#include <SwingTwistConstraint.h>

Inheritance diagram for SwingTwistConstraintSettings:

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.

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

Vec3	mTwistAxis1 = Vec3::sAxisX()

Vec3	mPlaneAxis1 = Vec3::sAxisY()

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

Vec3	mTwistAxis2 = Vec3::sAxisX()

Vec3	mPlaneAxis2 = Vec3::sAxisY()

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

Swing rotation limits
float	mNormalHalfConeAngle = 0.0f
	See image at Detailed Description. Angle in radians.

float	mPlaneHalfConeAngle = 0.0f
	See image at Detailed Description. Angle in radians.

Twist rotation limits
float	mTwistMinAngle = 0.0f
	See image at Detailed Description. Angle in radians. Should be \(\in [-\pi, \pi]\).

float	mTwistMaxAngle = 0.0f
	See image at Detailed Description. Angle in radians. Should be \(\in [-\pi, \pi]\).

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

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)

In case the constraint is powered, this determines the motor settings around the swing and twist axis
MotorSettings	mSwingMotorSettings

MotorSettings	mTwistMotorSettings

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

Swing twist constraint settings, used to create a swing twist constraint All values in this structure are copied to the swing twist constraint and the settings object is no longer needed afterwards.

This image describes the limit settings:

Member Function Documentation

◆ Create()

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

overridevirtual

Create an instance of this constraint.

Implements TwoBodyConstraintSettings.

◆ RestoreBinaryState()

void SwingTwistConstraintSettings::RestoreBinaryState ( StreamIn & inStream )

overrideprotectedvirtual

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

Reimplemented from ConstraintSettings.

◆ SaveBinaryState()

void SwingTwistConstraintSettings::SaveBinaryState ( StreamOut & inStream ) const

overridevirtual

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

Reimplemented from ConstraintSettings.

Member Data Documentation

◆ mMaxFrictionTorque

float SwingTwistConstraintSettings::mMaxFrictionTorque = 0.0f

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

◆ mNormalHalfConeAngle

float SwingTwistConstraintSettings::mNormalHalfConeAngle = 0.0f

See image at Detailed Description. Angle in radians.

◆ mPlaneAxis1

Vec3 SwingTwistConstraintSettings::mPlaneAxis1 = Vec3::sAxisY()

◆ mPlaneAxis2

Vec3 SwingTwistConstraintSettings::mPlaneAxis2 = Vec3::sAxisY()

◆ mPlaneHalfConeAngle

float SwingTwistConstraintSettings::mPlaneHalfConeAngle = 0.0f

See image at Detailed Description. Angle in radians.

◆ mPosition1

RVec3 SwingTwistConstraintSettings::mPosition1 = RVec3::sZero()

◆ mPosition2

RVec3 SwingTwistConstraintSettings::mPosition2 = RVec3::sZero()

◆ mSpace

EConstraintSpace SwingTwistConstraintSettings::mSpace = EConstraintSpace::WorldSpace

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

◆ mSwingMotorSettings

MotorSettings SwingTwistConstraintSettings::mSwingMotorSettings

◆ mSwingType

ESwingType SwingTwistConstraintSettings::mSwingType = ESwingType::Cone

The type of swing constraint that we want to use.

◆ mTwistAxis1

Vec3 SwingTwistConstraintSettings::mTwistAxis1 = Vec3::sAxisX()

◆ mTwistAxis2

Vec3 SwingTwistConstraintSettings::mTwistAxis2 = Vec3::sAxisX()

◆ mTwistMaxAngle

float SwingTwistConstraintSettings::mTwistMaxAngle = 0.0f

See image at Detailed Description. Angle in radians. Should be \(\in [-\pi, \pi]\).

◆ mTwistMinAngle

float SwingTwistConstraintSettings::mTwistMinAngle = 0.0f