SwingTwistConstraint Class Reference

#include <SwingTwistConstraint.h>

Inheritance diagram for SwingTwistConstraint:

Public Member Functions
JPH_OVERRIDE_NEW_DELETE	SwingTwistConstraint (Body &inBody1, Body &inBody2, const SwingTwistConstraintSettings &inSettings)
	Construct swing twist constraint. More...
Generic interface of a constraint
virtual EConstraintSubType	GetSubType () const override
	Get the sub type 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...
Constraint reference frame
Vec3	GetLocalSpacePosition1 () const
Vec3	GetLocalSpacePosition2 () const
Quat	GetConstraintToBody1 () const
Quat	GetConstraintToBody2 () const
Constraint limits
float	GetNormalHalfConeAngle () const
void	SetNormalHalfConeAngle (float inAngle)
float	GetPlaneHalfConeAngle () const
void	SetPlaneHalfConeAngle (float inAngle)
float	GetTwistMinAngle () const
void	SetTwistMinAngle (float inAngle)
float	GetTwistMaxAngle () const
void	SetTwistMaxAngle (float inAngle)
Motor settings
const MotorSettings &	GetSwingMotorSettings () const
MotorSettings &	GetSwingMotorSettings ()
const MotorSettings &	GetTwistMotorSettings () const
MotorSettings &	GetTwistMotorSettings ()
Friction control
void	SetMaxFrictionTorque (float inFrictionTorque)
float	GetMaxFrictionTorque () const
Motor controls
void	SetSwingMotorState (EMotorState inState)
	Controls if the motors are on or off. More...
EMotorState	GetSwingMotorState () const
void	SetTwistMotorState (EMotorState inState)
EMotorState	GetTwistMotorState () const
void	SetTargetAngularVelocityCS (Vec3Arg inAngularVelocity)
	Set the target angular velocity of body 2 in constraint space of body 2. More...
Vec3	GetTargetAngularVelocityCS () const
void	SetTargetOrientationCS (QuatArg inOrientation)
	Set the target orientation in constraint space (drives constraint to: GetRotationInConstraintSpace() == inOrientation) More...
Quat	GetTargetOrientationCS () const
void	SetTargetOrientationBS (QuatArg inOrientation)
Quat	GetRotationInConstraintSpace () const
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
float	GetTotalLambdaTwist () const
float	GetTotalLambdaSwingY () const
float	GetTotalLambdaSwingZ () const
Vec3	GetTotalLambdaMotor () 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

A swing twist constraint is a specialized constraint for humanoid ragdolls that allows limited rotation only

See also

SwingTwistConstraintSettings for a description of the limits

Constructor & Destructor Documentation

SwingTwistConstraint()

SwingTwistConstraint::SwingTwistConstraint	(	Body &	inBody1,
		Body &	inBody2,
		const SwingTwistConstraintSettings &	inSettings
	)

Construct swing twist constraint.

Member Function Documentation

DrawConstraint()

void SwingTwistConstraint::DrawConstraint ( DebugRenderer *  inRenderer ) const

overridevirtual

Implements Constraint.

DrawConstraintLimits()

void SwingTwistConstraint::DrawConstraintLimits ( DebugRenderer *  inRenderer ) const

overridevirtual

Reimplemented from Constraint.

GetConstraintSettings()

Ref< ConstraintSettings > SwingTwistConstraint::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.

GetConstraintToBody1()

Quat SwingTwistConstraint::GetConstraintToBody1 ( ) const

inline

GetConstraintToBody1Matrix()

virtual Mat44 SwingTwistConstraint::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.

GetConstraintToBody2()

Quat SwingTwistConstraint::GetConstraintToBody2 ( ) const

inline

GetConstraintToBody2Matrix()

virtual Mat44 SwingTwistConstraint::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.

GetLocalSpacePosition1()

Vec3 SwingTwistConstraint::GetLocalSpacePosition1 ( ) const

inline

GetLocalSpacePosition2()

Vec3 SwingTwistConstraint::GetLocalSpacePosition2 ( ) const

inline

GetMaxFrictionTorque()

float SwingTwistConstraint::GetMaxFrictionTorque ( ) const

inline

GetNormalHalfConeAngle()

float SwingTwistConstraint::GetNormalHalfConeAngle ( ) const

inline

GetPlaneHalfConeAngle()

float SwingTwistConstraint::GetPlaneHalfConeAngle ( ) const

inline

GetRotationInConstraintSpace()

Quat SwingTwistConstraint::GetRotationInConstraintSpace

(

)

const

Get current rotation of constraint in constraint space. Solve: R2 * ConstraintToBody2 = R1 * ConstraintToBody1 * q for q.

