Physics constraint component. Connects two rigid bodies together, or one rigid body to a static point. More...

#include <Urho3D/Physics/Constraint.h>

Inheritance diagram for Urho3D::Constraint:

Public Member Functions
	Constraint (Context *context)
	Construct.

	~Constraint () override
	Destruct.

void	ApplyAttributes () override
	Apply attribute changes that can not be applied immediately. Called after scene load or a network update.

void	OnSetEnabled () override
	Handle enabled/disabled state change.

void	GetDependencyNodes (ea::vector< Node * > &dest) override
	Return the depended on nodes to order network updates.

void	DrawDebugGeometry (DebugRenderer *debug, bool depthTest) override
	Visualize the component as debug geometry.

void	SetConstraintType (ConstraintType type)

void	SetOtherBody (RigidBody *body)

void	SetPosition (const Vector3 &position)

void	SetRotation (const Quaternion &rotation)

void	SetAxis (const Vector3 &axis)

void	SetOtherPosition (const Vector3 &position)

void	SetOtherRotation (const Quaternion &rotation)

void	SetOtherAxis (const Vector3 &axis)

void	SetWorldPosition (const Vector3 &position)

void	SetHighLimit (const Vector2 &limit)

void	SetLowLimit (const Vector2 &limit)

void	SetERP (float erp)

void	SetCFM (float cfm)

void	SetDisableCollision (bool disable)

PhysicsWorld *	GetPhysicsWorld () const
	Return physics world.

btTypedConstraint *	GetConstraint () const
	Return Bullet constraint.

ConstraintType	GetConstraintType () const

RigidBody *	GetOwnBody () const

RigidBody *	GetOtherBody () const

const Vector3 &	GetPosition () const

const Quaternion &	GetRotation () const

const Vector3 &	GetOtherPosition () const

const Quaternion &	GetOtherRotation () const

Vector3	GetWorldPosition () const

const Vector2 &	GetHighLimit () const

const Vector2 &	GetLowLimit () const

float	GetERP () const

float	GetCFM () const

bool	GetDisableCollision () const

void	ReleaseConstraint ()
	Release the constraint.

void	ApplyFrames ()
	Apply constraint frames.

Public Member Functions inherited from Urho3D::Component
	Component (Context *context)
	Construct.

	~Component () override
	Destruct.

AttributeScopeHint	GetEffectiveScopeHint () const

bool	Save (Serializer &dest) const override
	Save as binary data. Return true if successful.

bool	SaveXML (XMLElement &dest) const override
	Save as XML data. Return true if successful.

bool	SaveJSON (JSONValue &dest) const override
	Save as JSON data. Return true if successful.

virtual bool	HasAuxiliaryData () const

virtual void	SerializeAuxiliaryData (Archive &archive)
	Serialize auxiliary data from/to the current block of the archive. May throw ArchiveException.

void	SetEnabled (bool enable)

void	Remove ()
	Remove from the scene node. If no other shared pointer references exist, causes immediate deletion.

unsigned	GetID () const

Node *	GetNode () const

Scene *	GetScene () const
	Return the scene the node belongs to.

bool	IsEnabled () const

bool	IsEnabledEffective () const

ea::string	GetFullNameDebug () const
	Return full component name for debugging. Unique for each component in the scene. Slow!

Component *	GetComponent (StringHash type) const
	Return component in the same scene node by type. If there are several, returns the first.

template<class T >
T *	GetComponent () const
	Template version of returning a component in the same scene node by type.

unsigned	GetIndexInParent () const
	Return index of this component in the node.

Public Member Functions inherited from Urho3D::Serializable
	Serializable (Context *context)
	Construct.

