Constraints API definition

Data Structures
class	Physics
class	SurfaceProperties
class	Contact

Typedefs
typedef int[]	dMaterial
typedef int[]	Physics
typedef int[]	SurfaceProperties

Functions
void	PhysicsGeomDef (string name, dGeom geom, string materialName, int layerMask)
proto native dJoint	dJointCreateHinge (notnull IEntity ent1, notnull IEntity ent2, vector point1, vector axis1, vector point2, vector axis2, bool block, float breakThreshold)
proto native dJoint	dJointCreateHinge2 (notnull IEntity ent1, notnull IEntity ent2, vector matrix1[4], vector matrix2[4], bool block, float breakThreshold)
proto native dJoint	dJointCreateSlider (notnull IEntity ent1, notnull IEntity ent2, vector matrix1[4], vector matrix2[4], bool block, float breakThreshold)
proto native dJoint	dJointCreateBallSocket (notnull IEntity ent1, notnull IEntity ent2, vector point1, vector point2, bool block, float breakThreshold)
proto native dJoint	dJointCreateFixed (notnull IEntity ent1, notnull IEntity ent2, vector point1, vector point2, bool block, float breakThreshold)
proto native dJoint	dJointCreateConeTwist (notnull IEntity ent1, notnull IEntity ent2, vector matrix1[4], vector matrix2[4], bool block, float breakThreshold)
proto native dJoint	dJointCreate6DOF (notnull IEntity ent1, notnull IEntity ent2, vector matrix1[4], vector matrix2[4], bool block, float breakThreshold)
proto native dJoint	dJointCreate6DOFSpring (notnull IEntity ent1, notnull IEntity ent2, vector matrix1[4], vector matrix2[4], bool block, float breakThreshold)
proto native void	dJointDestroy (dJoint joint)
proto native void	dJointHingeSetLimits (dJoint joint, float low, float high, float softness, float biasFactor, float relaxationFactor)
proto native void	dJointHingeSetAxis (dJoint joint, vector axis)
proto native void	dJointHingeSetMotorTargetAngle (dJoint joint, float angle, float dt, float maxImpulse)
proto native void	dJointConeTwistSetAngularOnly (dJoint joint, bool angularOnly)
proto native void	dJointConeTwistSetLimit (dJoint joint, int limitIndex, float limitValue)
proto native void	dJointConeTwistSetLimits (dJoint joint, float _swingSpan1, float _swingSpan2, float _twistSpan, float _softness, float _biasFactor, float _relaxationFactor)
proto native void	dJoint6DOFSetLinearLimits (dJoint joint, vector linearLower, vector linearUpper)
proto native void	dJoint6DOFSetAngularLimits (dJoint joint, vector angularLower, vector angularUpper)
proto native void	dJoint6DOFSetLimit (dJoint joint, int axis, float lo, float hi)
proto native void	dJoint6DOFSpringSetSpring (dJoint joint, int axis, float stiffness, float damping)
proto native void	dJointSliderSetLinearLimits (dJoint joint, float lowerLimit, float upperLimit)
proto native void	dJointSliderSetAngularLimits (dJoint joint, float lowerLimit, float upperLimit)
proto native void	dJointSliderSetDirLinear (dJoint joint, float softness, float restitution, float damping)
proto native void	dJointSliderSetDirAngular (dJoint joint, float softness, float restitution, float damping)
proto native void	dJointSliderSetLimLinear (dJoint joint, float softness, float restitution, float damping)
proto native void	dJointSliderSetLimAngular (dJoint joint, float softness, float restitution, float damping)
proto native void	dJointSliderSetOrthoLinear (dJoint joint, float softness, float restitution, float damping)
proto native void	dJointSliderSetOrthoAngular (dJoint joint, float softness, float restitution, float damping)
proto native void	dJointSliderSetLinearMotor (dJoint joint, float velocity, float force)
proto native void	dJointSliderSetAngularMotor (dJoint joint, float velocity, float force)
proto native float	dJointSliderGetLinearPos (dJoint joint)
proto native float	dJointSliderGetAngularPos (dJoint joint)
protected void	Physics ()
protected void	~Physics ()
proto int	GetNumBones ()
proto Physics	GetBone (int index)
protected void	SurfaceProperties ()
protected void	~SurfaceProperties ()
private void	Contact ()
private void	~Contact ()
proto native vector	GetNormalImpulse ()
proto native float	GetRelativeVelocityBefore (vector vel)
proto native float	GetRelativeVelocityAfter (vector vel)

Variables
string	Name
dGeom	Geometry
vector	Frame [4] = {Vector(1, 0, 0), Vector(0, 1, 0), Vector(0, 0, 1), Vector(0, 0, 0)}
int	ParentNode = -1
string	MaterialName
int	LayerMask
Physics	Physics1
Physics	Physics2
SurfaceProperties	Material1
	Surface properties of Object1.
SurfaceProperties	Material2
	Surface properties of Object2.
float	Impulse
	Impulse applied to resolve the collision.
int	ShapeIndex1
	Index of collider on Object1.
int	ShapeIndex2
	Index of collider on Object2.
vector	Normal
	Collision axis at the contact point.
vector	Position
	Position of the contact point (world space)
float	PenetrationDepth
	Penetration depth on Object1.
float	RelativeNormalVelocityBefore
float	RelativeNormalVelocityAfter
vector	RelativeVelocityBefore
vector	RelativeVelocityAfter
vector	VelocityBefore1
	Velocity of Object1 before collision (world space)
vector	VelocityBefore2
	Velocity of Object2 before collision (world space)
vector	VelocityAfter1
	Velocity of Object1 after collision (world space)
vector	VelocityAfter2
	Velocity of Object2 after collision (world space)

