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:
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Collaboration diagram for Urho3D::Constraint:
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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 (PODVector< 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)
 
PhysicsWorldGetPhysicsWorld () const
 Return physics world.
 
btTypedConstraint * GetConstraint () const
 Return Bullet constraint.
 
ConstraintType GetConstraintType () const
 
RigidBodyGetOwnBody () const
 
RigidBodyGetOtherBody () const
 
const Vector3GetPosition () const
 
const QuaternionGetRotation () const
 
const Vector3GetOtherPosition () const
 
const QuaternionGetOtherRotation () const
 
Vector3 GetWorldPosition () const
 
const Vector2GetHighLimit () const
 
const Vector2GetLowLimit () 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.
 
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.
 
void MarkNetworkUpdate () override
 Mark for attribute check on the next network update.
 
void SetEnabled (bool enable)
 
void Remove ()
 Remove from the scene node. If no other shared pointer references exist, causes immediate deletion.
 
unsigned GetID () const
 
bool IsReplicated () const
 
NodeGetNode () const
 
SceneGetScene () const
 Return the scene the node belongs to.
 
bool IsEnabled () const
 
bool IsEnabledEffective () const
 
ComponentGetComponent (StringHash type) const
 Return component in the same scene node by type. If there are several, returns the first.
 
void GetComponents (PODVector< Component * > &dest, StringHash type) const
 Return components in the same scene node by type.
 
template<class T >
T * GetComponent () const
 Template version of returning a component in the same scene node by type.
 
template<class T >
void GetComponents (PODVector< T * > &dest) const
 Template version of returning components in the same scene node by type.
 
void AddReplicationState (ComponentReplicationState *state)
 Add a replication state that is tracking this component.
 
void PrepareNetworkUpdate ()
 Prepare network update by comparing attributes and marking replication states dirty as necessary.
 
void CleanupConnection (Connection *connection)
 Clean up all references to a network connection that is about to be removed.
 
- Public Member Functions inherited from Urho3D::Animatable
 Animatable (Context *context)
 Construct.
 
 ~Animatable () override
 Destruct.
 
bool LoadXML (const XMLElement &source) override
 Load from XML data. Return true if successful.
 
bool LoadJSON (const JSONValue &source) override
 Load from JSON data. Return true if successful.
 
void SetAnimationEnabled (bool enable)
 
void SetAnimationTime (float time)
 Set time position of all attribute animations or an object animation manually. Automatic update should be disabled in this case.
 
void SetObjectAnimation (ObjectAnimation *objectAnimation)
 
void SetAttributeAnimation (const String &name, ValueAnimation *attributeAnimation, WrapMode wrapMode=WM_LOOP, float speed=1.0f)
 Set attribute animation.
 
void SetAttributeAnimationWrapMode (const String &name, WrapMode wrapMode)
 Set attribute animation wrap mode.
 
void SetAttributeAnimationSpeed (const String &name, float speed)
 Set attribute animation speed.
 
void SetAttributeAnimationTime (const String &name, float time)
 Set attribute animation time position manually. Automatic update should be disabled in this case.
 
void RemoveObjectAnimation ()
 Remove object animation. Same as calling SetObjectAnimation with a null pointer.
 
void RemoveAttributeAnimation (const String &name)
 Remove attribute animation. Same as calling SetAttributeAnimation with a null pointer.
 
bool GetAnimationEnabled () const
 
ObjectAnimationGetObjectAnimation () const
 
ValueAnimationGetAttributeAnimation (const String &name) const
 Return attribute animation.
 
WrapMode GetAttributeAnimationWrapMode (const String &name) const
 Return attribute animation wrap mode.
 
float GetAttributeAnimationSpeed (const String &name) const
 Return attribute animation speed.
 
float GetAttributeAnimationTime (const String &name) const
 Return attribute animation time position.
 
void SetObjectAnimationAttr (const ResourceRef &value)
 Set object animation attribute.
 
ResourceRef GetObjectAnimationAttr () const
 Return object animation attribute.
 
