Collider Constraint. More...

#include <deColliderConstraint.h>

Public Types
enum	eDegreesOfFreedom { edofLinearX , edofLinearY , edofLinearZ , edofAngularX , edofAngularY , edofAngularZ }
	Degrees of freedom. More...

Public Member Functions
Constructors and Destructors
	deColliderConstraint ()
	Create new collider constraint. More...

	deColliderConstraint (const deColliderConstraint &constraint)
	Create new collider constraint as a copy of another constraint. More...

virtual	~deColliderConstraint ()
	Clean up collider constraint. More...

Management
deCollider *	GetTargetCollider () const
	Target collider or NULL to constraint to the world. More...

void	SetTargetCollider (deCollider *collider)
	Set target collider or NULL to constraint to the world. More...

const decString &	GetTargetBone () const
	Name of the target bone. More...

void	SetTargetBone (const char *bone)
	Set name of the target bone. More...

const decVector &	GetPosition1 () const
	Position of the reference coordinate system. More...

void	SetPosition1 (const decVector &position)
	Set position of the reference coordinate system. More...

const decQuaternion &	GetOrientation1 () const
	Orientation of the reference coordinate system. More...

void	SetOrientation1 (const decQuaternion &orientation)
	Set orientation of the reference coordinate system. More...

const decVector &	GetPosition2 () const
	Position of the reference coordinate system. More...

void	SetPosition2 (const decVector &position)
	Set position of the reference coordinate system. More...

const decQuaternion &	GetOrientation2 () const
	Orientation of the reference coordinate system. More...

void	SetOrientation2 (const decQuaternion &orientation)
	Set orientation of the reference coordinate system. More...

deColliderConstraintDof &	GetDof (eDegreesOfFreedom dof)
	Retrieves a degree of freedom. More...

const deColliderConstraintDof &	GetDof (eDegreesOfFreedom dof) const

deColliderConstraintDof &	GetDofLinearX ()
	X-axis linear degree of freedom. More...

const deColliderConstraintDof &	GetDofLinearX () const

deColliderConstraintDof &	GetDofLinearY ()
	Y-axis linear degree of freedom. More...

const deColliderConstraintDof &	GetDofLinearY () const

deColliderConstraintDof &	GetDofLinearZ ()
	Z-axis linear degree of freedom. More...

const deColliderConstraintDof &	GetDofLinearZ () const

deColliderConstraintDof &	GetDofAngularX ()
	X-axis angular degree of freedom. More...

const deColliderConstraintDof &	GetDofAngularX () const

deColliderConstraintDof &	GetDofAngularY ()
	Y-axis angular degree of freedom. More...

const deColliderConstraintDof &	GetDofAngularY () const

deColliderConstraintDof &	GetDofAngularZ ()
	Z-axis angular degree of freedom. More...

const deColliderConstraintDof &	GetDofAngularZ () const

float	GetLinearDamping () const
	Linear damping. More...

void	SetLinearDamping (float damping)
	Set linear damping. More...

float	GetAngularDamping () const
	Angular damping. More...

void	SetAngularDamping (float damping)
	Set angular damping. More...

float	GetSpringDamping () const
	Spring damping. More...

void	SetSpringDamping (float damping)
	Set spring damping. More...

void	LockAll ()
	Locks all degrees of freedom. More...

void	SetToBallJoint ()
	Locks all linear degrees of freedom and sets all angular degrees of freedom free. More...

void	SetToHingeJoint (eDegreesOfFreedom degreeOfFreedom, float lowerLimit, float upperLimit)
	Set upper and lower limit for angular degree of freedom and locks all others (hinge joint). More...

void	SetToPistonJoint (eDegreesOfFreedom degreeOfFreedom, float lowerLimit, float upperLimit)
	Set upper and lower limit for linear degree of freem and locks all others. More...

void	SetSpringLinear1D (eDegreesOfFreedom degreeOfFreedom, float stiffness, float damping, float bendStiffness)
	Set a one-dimensional linear spring with bending properties. More...

bool	GetIsRope () const
	Determines if this constraint is a rope. More...

void	SetIsRope (bool isRope)
	Sets if this constraint is a rope. More...

float	GetBreakingThreshold () const
	Breaking impulse threshold or 0 if disabled. More...

void	SetBreakingThreshold (float impulseThreshold)
	Set breaking impulse threshold or 0 to disable. More...

int	GetBone () const
	Bone index or -1 if constraint the entire collider. More...

void	SetBone (int bone)
	Set bone index or -1 if constraint the entire collider. More...

