True Axis Physics SDK 1.2.0.1 Beta Documentation
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TA::PhysicsJoint Class Reference

#include "TA/Physics/PhysicsJoint.h"

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Detailed Description

Holds information relating to physical joints between dynamic objects.

Documentation for this class is not complete yet.

To create a joint, use TA::DynamicObject::AddJoint. All creation and destruction of joints is done in TA::DynamicObject.

After creating a joint it must be initialised using one of the initialisation functions:

• TA::PhysicsJoint::InitialiseEulerConstraint
• TA::PhysicsJoint::InitialiseHinge
• TA::PhysicsJoint::InitialiseBallAndSocket
• TA::PhysicsJoint::InitialiseLimitedBallAndSocket
• TA::PhysicsJoint::InitialiseSquareSocket
• TA::PhysicsJoint::InitialiseSlider
• TA::PhysicsJoint::InitialiseRotationConstraint
• TA::PhysicsJoint::InitialiseVectorConstraint

or one of the extended initialised functions:

• TA::PhysicsJoint::InitialiseEulerConstraintEx
• TA::PhysicsJoint::InitialiseHingeEx
• TA::PhysicsJoint::InitialiseBallAndSocketEx
• TA::PhysicsJoint::InitialiseLimitedBallAndSocketEx
• TA::PhysicsJoint::InitialiseSquareSocketEx
• TA::PhysicsJoint::InitialiseSliderEx
• TA::PhysicsJoint::InitialiseRotationConstraint
• TA::PhysicsJoint::InitialiseVectorConstraintEx

The extended functions are more difficult to use but allow a joint to be created and orientated regardless of the current location and orientation of the objects being joined. In most cases, it using the normal initialisation functions is probably more straight forward.

Any initialisation function can be called multiple times on the one joint to change its type or configuration.

The Joint Properties functions are not all fully documented, however, the names match the parameters passed in when initialising a Joint.

The reset functions are all deprecated. Use the initialise functions instead.

Note:

It is recommended that directly linked objects are not allowed to collided with each other. Avoiding collisions reduces the number of constraints on a system, hence speeding up the simulation. Collisions can also sometimes prevent the joint from acting as designed. Disallowing collisions between joint objects can be done with TA::PhysicsJoint::SetCollisionDisabledBetweenObjects.

Examples:

HingeJointExample.cpp, and SliderJointExample.cpp.