Detailed Description

Typedef Documentation

dMaterial

typedef int [] dMaterial

Physics

typedef int [] Physics

SurfaceProperties

typedef int [] SurfaceProperties

Function Documentation

Contact()

private void Contact ( )

inlineprivate

dJoint6DOFSetAngularLimits()

proto native void dJoint6DOFSetAngularLimits	(	dJoint	joint,
		vector	angularLower,
		vector	angularUpper
	)

dJoint6DOFSetLimit()

proto native void dJoint6DOFSetLimit	(	dJoint	joint,
		int	axis,
		float	lo,
		float	hi
	)

dJoint6DOFSetLinearLimits()

proto native void dJoint6DOFSetLinearLimits	(	dJoint	joint,
		vector	linearLower,
		vector	linearUpper
	)

• free means upper < lower,
• locked means upper == lower
• limited means upper > lower
• axis: first 3 are linear, next 3 are angular

dJoint6DOFSpringSetSpring()

proto native void dJoint6DOFSpringSetSpring	(	dJoint	joint,
		int	axis,
		float	stiffness,
		float	damping
	)

dJointConeTwistSetAngularOnly()

proto native void dJointConeTwistSetAngularOnly	(	dJoint	joint,
		bool	angularOnly
	)

dJointConeTwistSetLimit()

proto native void dJointConeTwistSetLimit	(	dJoint	joint,
		int	limitIndex,
		float	limitValue
	)

dJointConeTwistSetLimits()

proto native void dJointConeTwistSetLimits	(	dJoint	joint,
		float	_swingSpan1,
		float	_swingSpan2,
		float	_twistSpan,
		float	_softness,
		float	_biasFactor,
		float	_relaxationFactor
	)

dJointCreate6DOF()

proto native dJoint dJointCreate6DOF	(	notnull IEntity	ent1,
		notnull IEntity	ent2,
		vector	matrix1[4],
		vector	matrix2[4],
		bool	block,
		float	breakThreshold
	)

dJointCreate6DOFSpring()

proto native dJoint dJointCreate6DOFSpring	(	notnull IEntity	ent1,
		notnull IEntity	ent2,
		vector	matrix1[4],
		vector	matrix2[4],
		bool	block,
		float	breakThreshold
	)

dJointCreateBallSocket()

proto native dJoint dJointCreateBallSocket	(	notnull IEntity	ent1,
		notnull IEntity	ent2,
		vector	point1,
		vector	point2,
		bool	block,
		float	breakThreshold
	)

dJointCreateConeTwist()

proto native dJoint dJointCreateConeTwist	(	notnull IEntity	ent1,
		notnull IEntity	ent2,
		vector	matrix1[4],
		vector	matrix2[4],
		bool	block,
		float	breakThreshold
	)

dJointCreateFixed()

proto native dJoint dJointCreateFixed	(	notnull IEntity	ent1,
		notnull IEntity	ent2,
		vector	point1,
		vector	point2,
		bool	block,
		float	breakThreshold
	)

dJointCreateHinge()

proto native dJoint dJointCreateHinge	(	notnull IEntity	ent1,
		notnull IEntity	ent2,
		vector	point1,
		vector	axis1,
		vector	point2,
		vector	axis2,
		bool	block,
		float	breakThreshold
	)

dJointCreateHinge2()

proto native dJoint dJointCreateHinge2	(	notnull IEntity	ent1,
		notnull IEntity	ent2,
		vector	matrix1[4],
		vector	matrix2[4],
		bool	block,
		float	breakThreshold
	)

dJointCreateSlider()

proto native dJoint dJointCreateSlider	(	notnull IEntity	ent1,
		notnull IEntity	ent2,
		vector	matrix1[4],
		vector	matrix2[4],
		bool	block,
		float	breakThreshold
	)

dJointDestroy()

proto native void dJointDestroy

(

dJoint

joint

)

dJointHingeSetAxis()

proto native void dJointHingeSetAxis	(	dJoint	joint,
		vector	axis
	)

dJointHingeSetLimits()

proto native void dJointHingeSetLimits	(	dJoint	joint,
		float	low,
		float	high,
		float	softness,
		float	biasFactor,
		float	relaxationFactor
	)

dJointHingeSetMotorTargetAngle()

proto native void dJointHingeSetMotorTargetAngle	(	dJoint	joint,
		float	angle,
		float	dt,
		float	maxImpulse
	)

dJointSliderGetAngularPos()

proto native float dJointSliderGetAngularPos

(

dJoint

joint

)

dJointSliderGetLinearPos()