Operators
deColliderConstraint &	operator= (const deColliderConstraint &constraint)
	Set constraint with parameters from another constraint. More...

Detailed Description

Collider Constraint.

Defines a constraint for a collider. Constraints can be used for colliders attached or colliders itself. If used on an attachement the attached collider is constraint to the parent collider. If used on a collider it is constraint to the static world. Constraints are defined in a generic way as a 6-Dof ( degreees of freedom ) type constraint. Two coordinate systems are defined for the two constraint partners. Each degree of freedom can be either locked, limited or free. If limited the upper and lower limit can be set. There are three linear and three angular degrees of freedom. The linear degrees of freedom allow the constraint partner to move translational relative to a given major axis whereas the angular degrees of freedom allow rotation about a major axis.

A degree of freedom is considered locked if the upper and lower limit are equal. It is considered free if the upper limit is smaller than the lower limit. In all other cases the degree of freedom is limited.

By default all degrees of freedom are locked.

In addition each degree of freedom can be turned into a spring type degree of freedom. A degree of freedom can be limited or free while being a spring or not. The spring is defined using the constants found in Hooke's Law therefore F=-k*x . The stiffness sprint constant equals to the k constant defining the percentage of the distance stretched away from the equilibrium position applied as force. Hence k is given as [N/m]. The spring damping determines the amount of energy lost over time. A stiffness of 0 disables spring behavior for a given degree of freedom.

A constraint can also be defined as a rope. If the constraint is a rope no collision shape is required on the affected colliders as the constraint itself becomes a rope shape.

A constraint can be set to break if an impulse larger than a threshold value affects the constraint object along a degree of freedom. The physics module is responsible to translate these settings into a useful simulation configuration and can vary. By default a degree of freedom does not break.

Member Enumeration Documentation

◆ eDegreesOfFreedom

enum deColliderConstraint::eDegreesOfFreedom

Degrees of freedom.

Enumerator
edofLinearX	Linear along the X-Axis.
edofLinearY	Linear along the Y-Axis.
edofLinearZ	Linear along the Z-Axis.
edofAngularX	Angular around the X-Axis.
edofAngularY	Angular around the Y-Axis.
edofAngularZ	Angular around the Z-Axis.

Constructor & Destructor Documentation

◆ deColliderConstraint() [1/2]

deColliderConstraint::deColliderConstraint ( )

Create new collider constraint.

◆ deColliderConstraint() [2/2]

deColliderConstraint::deColliderConstraint ( const deColliderConstraint & constraint )

Create new collider constraint as a copy of another constraint.

◆ ~deColliderConstraint()

virtual deColliderConstraint::~deColliderConstraint ( )

virtual

Clean up collider constraint.

Member Function Documentation

◆ GetAngularDamping()

float deColliderConstraint::GetAngularDamping ( ) const

inline

Angular damping.

◆ GetBone()

int deColliderConstraint::GetBone ( ) const

inline

Bone index or -1 if constraint the entire collider.

◆ GetBreakingThreshold()

float deColliderConstraint::GetBreakingThreshold ( ) const

inline

Breaking impulse threshold or 0 if disabled.

◆ GetDof() [1/2]

deColliderConstraintDof& deColliderConstraint::GetDof ( eDegreesOfFreedom dof )

Retrieves a degree of freedom.

◆ GetDof() [2/2]

const deColliderConstraintDof& deColliderConstraint::GetDof ( eDegreesOfFreedom dof ) const

◆ GetDofAngularX() [1/2]

deColliderConstraintDof& deColliderConstraint::GetDofAngularX ( )

inline

X-axis angular degree of freedom.

