtual

Reimplemented from Constraint.

GetConstraintSettings()

Ref< ConstraintSettings > SixDOFConstraint::GetConstraintSettings ( ) const

overridevirtual

Debug function to convert a constraint to its settings, note that this will not save to which bodies the constraint is connected to.

Implements Constraint.

GetConstraintToBody1Matrix()

virtual Mat44 SixDOFConstraint::GetConstraintToBody1Matrix ( ) const

inlineoverridevirtual

Calculates the transform that transforms from constraint space to body 1 space. The first column of the matrix is the primary constraint axis (e.g. the hinge axis / slider direction), second column the secondary etc.

Implements TwoBodyConstraint.

GetConstraintToBody2Matrix()

virtual Mat44 SixDOFConstraint::GetConstraintToBody2Matrix ( ) const

inlineoverridevirtual

Calculates the transform that transforms from constraint space to body 2 space. The first column of the matrix is the primary constraint axis (e.g. the hinge axis / slider direction), second column the secondary etc.

Implements TwoBodyConstraint.

GetLimitsMax()

float SixDOFConstraint::GetLimitsMax ( EAxis  inAxis ) const

inline

GetLimitsMin()

float SixDOFConstraint::GetLimitsMin ( EAxis  inAxis ) const

inline

Get constraint Limits.

GetLimitsSpringSettings()

const SpringSettings & SixDOFConstraint::GetLimitsSpringSettings ( EAxis  inAxis ) const

inline

Update the limits spring settings.

GetMaxFriction()

float SixDOFConstraint::GetMaxFriction ( EAxis  inAxis ) const

inline

GetMotorSettings() [1/2]

MotorSettings & SixDOFConstraint::GetMotorSettings ( EAxis  inAxis )

inline

Motor settings.

GetMotorSettings() [2/2]

const MotorSettings & SixDOFConstraint::GetMotorSettings ( EAxis  inAxis ) const

inline

GetMotorState()

EMotorState SixDOFConstraint::GetMotorState ( EAxis  inAxis ) const

inline

GetRotationInConstraintSpace()

Quat SixDOFConstraint::GetRotationInConstraintSpace

(

)

const

Get rotation of constraint in constraint space.

GetRotationLimitsMax()

Vec3 SixDOFConstraint::GetRotationLimitsMax ( ) const

inline

GetRotationLimitsMin()

Vec3 SixDOFConstraint::GetRotationLimitsMin ( ) const

inline

GetSubType()

virtual EConstraintSubType SixDOFConstraint::GetSubType ( ) const

inlineoverridevirtual

Generic interface of a constraint.

Implements Constraint.

GetTargetAngularVelocityCS()

Vec3 SixDOFConstraint::GetTargetAngularVelocityCS ( ) const

inline

GetTargetOrientationCS()

Quat SixDOFConstraint::GetTargetOrientationCS ( ) const

inline

GetTargetPositionCS()

Vec3 SixDOFConstraint::GetTargetPositionCS ( ) const

inline

Set the target position in body 1 constraint space.

GetTargetVelocityCS()

Vec3 SixDOFConstraint::GetTargetVelocityCS ( ) const

inline

Set the target velocity in body 1 constraint space.

GetTotalLambdaMotorRotation()

Vec3 SixDOFConstraint::GetTotalLambdaMotorRotation ( ) const

inline

GetTotalLambdaMotorTranslation()

Vec3 SixDOFConstraint::GetTotalLambdaMotorTranslation ( ) const

inline

GetTotalLambdaPosition()

Vec3 SixDOFConstraint::GetTotalLambdaPosition ( ) const

inline

GetTotalLambdaRotation()

Vec3 SixDOFConstraint::GetTotalLambdaRotation ( ) const

inline

GetTranslationLimitsMax()

Vec3 SixDOFConstraint::GetTranslationLimitsMax ( ) const

inline

GetTranslationLimitsMin()

Vec3 SixDOFConstraint::GetTranslationLimitsMin ( ) const

inline

IsFixedAxis()

bool SixDOFConstraint::IsFixedAxis ( EAxis  inAxis ) const

inline

Check which axis are fixed/free.