	~Serializable () override
	Destruct.

virtual void	OnSetAttribute (const AttributeInfo &attr, const Variant &src)
	Handle attribute write access. Default implementation writes to the variable at offset, or invokes the set accessor.

virtual void	OnGetAttribute (const AttributeInfo &attr, Variant &dest) const
	Handle attribute read access. Default implementation reads the variable at offset, or invokes the get accessor.

virtual ObjectReflection *	GetReflection () const
	Return reflection used for serialization.

virtual const ea::vector< AttributeInfo > *	GetAttributes () const
	Return attribute descriptions, or null if none defined.

void	SerializeInBlock (Archive &archive) override
	Serialize content from/to archive. May throw ArchiveException.

void	SerializeInBlock (Archive &archive, bool serializeTemporary)

virtual bool	Load (Deserializer &source)
	Load from binary data. Return true if successful.

virtual bool	LoadXML (const XMLElement &source)
	Load from XML data. Return true if successful.

virtual bool	LoadJSON (const JSONValue &source)
	Load from JSON data. Return true if successful.

virtual bool	Load (const ea::string &resourceName)
	Load from binary resource.

virtual bool	LoadXML (const ea::string &resourceName)
	Load from XML resource.

virtual bool	LoadJSON (const ea::string &resourceName)
	Load from JSON resource.

virtual bool	LoadFile (const ea::string &resourceName)
	Load from resource of automatically detected type.

virtual bool	SaveDefaultAttributes (const AttributeInfo &attr) const
	Return whether should save default-valued attributes into XML. Default false.

bool	SetAttribute (unsigned index, const Variant &value)

bool	SetAttribute (const ea::string &name, const Variant &value)
	Set attribute by name. Return true if successfully set.

void	SetInstanceDefault (bool enable)
	(Internal use) Set instance-level default flag.

void	SetInstanceDefault (const ea::string &name, const Variant &defaultValue)
	(Internal use) Set instance-level default value. Allocate the internal data structure as necessary.

virtual Variant	GetInstanceDefault (const ea::string &name) const
	(Internal use) Get instance-level default value.

void	ResetToDefault ()
	Reset all editable attributes to their default values.

void	RemoveInstanceDefault ()
	Remove instance's default values if they are set previously.

void	SetTemporary (bool enable)

Variant	GetAttribute (unsigned index) const

Variant	GetAttribute (const ea::string &name) const
	Return attribute value by name. Return empty if not found.

Variant	GetAttributeDefault (unsigned index) const

Variant	GetAttributeDefault (const ea::string &name) const
	Return attribute default value by name. Return empty if not found.

unsigned	GetNumAttributes () const

void	CopyAttributes (const Serializable *source, bool resetToDefault=true)
	Copy all attributes from another serializable.

SharedPtr< Serializable >	Clone (bool resetToDefault=true) const
	Clone this serializable.

bool	IsTemporary () const

Public Member Functions inherited from Urho3D::Object
	Object (Context *context)
	Construct.

	~Object () override
	Destruct. Clean up self from event sender & receiver structures.

virtual StringHash	GetType () const =0

virtual const ea::string &	GetTypeName () const =0

virtual const TypeInfo *	GetTypeInfo () const =0
	Return type info.

virtual bool	IsInstanceOf (StringHash type) const =0
	Check whether current instance implements specified type.

virtual void	OnEvent (Object *sender, StringHash eventType, VariantMap &eventData)
	Handle event.

template<typename T >
bool	IsInstanceOf () const
	Check current instance is type of specified class.

template<typename T >
T *	Cast ()
	Cast the object to specified most derived class.

template<typename T >
const T *	Cast () const
	Cast the object to specified most derived class.

void	SubscribeToEventManual (StringHash eventType, EventHandler *handler)
	Subscribe to an event that can be sent by any sender.

void	SubscribeToEventManual (Object sender, StringHash eventType, EventHandler handler)
	Subscribe to a specific sender's event.

template<class T >
void	SubscribeToEvent (StringHash eventType, T handler)
	Subscribe to an event that can be sent by any sender.

template<class T >
void	SubscribeToEvent (Object *sender, StringHash eventType, T handler)
	Subscribe to a specific sender's event.

void	UnsubscribeFromEvent (StringHash eventType)
	Unsubscribe from an event.

void	UnsubscribeFromEvent (Object *sender, StringHash eventType)
	Unsubscribe from a specific sender's event.