◆ GetDofAngularX() [2/2]

const deColliderConstraintDof& deColliderConstraint::GetDofAngularX ( ) const

inline

◆ GetDofAngularY() [1/2]

deColliderConstraintDof& deColliderConstraint::GetDofAngularY ( )

inline

Y-axis angular degree of freedom.

◆ GetDofAngularY() [2/2]

const deColliderConstraintDof& deColliderConstraint::GetDofAngularY ( ) const

inline

◆ GetDofAngularZ() [1/2]

deColliderConstraintDof& deColliderConstraint::GetDofAngularZ ( )

inline

Z-axis angular degree of freedom.

◆ GetDofAngularZ() [2/2]

const deColliderConstraintDof& deColliderConstraint::GetDofAngularZ ( ) const

inline

◆ GetDofLinearX() [1/2]

deColliderConstraintDof& deColliderConstraint::GetDofLinearX ( )

inline

X-axis linear degree of freedom.

◆ GetDofLinearX() [2/2]

const deColliderConstraintDof& deColliderConstraint::GetDofLinearX ( ) const

inline

◆ GetDofLinearY() [1/2]

deColliderConstraintDof& deColliderConstraint::GetDofLinearY ( )

inline

Y-axis linear degree of freedom.

◆ GetDofLinearY() [2/2]

const deColliderConstraintDof& deColliderConstraint::GetDofLinearY ( ) const

inline

◆ GetDofLinearZ() [1/2]

deColliderConstraintDof& deColliderConstraint::GetDofLinearZ ( )

inline

Z-axis linear degree of freedom.

◆ GetDofLinearZ() [2/2]

const deColliderConstraintDof& deColliderConstraint::GetDofLinearZ ( ) const

inline

◆ GetIsRope()

bool deColliderConstraint::GetIsRope ( ) const

inline

Determines if this constraint is a rope.

◆ GetLinearDamping()

float deColliderConstraint::GetLinearDamping ( ) const

inline

Linear damping.

◆ GetOrientation1()

const decQuaternion& deColliderConstraint::GetOrientation1 ( ) const

inline

Orientation of the reference coordinate system.

◆ GetOrientation2()

const decQuaternion& deColliderConstraint::GetOrientation2 ( ) const

inline

Orientation of the reference coordinate system.

◆ GetPosition1()

const decVector& deColliderConstraint::GetPosition1 ( ) const

inline

Position of the reference coordinate system.

◆ GetPosition2()

const decVector& deColliderConstraint::GetPosition2 ( ) const

inline

Position of the reference coordinate system.

◆ GetSpringDamping()

float deColliderConstraint::GetSpringDamping ( ) const

inline

Spring damping.

◆ GetTargetBone()

const decString& deColliderConstraint::GetTargetBone ( ) const

inline

Name of the target bone.

◆ GetTargetCollider()

deCollider* deColliderConstraint::GetTargetCollider ( ) const

inline

Target collider or NULL to constraint to the world.

◆ LockAll()

void deColliderConstraint::LockAll ( )

Locks all degrees of freedom.

◆ operator=()

deColliderConstraint& deColliderConstraint::operator= ( const deColliderConstraint & constraint )

Set constraint with parameters from another constraint.

◆ SetAngularDamping()

void deColliderConstraint::SetAngularDamping ( float damping )

Set angular damping.

◆ SetBone()

void deColliderConstraint::SetBone ( int bone )

Set bone index or -1 if constraint the entire collider.

◆ SetBreakingThreshold()

void deColliderConstraint::SetBreakingThreshold ( float impulseThreshold )

Set breaking impulse threshold or 0 to disable.

◆ SetIsRope()

void deColliderConstraint::SetIsRope ( bool isRope )

Sets if this constraint is a rope.

◆ SetLinearDamping()

void deColliderConstraint::SetLinearDamping ( float damping )

Set linear damping.

