Urho3D::Constraint Class Reference

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

#include </home/runner/work/urho3d-doxygen.github.io/urho3d-doxygen.github.io/urho3d_repo/Source/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. More...
void	OnSetEnabled () override
	Handle enabled/disabled state change. More...
void	GetDependencyNodes (Vector< Node * > &dest) override
	Return the depended on nodes to order network updates. More...
void	DrawDebugGeometry (DebugRenderer *debug, bool depthTest) override
	Visualize the component as debug geometry. More...
void	SetConstraintType (ConstraintType type)
	Set constraint type and recreate the constraint.
void	SetOtherBody (RigidBody *body)
	Set other body to connect to. Set to null to connect to the static world.
void	SetPosition (const Vector3 &position)
	Set constraint position relative to own body.
void	SetRotation (const Quaternion &rotation)
	Set constraint rotation relative to own body.
void	SetAxis (const Vector3 &axis)
	Set constraint rotation relative to own body by specifying the axis.
void	SetOtherPosition (const Vector3 &position)
	Set constraint position relative to the other body. If connected to the static world, is a world space position.
void	SetOtherRotation (const Quaternion &rotation)
	Set constraint rotation relative to the other body. If connected to the static world, is a world space rotation.
void	SetOtherAxis (const Vector3 &axis)
	Set constraint rotation relative to the other body by specifying the axis.
void	SetWorldPosition (const Vector3 &position)
	Set constraint world space position. Resets both own and other body relative position, ie. zeroes the constraint error.
void	SetHighLimit (const Vector2 &limit)
	Set high limit. Interpretation is constraint type specific.
void	SetLowLimit (const Vector2 &limit)
	Set low limit. Interpretation is constraint type specific.
void	SetERP (float erp)
	Set constraint error reduction parameter. Zero = leave to default.
void	SetCFM (float cfm)
	Set constraint force mixing parameter. Zero = leave to default.
void	SetDisableCollision (bool disable)
	Set whether to disable collisions between connected bodies.
PhysicsWorld *	GetPhysicsWorld () const
	Return physics world.
btTypedConstraint *	GetConstraint () const
	Return Bullet constraint.
ConstraintType	GetConstraintType () const
	Return constraint type.
RigidBody *	GetOwnBody () const
	Return rigid body in own scene node.
RigidBody *	GetOtherBody () const
	Return the other rigid body. May be null if connected to the static world.
const Vector3 &	GetPosition () const
	Return constraint position relative to own body.
const Quaternion &	GetRotation () const
	Return constraint rotation relative to own body.
const Vector3 &	GetOtherPosition () const
	Return constraint position relative to other body.
const Quaternion &	GetOtherRotation () const
	Return constraint rotation relative to other body.
Vector3	GetWorldPosition () const
	Return constraint world position, calculated from own body.
const Vector2 &	GetHighLimit () const
	Return high limit.
const Vector2 &	GetLowLimit () const
	Return low limit.
float	GetERP () const
	Return constraint error reduction parameter.
float	GetCFM () const
	Return constraint force mixing parameter.
bool	GetDisableCollision () const
	Return whether collisions between connected bodies are disabled.
void	ReleaseConstraint ()
	Release the constraint.
void	ApplyFrames ()
	Apply constraint frames.
Public Member Functions inherited from Urho3D::Component
	Component (Context *context)
	Construct.
	~Component () override
	Destruct.
virtual void	OnSetEnabled ()
	Handle enabled/disabled state change. More...
bool	Save (Serializer &dest) const override
	Save as binary data. Return true if successful. More...
bool	SaveXML (XMLElement &dest) const override
	Save as XML data. Return true if successful. More...
bool	SaveJSON (JSONValue &dest) const override
	Save as JSON data. Return true if successful. More...
void	MarkNetworkUpdate () override
	Mark for attribute check on the next network update. More...
virtual void	GetDependencyNodes (Vector< Node * > &dest)
	Return the depended on nodes to order network updates. More...
virtual void	DrawDebugGeometry (DebugRenderer *debug, bool depthTest)
	Visualize the component as debug geometry. More...
void	SetEnabled (bool enable)
	Set enabled/disabled state.
void	Remove ()
	Remove from the scene node. If no other shared pointer references exist, causes immediate deletion.
ComponentId	GetID () const
	Return ID.
bool	IsReplicated () const
	Return whether the component is replicated or local to a scene.