proto native float dJointSliderGetLinearPos

(

dJoint

joint

)

dJointSliderSetAngularLimits()

proto native void dJointSliderSetAngularLimits	(	dJoint	joint,
		float	lowerLimit,
		float	upperLimit
	)

dJointSliderSetAngularMotor()

proto native void dJointSliderSetAngularMotor	(	dJoint	joint,
		float	velocity,
		float	force
	)

dJointSliderSetDirAngular()

proto native void dJointSliderSetDirAngular	(	dJoint	joint,
		float	softness,
		float	restitution,
		float	damping
	)

dJointSliderSetDirLinear()

proto native void dJointSliderSetDirLinear	(	dJoint	joint,
		float	softness,
		float	restitution,
		float	damping
	)

dJointSliderSetLimAngular()

proto native void dJointSliderSetLimAngular	(	dJoint	joint,
		float	softness,
		float	restitution,
		float	damping
	)

dJointSliderSetLimLinear()

proto native void dJointSliderSetLimLinear	(	dJoint	joint,
		float	softness,
		float	restitution,
		float	damping
	)

dJointSliderSetLinearLimits()

proto native void dJointSliderSetLinearLimits	(	dJoint	joint,
		float	lowerLimit,
		float	upperLimit
	)

dJointSliderSetLinearMotor()

proto native void dJointSliderSetLinearMotor	(	dJoint	joint,
		float	velocity,
		float	force
	)

dJointSliderSetOrthoAngular()

proto native void dJointSliderSetOrthoAngular	(	dJoint	joint,
		float	softness,
		float	restitution,
		float	damping
	)

dJointSliderSetOrthoLinear()

proto native void dJointSliderSetOrthoLinear	(	dJoint	joint,
		float	softness,
		float	restitution,
		float	damping
	)

GetBone()

proto Physics GetBone ( int  index )

private

GetNormalImpulse()

proto native vector GetNormalImpulse ( )

private

GetNumBones()

proto int GetNumBones ( )

private

GetRelativeVelocityAfter()

proto native float GetRelativeVelocityAfter ( vector  vel )

private

GetRelativeVelocityBefore()

proto native float GetRelativeVelocityBefore ( vector  vel )

private

Physics()

protected void Physics ( )

inlineprivate

PhysicsGeomDef()

void PhysicsGeomDef ( string  name, dGeom  geom, string  materialName, int  layerMask  )

inlineprivate

References PhysicsGeomDef::Geometry, PhysicsGeomDef::LayerMask, PhysicsGeomDef::MaterialName, PhysicsGeomDef::Name, and name.

SurfaceProperties()

protected void SurfaceProperties ( )

inlineprivate

~Contact()

private void ~Contact ( )

inlineprivate

~Physics()

protected void ~Physics ( )

inlineprivate

~SurfaceProperties()

protected void ~SurfaceProperties ( )

inlineprivate

Variable Documentation

Frame

vector Frame[4] = {Vector(1, 0, 0), Vector(0, 1, 0), Vector(0, 0, 1), Vector(0, 0, 0)}

private

Geometry

dGeom Geometry

private

Referenced by PhysicsGeomDef::PhysicsGeomDef().

Impulse

float Impulse

private

Impulse applied to resolve the collision.

Referenced by Car::OnContact().

LayerMask

int LayerMask

private

Referenced by PhysicsGeomDef::PhysicsGeomDef().

Material1

SurfaceProperties Material1

private

Surface properties of Object1.

Material2

SurfaceProperties Material2

private

Surface properties of Object2.

MaterialName

string MaterialName

private

Referenced by PhysicsGeomDef::PhysicsGeomDef().

Name

string Name

private

Referenced by PhysicsGeomDef::PhysicsGeomDef().

Normal

vector Normal

private

Collision axis at the contact point.

ParentNode

int ParentNode = -1

private

PenetrationDepth

float PenetrationDepth

private

Penetration depth on Object1.

Physics1

Physics Physics1

private

Physics2

Physics Physics2

private

Position

vector Position

private

Position of the contact point (world space)

Referenced by FireplaceBase::EOnContact(), EOnContact(), and EntityAI::GetImpactSurfaceTypeEx().

RelativeNormalVelocityAfter

float RelativeNormalVelocityAfter

private

RelativeNormalVelocityBefore

float RelativeNormalVelocityBefore

private

RelativeVelocityAfter

vector RelativeVelocityAfter

private

RelativeVelocityBefore

vector RelativeVelocityBefore

private

Referenced by EntityAI::GetImpactSurfaceTypeEx(), and EntityAI::ProcessImpactSoundEx().

ShapeIndex1

int ShapeIndex1

private

Index of collider on Object1.

ShapeIndex2

int ShapeIndex2

private

Index of collider on Object2.

VelocityAfter1

vector VelocityAfter1

private

Velocity of Object1 after collision (world space)

VelocityAfter2

vector VelocityAfter2

private

Velocity of Object2 after collision (world space)

VelocityBefore1

vector VelocityBefore1

private

Velocity of Object1 before collision (world space)

VelocityBefore2

vector VelocityBefore2

private

Velocity of Object2 before collision (world space)