Public Types
enum	Type {   TYPE_BALL_AND_SOCKET = 0,   TYPE_LIMITED_BALL_AND_SOCKET = 1,   TYPE_SQUARE_SOCKET = 2,   TYPE_EULER_ANGLE_CONSTRAINT = 31,   TYPE_LINEAR_SLIDER = 4,   TYPE_ROTATION_CONSTRAINT = 5,   TYPE_VECTOR_CONSTRAINT = 6 }
Public Member Functions
Initialise Functions
void	InitialiseEulerConstraint (const Vec3 &v3Position, const Mat33 &m33JointOrientation, const EulerAngles &minAngles, const EulerAngles &maxAngles)
void	InitialiseHinge (const Vec3 &v3Position, const Vec3 &v3HingeAxis, float fMinAngle, float fMaxAngle)
void	InitialiseBallAndSocket (const Vec3 &v3Position, const Vec3 &v3LimitCenterDirection, float fMaxAngle)
void	InitialiseLimitedBallAndSocket (const Vec3 &v3Position, const Mat33 &m33JointOrientation, float fMaxAngleY, float fMaxAngleXZ)
void	InitialiseSquareSocket (const Vec3 &v3Position, const Mat33 &m33JointOrientation, float fMinX, float fMaxX, float fMinY, float fMaxY, float fMinZ, float fMaxZ)
void	InitialiseSlider (const Vec3 &v3PosOnA, const Vec3 &v3StartPosOnB, const Vec3 &v3EndPosPosOnB)
void	InitialiseRotationConstraint (const Mat33 &m33JointOrientation, const EulerAngles &minAngles, const EulerAngles &maxAngles)
void	InitialiseVectorConstraint (const Vec3 &v3LimitCenterDirection, float fMaxAngle)
Extended Initialise Functions
void	InitialiseEulerConstraintEx (const Vec3 &v3LocalPosOnA, const Vec3 &v3LocalPosOnB, const Mat33 &m33JointOrientation, const Mat33 &m33DefaultRotationA, const Mat33 &m33DefaultRotationB, const EulerAngles &minAngles, const EulerAngles &maxAngles)
void	InitialiseHingeEx (const Vec3 &v3LocalPosOnA, const Vec3 &v3LocalPosOnB, const Vec3 &v3HingeAxis, const Vec3 &v3HingeCenterDirection, const Mat33 &m33DefaultRotationA, const Mat33 &m33DefaultRotationB, float fMinAngle, float fMaxAngle)
void	InitialiseBallAndSocketEx (const Vec3 &v3LocalPosOnA, const Vec3 &v3LocalPosOnB, const Vec3 &v3LocalLimitCenterDirectionOnA, const Vec3 &v3LocalLimitCenterDirectionOnB, float fMaxAngle)
void	InitialiseLimitedBallAndSocketEx (const Vec3 &v3LocalPosOnA, const Vec3 &v3LocalPosOnB, const Mat33 &m33JointOrientation, const Mat33 &m33DefaultRotationA, const Mat33 &m33DefaultRotationB, float fMaxAngleY, float fMaxAngleXZ)
void	InitialiseSquareSocketEx (const Vec3 &v3LocalPosOnA, const Vec3 &v3LocalPosOnB, const Mat33 &m33JointOrientation, const Mat33 &m33DefaultRotationA, const Mat33 &m33DefaultRotationB, float fMinX, float fMaxX, float fMinY, float fMaxY, float fMinZ, float fMaxZ)
void	InitialiseSliderEx (const Vec3 &v3LocalPosOnA, const Vec3 &v3LocalStartPosOnB, const Vec3 &v3LocalEndPosPosOnB)
void	InitialiseRotationConstraintEx (const Mat33 &m33JointOrientation, const Mat33 &m33DefaultRotationA, const Mat33 &m33DefaultRotationB, const EulerAngles &minAngles, const EulerAngles &maxAngles)
void	InitialiseVectorConstraintEx (const Vec3 &v3LocalLimitCenterDirectionOnA, const Vec3 &v3LocalLimitCenterDirectionOnB, float fMaxAngle)
Deprecated Reset Functions
void	Reset (const Vec3 &v3PosOnA, const Vec3 &v3PosOnB, const Mat33 &defaultRotationB, const EulerAngles &minAngles, const EulerAngles &maxAngles)
void	ResetAsTypeHinge (const Vec3 &v3PosOnA, const Vec3 &v3PosOnB, const Vec3 &v3LocalHingeAxis, const Vec3 &v3LocalHingeNormal, float fMinAngle, float fMaxAngle)
void	ResetAsTypeSocket (const Vec3 &v3PosOnA, const Vec3 &v3PosOnB, const Vec3 &v3LimitNormalOnA, const Vec3 &v3LimitNormalOnB, float fMaxAngle)
void	ResetAsTypeLimitedSocket (const Vec3 &v3PosOnA, const Vec3 &v3PosOnB, const Mat33 &defaultRotationB, float fMaxAngleY, float fMaxAngleXZ)
void	ResetAsTypeSquareSocket (const Vec3 &v3PosOnA, const Vec3 &v3PosOnB, const Mat33 &defaultRotationB, float fMinX, float fMaxX, float fMinY, float fMaxY, float fMinZ, float fMaxZ)
void	ResetAsTypeSlider (const Vec3 &v3PosOnA, const Vec3 &v3StartPosOnB, const Vec3 &v3EndPosPosOnB)
void	ResetAsTypeRotationConstraint (const Mat33 &defaultRotationB, const EulerAngles &minAngles, const EulerAngles &maxAngles)
void	ResetAsTypeVectorConstraint (const Vec3 &v3LimitNormalOnA, const Vec3 &v3LimitNormalOnB, float fMaxAngle)
Object Behaviour
bool	IsObjectASolid () const
void	SetObjectASolid (bool bValue)
bool	IsObjectBSolid () const
void	SetObjectBSolid (bool bValue)
bool	IsCollisionDisabledBetweenObjects () const
void	SetCollisionDisabledBetweenObjects (bool bValue)
Breaking
float	GetBreakForce () const
void	SetBreakForce (float fBreakForce)
void	SetBreakable (bool bValue)
bool	IsBreakable () const
void	SetBroken (bool bValue)
bool	IsBroken () const
User Data
void *	GetUserData () const
void	SetUserData (void *pUserData)
Joint Properties
Type	GetType () const
DynamicObject *	GetObjectA ()
DynamicObject *	GetObjectB ()
const Vec3 &	GetPosOnObjectA () const
const Vec3 &	GetPosOnObjectB () const
const Vec3 &	GetLimitNormalOnObjectA () const
const Vec3 &	GetLimitNormalOnObjectB () const
const Vec3 &	GetCenterDirectionOnObjectA () const
const Vec3 &	GetCenterDirectionOnObjectB () const
float	GetMaxAngle () const
const Mat33 &	GetJointOrientationA ()
const Mat33 &	GetJointOrientationB ()
const EulerAngles &	GetMinAngles ()
const EulerAngles &	GetMaxAngles ()
const Vec3 &	GetSliderPos0 () const
const Vec3 &	GetSliderPos1 () const

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