Node *	GetNode () const
	Return scene node.
Scene *	GetScene () const
	Return the scene the node belongs to.
bool	IsEnabled () const
	Return whether is enabled.
bool	IsEnabledEffective () const
	Return whether is effectively enabled (node is also enabled).
Component *	GetComponent (StringHash type) const
	Return component in the same scene node by type. If there are several, returns the first.
void	GetComponents (Vector< 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 (Vector< 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. More...
bool	SaveXML (XMLElement &dest) const override
	Save as XML data. Return true if successful. More...
bool	LoadJSON (const JSONValue &source) override
	Load from JSON data. Return true if successful. More...
bool	SaveJSON (JSONValue &dest) const override
	Save as JSON data. Return true if successful. More...
void	SetAnimationEnabled (bool enable)
	Set automatic update of animation, default true.
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)
	Set object animation.
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
	Return animation enabled.
ObjectAnimation *	GetObjectAnimation () const
	Return object animation.
ValueAnimation *	GetAttributeAnimation (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. More...
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. More...
virtual bool	Save (Serializer &dest) const
	Save as binary data. Return true if successful. More...
virtual bool	LoadXML (const XMLElement &source)
	Load from XML data. Return true if successful. More...
virtual bool	SaveXML (XMLElement &dest) const
	Save as XML data. Return true if successful. More...
virtual bool	LoadJSON (const JSONValue &source)
	Load from JSON data. Return true if successful. More...
virtual bool	SaveJSON (JSONValue &dest) const
	Save as JSON data. Return true if successful. More...
virtual void	ApplyAttributes ()
	Apply attribute changes that can not be applied immediately. Called after scene load or a network update. More...
virtual bool	SaveDefaultAttributes () const
	Return whether should save default-valued attributes into XML. Default false. More...
virtual void	MarkNetworkUpdate ()
	Mark for attribute check on the next network update. More...
bool	SetAttribute (unsigned index, const Variant &value)
	Set attribute by index. Return true if successfully set.
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)
	Set temporary flag. Temporary objects will not be saved.
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
	Return attribute value by index. Return empty if illegal index.
Variant	GetAttribute (const String &name) const
	Return attribute value by name. Return empty if not found.
Variant	GetAttributeDefault (unsigned index) const
	Return attribute default value by index. Return empty if illegal index.
Variant	GetAttributeDefault (const String &name) const
	Return attribute default value by name. Return empty if not found.
unsigned	GetNumAttributes () const
	Return number of attributes.
unsigned	GetNumNetworkAttributes () const
	Return number of network replication attributes.
bool	IsTemporary () const
	Return whether is temporary.
bool	GetInterceptNetworkUpdate (const String &attributeName) const
	Return whether an attribute's network updates are being intercepted.
NetworkState *	GetNetworkState () 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
	Return type hash. More...
virtual const String &	GetTypeName () const =0
	Return type name. More...
virtual const TypeInfo *	GetTypeInfo () 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 Vector< 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.
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, 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.
Context *	GetContext () const
	Return execution context.
const Variant &	GetGlobalVar (StringHash key) const
	Return global variable based on key.
const VariantMap &	GetGlobalVars () const
	Return all global variables.
void	SetGlobalVar (StringHash key, const Variant &value)
	Set global variable with the respective key and 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 String &	GetCategory () const
	Return object category. Categories are (optionally) registered along with the object factory. Return an empty string if the object category is not registered.
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.
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
	Return reference count.
int	WeakRefs () const
	Return weak reference count.
RefCount *	RefCountPtr ()
	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 TypeInfo *	GetTypeInfoStatic ()
	Return type info static.