void	UnsubscribeFromEvents (Object *sender)
	Unsubscribe from a specific sender's events.

void	UnsubscribeFromAllEvents ()
	Unsubscribe from all events.

void	UnsubscribeFromAllEventsExcept (const ea::vector< StringHash > &exceptions)
	Unsubscribe from all events except those listed.

void	UnsubscribeFromAllEventsExcept (const ea::vector< Object * > &exceptions)
	Unsubscribe from all events except those with listed senders.

void	SendEvent (StringHash eventType)
	Send event to all subscribers.

void	SendEvent (StringHash eventType, VariantMap &eventData)
	Send event with parameters to all subscribers.

VariantMap &	GetEventDataMap () const
	Return a preallocated map for event data. Used for optimization to avoid constant re-allocation of event data maps.

template<typename... Args>
void	SendEvent (StringHash eventType, const Args &... args)
	Send event with variadic parameter pairs to all subscribers. The parameters are (paramID, paramValue) pairs.

Context *	GetContext () const
	Return execution context.

const Variant &	GetGlobalVar (StringHash key) const

const VariantMap &	GetGlobalVars () const

void	SetGlobalVar (StringHash key, const Variant &value)

Object *	GetSubsystem (StringHash type) const
	Return subsystem by type.

Object *	GetEventSender () const
	Return active event sender. Null outside event handling.

EventHandler *	GetEventHandler () const
	Return active event handler. Null outside event handling.

bool	HasSubscribedToEvent (StringHash eventType) const
	Return whether has subscribed to an event without specific sender.

bool	HasSubscribedToEvent (Object *sender, StringHash eventType) const
	Return whether has subscribed to a specific sender's event.

bool	HasEventHandlers () const
	Return whether has subscribed to any event.

template<class T >
T *	GetSubsystem () const
	Template version of returning a subsystem.

const ea::string &	GetCategory () const

void	SendEvent (StringHash eventType, const VariantMap &eventData)
	Send event with parameters to all subscribers.

void	SetBlockEvents (bool block)
	Block object from sending and receiving events.

bool	GetBlockEvents () const
	Return sending and receiving events blocking status.

Public Member Functions inherited from Urho3D::RefCounted
	RefCounted ()
	Construct. Allocate the reference count structure and set an initial self weak reference.

virtual	~RefCounted ()
	Destruct. Mark as expired and also delete the reference count structure if no outside weak references exist.

	RefCounted (const RefCounted &rhs)=delete
	Prevent copy construction.

RefCounted &	operator= (const RefCounted &rhs)=delete
	Prevent assignment.

int	AddRef ()

int	ReleaseRef ()

int	Refs () const

int	WeakRefs () const

RefCount *	RefCountPtr () const
	Return pointer to the reference count structure.

bool	HasScriptObject () const
	Return true if script runtime object wrapping this native object exists.

bool	IsScriptStrongRef () const
	Return true if script reference is strong.

Static Public Member Functions
static void	RegisterObject (Context *context)

Static Public Member Functions inherited from Urho3D::Object
static const TypeInfo *	GetTypeInfoStatic ()
	Return type info static.

Protected Member Functions
void	OnNodeSet (Node previousNode, Node currentNode) override
	Handle node being assigned.

void	OnSceneSet (Scene *scene) override
	Handle scene being assigned.

void	OnMarkedDirty (Node *node) override
	Handle node transform being dirtied. More...

Protected Member Functions inherited from Urho3D::Component
virtual void	OnNodeSetEnabled (Node *node)
	Handle scene node enabled status changing.

void	SetID (unsigned id)

void	SetNode (Node *node)
	Set scene node. Called by Node when creating the component.

Component *	GetFixedUpdateSource ()
	Return a component from the scene root that sends out fixed update events (either PhysicsWorld or PhysicsWorld2D). Return null if neither exists.

void	DoAutoRemove (AutoRemoveMode mode)
	Perform autoremove. Called by subclasses. Caller should keep a weak pointer to itself to check whether was actually removed, and return immediately without further member operations in that case.