- 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 const Vector< AttributeInfo > * GetAttributes () const
 Return attribute descriptions, or null if none defined.
 
virtual const Vector< AttributeInfo > * GetNetworkAttributes () const
 Return network replication attribute descriptions, or null if none defined.
 
virtual bool Load (Deserializer &source)
 Load from binary data. Return true if successful.
 
virtual bool SaveDefaultAttributes () const
 Return whether should save default-valued attributes into XML. Default false.
 
bool SetAttribute (unsigned index, const Variant &value)
 
bool SetAttribute (const String &name, const Variant &value)
 Set attribute by name. Return true if successfully set.
 
void SetInstanceDefault (bool enable)
 Set instance-level default flag.
 
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)
 
void SetInterceptNetworkUpdate (const String &attributeName, bool enable)
 Enable interception of an attribute from network updates. Intercepted attributes are sent as events instead of applying directly. This can be used to implement client side prediction.
 
void AllocateNetworkState ()
 Allocate network attribute state.
 
void WriteInitialDeltaUpdate (Serializer &dest, unsigned char timeStamp)
 Write initial delta network update.
 
void WriteDeltaUpdate (Serializer &dest, const DirtyBits &attributeBits, unsigned char timeStamp)
 Write a delta network update according to dirty attribute bits.
 
void WriteLatestDataUpdate (Serializer &dest, unsigned char timeStamp)
 Write a latest data network update.
 
bool ReadDeltaUpdate (Deserializer &source)
 Read and apply a network delta update. Return true if attributes were changed.
 
bool ReadLatestDataUpdate (Deserializer &source)
 Read and apply a network latest data update. Return true if attributes were changed.
 
Variant GetAttribute (unsigned index) const
 
Variant GetAttribute (const String &name) const
 Return attribute value by name. Return empty if not found.
 
Variant GetAttributeDefault (unsigned index) const
 
Variant GetAttributeDefault (const String &name) const
 Return attribute default value by name. Return empty if not found.
 
unsigned GetNumAttributes () const
 
unsigned GetNumNetworkAttributes () const
 Return number of network replication attributes.
 
bool IsTemporary () const
 
bool GetInterceptNetworkUpdate (const String &attributeName) const
 Return whether an attribute's network updates are being intercepted.
 
NetworkStateGetNetworkState () const
 Return the network attribute state, if allocated.
 
- 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 StringGetTypeName () const =0
 
virtual const TypeInfoGetTypeInfo () const =0
 Return type info.
 
virtual void OnEvent (Object *sender, StringHash eventType, VariantMap &eventData)
 Handle event.
 
bool IsInstanceOf (StringHash type) const
 Check current instance is type of specified type.
 
bool IsInstanceOf (const TypeInfo *typeInfo) const
 Check current instance is type of specified type.
 
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 SubscribeToEvent (StringHash eventType, EventHandler *handler)
 Subscribe to an event that can be sent by any sender.
 
void SubscribeToEvent (Object *sender, StringHash eventType, EventHandler *handler)
 Subscribe to a specific sender's event.
 
void SubscribeToEvent (StringHash eventType, const std::function< void(StringHash, VariantMap &)> &function, void *userData=nullptr)
 Subscribe to an event that can be sent by any sender.
 
void SubscribeToEvent (Object *sender, StringHash eventType, const std::function< void(StringHash, VariantMap &)> &function, void *userData=nullptr)
 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 PODVector< StringHash > &exceptions, bool onlyUserData)
 Unsubscribe from all events except those listed, and optionally only those with userdata (script registered events).
 
void SendEvent (StringHash eventType)
 Send event to all subscribers.
 
void SendEvent (StringHash eventType, VariantMap &eventData)
 Send event with parameters to all subscribers.
 
VariantMapGetEventDataMap () 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, Args... args)
 Send event with variadic parameter pairs to all subscribers. The parameter pairs is a list of paramID and paramValue separated by comma, one pair after another.
 
ContextGetContext () const
 Return execution context.
 
const VariantGetGlobalVar (StringHash key) const
 
const VariantMapGetGlobalVars () const
 
void SetGlobalVar (StringHash key, const Variant &value)
 
ObjectGetSubsystem (StringHash type) const
 Return subsystem by type.
 
ObjectGetEventSender () const
 Return active event sender. Null outside event handling.
 
EventHandlerGetEventHandler () 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 StringGetCategory () const
 
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.
 