IsFreeAxis()

bool SixDOFConstraint::IsFreeAxis ( EAxis  inAxis ) const

inline

NotifyShapeChanged()

void SixDOFConstraint::NotifyShapeChanged ( const BodyID &  inBodyID, Vec3Arg  inDeltaCOM  )

overridevirtual

Notify the constraint that the shape of a body has changed and that its center of mass has moved by inDeltaCOM. Bodies don't know which constraints are connected to them so the user is responsible for notifying the relevant constraints when a body changes.

Parameters

inBodyID	ID of the body that has changed
inDeltaCOM	The delta of the center of mass of the body (shape->GetCenterOfMass() - shape_before_change->GetCenterOfMass())

Implements Constraint.

ResetWarmStart()

void SixDOFConstraint::ResetWarmStart ( )

overridevirtual

Notify the system that the configuration of the bodies and/or constraint has changed enough so that the warm start impulses should not be applied the next frame. You can use this function for example when repositioning a ragdoll through Ragdoll::SetPose in such a way that the orientation of the bodies completely changes so that the previous frame impulses are no longer a good approximation of what the impulses will be in the next frame. Calling this function when there are no big changes will result in the constraints being much 'softer' than usual so they are more easily violated (e.g. a long chain of bodies might sag a bit if you call this every frame).

Implements Constraint.

RestoreState()

void SixDOFConstraint::RestoreState ( StateRecorder &  inStream )

overridevirtual

Restoring state for replay.

Reimplemented from Constraint.

SaveState()

void SixDOFConstraint::SaveState ( StateRecorder &  inStream ) const

overridevirtual

Saving state for replay.

Reimplemented from Constraint.

SetLimitsSpringSettings()

void SixDOFConstraint::SetLimitsSpringSettings ( EAxis  inAxis, const SpringSettings &  inLimitsSpringSettings  )

inline

SetMaxFriction()

void SixDOFConstraint::SetMaxFriction	(	EAxis	inAxis,
		float	inFriction
	)

Set the max friction for each axis.

SetMotorState()

void SixDOFConstraint::SetMotorState	(	EAxis	inAxis,
		EMotorState	inState
	)

Motor controls. Translation motors work in constraint space of body 1. Rotation motors work in constraint space of body 2 (!).

SetRotationLimits()

void SixDOFConstraint::SetRotationLimits	(	Vec3Arg	inLimitMin,
		Vec3Arg	inLimitMax
	)

Update the rotational limits for this constraint.

SetTargetAngularVelocityCS()

void SixDOFConstraint::SetTargetAngularVelocityCS ( Vec3Arg  inAngularVelocity )

inline

Set the target angular velocity in body 2 constraint space (!)

SetTargetOrientationBS()

void SixDOFConstraint::SetTargetOrientationBS ( QuatArg  inOrientation )

inline

Set the target orientation in body space (R2 = R1 * inOrientation, where R1 and R2 are the world space rotations for body 1 and 2). Solve: R2 * ConstraintToBody2 = R1 * ConstraintToBody1 * q (see SwingTwistConstraint::GetSwingTwist) and R2 = R1 * inOrientation for q.

SetTargetOrientationCS()

void SixDOFConstraint::SetTargetOrientationCS

(

QuatArg

inOrientation

)

Set the target orientation in body 1 constraint space.

SetTargetPositionCS()

void SixDOFConstraint::SetTargetPositionCS ( Vec3Arg  inPosition )

inline

SetTargetVelocityCS()

void SixDOFConstraint::SetTargetVelocityCS ( Vec3Arg  inVelocity )

inline

SetTranslationLimits()

void SixDOFConstraint::SetTranslationLimits	(	Vec3Arg	inLimitMin,
		Vec3Arg	inLimitMax
	)

Update the translation limits for this constraint.

SetupVelocityConstraint()

void SixDOFConstraint::SetupVelocityConstraint ( float  inDeltaTime )

overridevirtual

Implements Constraint.

SolvePositionConstraint()

bool SixDOFConstraint::SolvePositionConstraint ( float  inDeltaTime, float  inBaumgarte  )

overridevirtual

Implements Constraint.

SolveVelocityConstraint()

bool SixDOFConstraint::SolveVelocityConstraint ( float  inDeltaTime )

overridevirtual

Implements Constraint.

WarmStartVelocityConstraint()

void SixDOFConstraint::WarmStartVelocityConstraint ( float  inWarmStartImpulseRatio )

overridevirtual

Implements Constraint.

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

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