Private Member Functions
	URHO3D_OBJECT (Constraint, Component)

void	CreateConstraint ()
	Create the constraint.

void	ApplyLimits ()
	Apply high and low constraint limits.

void	AdjustOtherBodyPosition ()
	Adjust other body position.

void	MarkConstraintDirty ()
	Mark constraint dirty.

void	MarkFramesDirty ()
	Mark frames dirty.

Private Attributes
WeakPtr< PhysicsWorld >	physicsWorld_
	Physics world.

WeakPtr< RigidBody >	ownBody_
	Own rigid body.

WeakPtr< RigidBody >	otherBody_
	Other rigid body.

ea::unique_ptr< btTypedConstraint >	constraint_
	Bullet constraint.

ConstraintType	constraintType_
	Constraint type.

Vector3	position_
	Constraint position.

Quaternion	rotation_
	Constraint rotation.

Vector3	otherPosition_
	Constraint other body position.

Quaternion	otherRotation_
	Constraint other body axis.

Vector3	cachedWorldScale_
	Cached world scale for determining if the constraint position needs update.

Vector2	highLimit_
	High limit.

Vector2	lowLimit_
	Low limit.

float	erp_
	Error reduction parameter.

float	cfm_
	Constraint force mixing parameter.

unsigned	otherBodyNodeID_
	Other body node ID for pending constraint recreation.

bool	disableCollision_
	Disable collision between connected bodies flag.

bool	recreateConstraint_
	Recreate constraint flag.

bool	framesDirty_
	Coordinate frames dirty flag.

bool	retryCreation_
	Constraint creation retry flag if attributes initially set without scene.

Friends
class	RigidBody

Additional Inherited Members
Static Public Attributes inherited from Urho3D::Object
static constexpr ea::array< StringHash, 0 >	TypeHierarchy {}

Protected Attributes inherited from Urho3D::Component
Node *	node_
	Scene node.

unsigned	id_
	Unique ID within the scene.

bool	networkUpdate_
	Network update queued flag.

bool	enabled_
	Enabled flag.

Protected Attributes inherited from Urho3D::Serializable
ea::unique_ptr< VariantMap >	instanceDefaultValues_
	Attribute default value at each instance level.

bool	setInstanceDefault_
	When true, store the attribute value as instance's default value (internal use only).

bool	temporary_
	Temporary flag.

Protected Attributes inherited from Urho3D::Object
WeakPtr< Context >	context_
	Execution context.

Detailed Description

Physics constraint component. Connects two rigid bodies together, or one rigid body to a static point.

Member Function Documentation

◆ GetCFM()

float Urho3D::Constraint::GetCFM ( ) const

inline

Return constraint force mixing parameter.

◆ GetConstraintType()

ConstraintType Urho3D::Constraint::GetConstraintType ( ) const

inline

Return constraint type.

◆ GetDisableCollision()

bool Urho3D::Constraint::GetDisableCollision ( ) const

inline

Return whether collisions between connected bodies are disabled.

◆ GetERP()

float Urho3D::Constraint::GetERP ( ) const

inline

Return constraint error reduction parameter.

◆ GetHighLimit()

const Vector2& Urho3D::Constraint::GetHighLimit ( ) const

inline

Return high limit.

◆ GetLowLimit()

const Vector2& Urho3D::Constraint::GetLowLimit ( ) const

inline

Return low limit.

◆ GetOtherBody()

RigidBody* Urho3D::Constraint::GetOtherBody ( ) const

inline

Return the other rigid body. May be null if connected to the static world.

◆ GetOtherPosition()

const Vector3& Urho3D::Constraint::GetOtherPosition ( ) const

inline

Return constraint position relative to other body.

◆ GetOtherRotation()

const Quaternion& Urho3D::Constraint::GetOtherRotation ( ) const

inline

Return constraint rotation relative to other body.

◆ GetOwnBody()

RigidBody* Urho3D::Constraint::GetOwnBody ( ) const

inline

Return rigid body in own scene node.

◆ GetPosition()

const Vector3& Urho3D::Constraint::GetPosition ( ) const

inline

Return constraint position relative to own body.