RefCountedoperator= (const RefCounted &rhs)=delete
 Prevent assignment.
 
void AddRef ()
 Increment reference count. Can also be called outside of a SharedPtr for traditional reference counting.
 
void ReleaseRef ()
 Decrement reference count and delete self if no more references. Can also be called outside of a SharedPtr for traditional reference counting.
 
int Refs () const
 
int WeakRefs () const
 
RefCountRefCountPtr ()
 Return pointer to the reference count structure.
 

Static Public Member Functions

static void RegisterObject (Context *context)
 Register object factory.
 
- Static Public Member Functions inherited from Urho3D::Animatable
static void RegisterObject (Context *context)
 Register object factory.
 
- Static Public Member Functions inherited from Urho3D::Object
static const TypeInfoGetTypeInfoStatic ()
 Return type info static.
 

Protected Member Functions

void OnNodeSet (Node *node) 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
void OnAttributeAnimationAdded () override
 Handle attribute animation added.
 
void OnAttributeAnimationRemoved () override
 Handle attribute animation removed.
 
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.
 
void HandleAttributeAnimationUpdate (StringHash eventType, VariantMap &eventData)
 Handle scene attribute animation update event.
 
ComponentGetFixedUpdateSource ()
 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.
 
- Protected Member Functions inherited from Urho3D::Animatable
virtual AnimatableFindAttributeAnimationTarget (const String &name, String &outName)
 Find target of an attribute animation from object hierarchy by name.
 
void SetObjectAttributeAnimation (const String &name, ValueAnimation *attributeAnimation, WrapMode wrapMode, float speed)
 Set object attribute animation internal.
 
void OnObjectAnimationAdded (ObjectAnimation *objectAnimation)
 Handle object animation added.
 
void OnObjectAnimationRemoved (ObjectAnimation *objectAnimation)
 Handle object animation removed.
 
void UpdateAttributeAnimations (float timeStep)
 Update attribute animations.
 
bool IsAnimatedNetworkAttribute (const AttributeInfo &attrInfo) const
 Is animated network attribute.
 
AttributeAnimationInfoGetAttributeAnimationInfo (const String &name) const
 Return attribute animation info.
 
void HandleAttributeAnimationAdded (StringHash eventType, VariantMap &eventData)
 Handle attribute animation added.
 
void HandleAttributeAnimationRemoved (StringHash eventType, VariantMap &eventData)
 Handle attribute animation removed.
 

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< PhysicsWorldphysicsWorld_
 Physics world.
 
WeakPtr< RigidBodyownBody_
 Own rigid body.
 
WeakPtr< RigidBodyotherBody_
 Other rigid body.
 
UniquePtr< 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

- Protected Attributes inherited from Urho3D::Component
Nodenode_
 Scene node.
 
unsigned id_
 Unique ID within the scene.
 
bool networkUpdate_
 Network update queued flag.
 
bool enabled_
 Enabled flag.
 
- Protected Attributes inherited from Urho3D::Animatable
bool animationEnabled_
 Animation enabled.
 
SharedPtr< ObjectAnimationobjectAnimation_
 Animation.
 
HashSet< const AttributeInfo * > animatedNetworkAttributes_
 Animated network attribute set.
 
HashMap< String, SharedPtr< AttributeAnimationInfo > > attributeAnimationInfos_
 Attribute animation infos.
 
- Protected Attributes inherited from Urho3D::Serializable
UniquePtr< NetworkStatenetworkState_
 Network attribute state.
 
- Protected Attributes inherited from Urho3D::Object
Contextcontext_
 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.

Todo:
This does not catch the connected body node's scale changing

Reimplemented from Urho3D::Component.

◆ 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.

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◆ SetConstraintType()

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

Set constraint type and recreate the constraint.

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◆ SetDisableCollision()

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

Set whether to disable collisions between connected bodies.

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◆ SetERP()

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

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

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◆ SetHighLimit()

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

Set high limit. Interpretation is constraint type specific.

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◆ SetLowLimit()

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

Set low limit. Interpretation is constraint type specific.

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◆ 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.

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◆ 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.

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◆ 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.

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◆ SetPosition()

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

Set constraint position relative to own body.

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◆ SetRotation()

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

Set constraint rotation relative to own body.

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◆ 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:
  • Source/Urho3D/Physics/Constraint.h
  • Source/Urho3D/Physics/Constraint.cpp