Protected Member Functions
void	OnNodeSet (Node *node) override
	Handle node being assigned. More...
void	OnSceneSet (Scene *scene) override
	Handle scene being assigned. More...
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. More...
void	OnAttributeAnimationRemoved () override
	Handle attribute animation removed. More...
virtual void	OnNodeSet (Node *node)
	Handle scene node being assigned at creation. More...
virtual void	OnSceneSet (Scene *scene)
	Handle scene being assigned. This may happen several times during the component's lifetime. Scene-wide subsystems and events are subscribed to here. More...
virtual void	OnMarkedDirty (Node *node)
	Handle scene node transform dirtied. More...
virtual void	OnNodeSetEnabled (Node *node)
	Handle scene node enabled status changing. More...
void	SetID (ComponentId id)
	Set ID. Called by Scene.
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.
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.
Protected Member Functions inherited from Urho3D::Animatable
virtual void	OnAttributeAnimationAdded ()=0
	Handle attribute animation added. More...
virtual void	OnAttributeAnimationRemoved ()=0
	Handle attribute animation removed. More...
virtual Animatable *	FindAttributeAnimationTarget (const String &name, String &outName)
	Find target of an attribute animation from object hierarchy by name. More...
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.
AttributeAnimationInfo *	GetAttributeAnimationInfo (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< PhysicsWorld >	physicsWorld_
	Physics world.
WeakPtr< RigidBody >	ownBody_
	Own rigid body.
WeakPtr< RigidBody >	otherBody_
	Other rigid body.
std::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
Protected Attributes inherited from Urho3D::Component
Node *	node_
	Scene node.
ComponentId	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< ObjectAnimation >	objectAnimation_
	Animation.
HashSet< const AttributeInfo * >	animatedNetworkAttributes_
	Animated network attribute set.
HashMap< String, SharedPtr< AttributeAnimationInfo > >	attributeAnimationInfos_
	Attribute animation infos.
Protected Attributes inherited from Urho3D::Serializable
std::unique_ptr< NetworkState >	networkState_
	Network attribute state.
Protected Attributes inherited from Urho3D::Object
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

ApplyAttributes()

void Urho3D::Constraint::ApplyAttributes ( )

overridevirtual

Apply attribute changes that can not be applied immediately. Called after scene load or a network update.

Reimplemented from Urho3D::Serializable.

DrawDebugGeometry()

void Urho3D::Constraint::DrawDebugGeometry ( DebugRenderer *  debug, bool  depthTest  )

overridevirtual

Visualize the component as debug geometry.

Reimplemented from Urho3D::Component.

GetDependencyNodes()

void Urho3D::Constraint::GetDependencyNodes ( Vector< Node * > &  dest )

overridevirtual

Return the depended on nodes to order network updates.

Reimplemented from Urho3D::Component.

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.

OnNodeSet()

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

overrideprotectedvirtual

Handle node being assigned.

Reimplemented from Urho3D::Component.

OnSceneSet()

void Urho3D::Constraint::OnSceneSet ( Scene *  scene )

overrideprotectedvirtual

Handle scene being assigned.

Reimplemented from Urho3D::Component.

OnSetEnabled()

void Urho3D::Constraint::OnSetEnabled ( )

overridevirtual

Handle enabled/disabled state change.

Reimplemented from Urho3D::Component.

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

• /home/runner/work/urho3d-doxygen.github.io/urho3d-doxygen.github.io/urho3d_repo/Source/Urho3D/Physics/Constraint.h
• /home/runner/work/urho3d-doxygen.github.io/urho3d-doxygen.github.io/urho3d_repo/Source/Urho3D/Physics/Constraint.cpp