◆ SetOrientation1()

void deColliderConstraint::SetOrientation1 ( const decQuaternion & orientation )

Set orientation of the reference coordinate system.

◆ SetOrientation2()

void deColliderConstraint::SetOrientation2 ( const decQuaternion & orientation )

Set orientation of the reference coordinate system.

◆ SetPosition1()

void deColliderConstraint::SetPosition1 ( const decVector & position )

Set position of the reference coordinate system.

◆ SetPosition2()

void deColliderConstraint::SetPosition2 ( const decVector & position )

Set position of the reference coordinate system.

◆ SetSpringDamping()

void deColliderConstraint::SetSpringDamping ( float damping )

Set spring damping.

◆ SetSpringLinear1D()

void deColliderConstraint::SetSpringLinear1D	(	eDegreesOfFreedom	degreeOfFreedom,
		float	stiffness,
		float	damping,
		float	bendStiffness
	)

Set a one-dimensional linear spring with bending properties.

The given linear degree of freedom is set free with the given spring stiffness and damping. All other linear degrees of freedom are set free to with the given bending stiffness and damping. All angular degrees of freedom are locked.

◆ SetTargetBone()

void deColliderConstraint::SetTargetBone ( const char * bone )

Set name of the target bone.

◆ SetTargetCollider()

void deColliderConstraint::SetTargetCollider ( deCollider * collider )

Set target collider or NULL to constraint to the world.

◆ SetToBallJoint()

void deColliderConstraint::SetToBallJoint ( )

Locks all linear degrees of freedom and sets all angular degrees of freedom free.

◆ SetToHingeJoint()

void deColliderConstraint::SetToHingeJoint	(	eDegreesOfFreedom	degreeOfFreedom,
		float	lowerLimit,
		float	upperLimit
	)

Set upper and lower limit for angular degree of freedom and locks all others (hinge joint).

◆ SetToPistonJoint()

void deColliderConstraint::SetToPistonJoint	(	eDegreesOfFreedom	degreeOfFreedom,
		float	lowerLimit,
		float	upperLimit
	)

Set upper and lower limit for linear degree of freem and locks all others.

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

deColliderConstraint.h

Public Types

Public Member Functions

Detailed Description

Member Enumeration Documentation

◆ eDegreesOfFreedom

Constructor & Destructor Documentation

◆ deColliderConstraint() [1/2]

◆ deColliderConstraint() [2/2]

◆ ~deColliderConstraint()

Member Function Documentation

◆ GetAngularDamping()

◆ GetBone()

◆ GetBreakingThreshold()

◆ GetDof() [1/2]

◆ GetDof() [2/2]

◆ GetDofAngularX() [1/2]

◆ GetDofAngularX() [2/2]

◆ GetDofAngularY() [1/2]

◆ GetDofAngularY() [2/2]

◆ GetDofAngularZ() [1/2]

◆ GetDofAngularZ() [2/2]

◆ GetDofLinearX() [1/2]

◆ GetDofLinearX() [2/2]

◆ GetDofLinearY() [1/2]

◆ GetDofLinearY() [2/2]

◆ GetDofLinearZ() [1/2]

◆ GetDofLinearZ() [2/2]

◆ GetIsRope()

◆ GetLinearDamping()

◆ GetOrientation1()

◆ GetOrientation2()

◆ GetPosition1()

◆ GetPosition2()

◆ GetSpringDamping()

◆ GetTargetBone()

◆ GetTargetCollider()

◆ LockAll()

◆ operator=()

◆ SetAngularDamping()

◆ SetBone()

◆ SetBreakingThreshold()

◆ SetIsRope()

◆ SetLinearDamping()

◆ SetOrientation1()

◆ SetOrientation2()

◆ SetPosition1()

◆ SetPosition2()

◆ SetSpringDamping()

◆ SetSpringLinear1D()

◆ SetTargetBone()

◆ SetTargetCollider()

◆ SetToBallJoint()

◆ SetToHingeJoint()

◆ SetToPistonJoint()