GetSubType()

virtual EConstraintSubType SwingTwistConstraint::GetSubType ( ) const

inlineoverridevirtual

Get the sub type of a constraint.

Implements Constraint.

GetSwingMotorSettings() [1/2]

MotorSettings & SwingTwistConstraint::GetSwingMotorSettings ( )

inline

GetSwingMotorSettings() [2/2]

const MotorSettings & SwingTwistConstraint::GetSwingMotorSettings ( ) const

inline

GetSwingMotorState()

EMotorState SwingTwistConstraint::GetSwingMotorState ( ) const

inline

GetTargetAngularVelocityCS()

Vec3 SwingTwistConstraint::GetTargetAngularVelocityCS ( ) const

inline

GetTargetOrientationCS()

Quat SwingTwistConstraint::GetTargetOrientationCS ( ) const

inline

GetTotalLambdaMotor()

Vec3 SwingTwistConstraint::GetTotalLambdaMotor ( ) const

inline

GetTotalLambdaPosition()

Vec3 SwingTwistConstraint::GetTotalLambdaPosition ( ) const

inline

GetTotalLambdaSwingY()

float SwingTwistConstraint::GetTotalLambdaSwingY ( ) const

inline

GetTotalLambdaSwingZ()

float SwingTwistConstraint::GetTotalLambdaSwingZ ( ) const

inline

GetTotalLambdaTwist()

float SwingTwistConstraint::GetTotalLambdaTwist ( ) const

inline

GetTwistMaxAngle()

float SwingTwistConstraint::GetTwistMaxAngle ( ) const

inline

GetTwistMinAngle()

float SwingTwistConstraint::GetTwistMinAngle ( ) const

inline

GetTwistMotorSettings() [1/2]

MotorSettings & SwingTwistConstraint::GetTwistMotorSettings ( )

inline

GetTwistMotorSettings() [2/2]

const MotorSettings & SwingTwistConstraint::GetTwistMotorSettings ( ) const

inline

GetTwistMotorState()

EMotorState SwingTwistConstraint::GetTwistMotorState ( ) const

inline

NotifyShapeChanged()

void SwingTwistConstraint::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 SwingTwistConstraint::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 SwingTwistConstraint::RestoreState ( StateRecorder &  inStream )

overridevirtual

Restoring state for replay.

Reimplemented from Constraint.

SaveState()

void SwingTwistConstraint::SaveState ( StateRecorder &  inStream ) const

overridevirtual

Saving state for replay.

Reimplemented from Constraint.

SetMaxFrictionTorque()

void SwingTwistConstraint::SetMaxFrictionTorque ( float  inFrictionTorque )

inline

SetNormalHalfConeAngle()

void SwingTwistConstraint::SetNormalHalfConeAngle ( float  inAngle )

inline

SetPlaneHalfConeAngle()

void SwingTwistConstraint::SetPlaneHalfConeAngle ( float  inAngle )

inline

SetSwingMotorState()

void SwingTwistConstraint::SetSwingMotorState

(

EMotorState

inState

)

Controls if the motors are on or off.

SetTargetAngularVelocityCS()

void SwingTwistConstraint::SetTargetAngularVelocityCS ( Vec3Arg  inAngularVelocity )

inline

Set the target angular velocity of body 2 in constraint space of body 2.

SetTargetOrientationBS()

void SwingTwistConstraint::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 SwingTwistConstraint::SetTargetOrientationCS

(

QuatArg

inOrientation

)

Set the target orientation in constraint space (drives constraint to: GetRotationInConstraintSpace() == inOrientation)

SetTwistMaxAngle()

void SwingTwistConstraint::SetTwistMaxAngle ( float  inAngle )

inline

SetTwistMinAngle()

void SwingTwistConstraint::SetTwistMinAngle ( float  inAngle )

inline

SetTwistMotorState()

void SwingTwistConstraint::SetTwistMotorState

(

EMotorState

inState

)

SetupVelocityConstraint()

void SwingTwistConstraint::SetupVelocityConstraint ( float  inDeltaTime )

overridevirtual

Implements Constraint.

SolvePositionConstraint()

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

overridevirtual

Implements Constraint.

SolveVelocityConstraint()

bool SwingTwistConstraint::SolveVelocityConstraint ( float  inDeltaTime )

overridevirtual

Implements Constraint.

WarmStartVelocityConstraint()

void SwingTwistConstraint::WarmStartVelocityConstraint ( float  inWarmStartImpulseRatio )

overridevirtual

Implements Constraint.

---

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

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