◆ GetRotation()

const Quaternion& Urho3D::Constraint::GetRotation ( ) const

inline

Return constraint rotation relative to own body.

◆ GetWorldPosition()

Vector3 Urho3D::Constraint::GetWorldPosition ( ) const

Return constraint world position, calculated from own body.

◆ OnMarkedDirty()

void Urho3D::Constraint::OnMarkedDirty ( Node * node )

overrideprotectedvirtual

Handle node transform being dirtied.

Reimplemented from Urho3D::Component.

◆ RegisterObject()

void Urho3D::Constraint::RegisterObject ( Context * context )

static

Register object factory.

◆ SetAxis()

void Urho3D::Constraint::SetAxis ( const Vector3 & axis )

Set constraint rotation relative to own body by specifying the axis.

◆ SetCFM()

void Urho3D::Constraint::SetCFM ( float cfm )

Set constraint force mixing parameter. Zero = leave to default.

◆ SetConstraintType()

void Urho3D::Constraint::SetConstraintType ( ConstraintType type )

Set constraint type and recreate the constraint.

◆ SetDisableCollision()

void Urho3D::Constraint::SetDisableCollision ( bool disable )

Set whether to disable collisions between connected bodies.

◆ SetERP()

void Urho3D::Constraint::SetERP ( float erp )

Set constraint error reduction parameter. Zero = leave to default.

◆ SetHighLimit()

void Urho3D::Constraint::SetHighLimit ( const Vector2 & limit )

Set high limit. Interpretation is constraint type specific.

◆ SetLowLimit()

void Urho3D::Constraint::SetLowLimit ( const Vector2 & limit )

Set low limit. Interpretation is constraint type specific.

◆ SetOtherAxis()

void Urho3D::Constraint::SetOtherAxis ( const Vector3 & axis )

Set constraint rotation relative to the other body by specifying the axis.

◆ SetOtherBody()

void Urho3D::Constraint::SetOtherBody ( RigidBody * body )

Set other body to connect to. Set to null to connect to the static world.

◆ SetOtherPosition()

void Urho3D::Constraint::SetOtherPosition ( const Vector3 & position )

Set constraint position relative to the other body. If connected to the static world, is a world space position.

◆ SetOtherRotation()

void Urho3D::Constraint::SetOtherRotation ( const Quaternion & rotation )

Set constraint rotation relative to the other body. If connected to the static world, is a world space rotation.

◆ SetPosition()

void Urho3D::Constraint::SetPosition ( const Vector3 & position )

Set constraint position relative to own body.

◆ SetRotation()

void Urho3D::Constraint::SetRotation ( const Quaternion & rotation )

Set constraint rotation relative to own body.

◆ SetWorldPosition()

void Urho3D::Constraint::SetWorldPosition ( const Vector3 & position )

Set constraint world space position. Resets both own and other body relative position, ie. zeroes the constraint error.

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

Urho3D/Physics/Constraint.h
Urho3D/Physics/Constraint.cpp

Public Member Functions

Static Public Member Functions

Protected Member Functions

Private Member Functions

Private Attributes

Friends

Additional Inherited Members

Detailed Description

Member Function Documentation

◆ GetCFM()

◆ GetConstraintType()

◆ GetDisableCollision()

◆ GetERP()

◆ GetHighLimit()

◆ GetLowLimit()

◆ GetOtherBody()

◆ GetOtherPosition()

◆ GetOtherRotation()

◆ GetOwnBody()

◆ GetPosition()

◆ GetRotation()

◆ GetWorldPosition()

◆ OnMarkedDirty()

◆ RegisterObject()

◆ SetAxis()

◆ SetCFM()

◆ SetConstraintType()

◆ SetDisableCollision()

◆ SetERP()

◆ SetHighLimit()

◆ SetLowLimit()

◆ SetOtherAxis()

◆ SetOtherBody()

◆ SetOtherPosition()

◆ SetOtherRotation()

◆ SetPosition()

◆ SetRotation()

◆ SetWorldPosition()