Class Constraint

Namespace

Jitter2.Dynamics.Constraints

Assembly

Jitter2.dll

Base class for constraints that connect two rigid bodies and restrict their relative motion.

public abstract class Constraint : IDebugDrawable

Inheritance

object

Constraint

Implements

IDebugDrawable

Derived

Constraint<T>

Inherited Members

object.Equals(object)

object.Equals(object, object)

object.GetHashCode()

object.GetType()

object.MemberwiseClone()

object.ReferenceEquals(object, object)

Fields

DefaultAngularBias

Default bias factor for angular error correction.

public const float DefaultAngularBias = 0.2

Field Value

float

DefaultAngularLimitBias

Default bias factor for angular limit correction.

public const float DefaultAngularLimitBias = 0.1

Field Value

float

DefaultAngularLimitSoftness

Default softness for angular limit enforcement.

public const float DefaultAngularLimitSoftness = 0.001

Field Value

float

DefaultAngularSoftness

Default softness (compliance) for angular constraints.

public const float DefaultAngularSoftness = 0.001

Field Value

float

DefaultLinearBias

Default bias factor for linear error correction.

public const float DefaultLinearBias = 0.2

Field Value

float

DefaultLinearLimitBias

Default bias factor for linear limit correction.

public const float DefaultLinearLimitBias = 0.2

Field Value

float

DefaultLinearLimitSoftness

Default softness for linear limit enforcement.

public const float DefaultLinearLimitSoftness = 0.0001

Field Value

float

DefaultLinearSoftness

Default softness (compliance) for linear constraints.

public const float DefaultLinearSoftness = 1E-05

Field Value

float

Properties

Body1

Gets the first rigid body connected by this constraint.

public RigidBody Body1 { get; }

Property Value

RigidBody

Body2

Gets the second rigid body connected by this constraint.

public RigidBody Body2 { get; }

Property Value

RigidBody

DispatchId

protected uint DispatchId { get; set; }

Property Value

uint

Handle

A handle for accessing the raw constraint data.

public JHandle<ConstraintData> Handle { get; }

Property Value

JHandle<ConstraintData>

IsEnabled

Gets or sets whether this constraint is enabled.

public bool IsEnabled { get; set; }

Property Value

bool

Remarks

Use Remove(Constraint) for permanent removal. An enabled constraint is solved only while at least one connected body is dynamic and awake. Changing body motion types or activation states does not change this property.

IsSmallConstraint

Gets whether this constraint uses the smaller data layout.

public virtual bool IsSmallConstraint { get; }

Property Value

bool

IsValid

Gets a value indicating whether the underlying constraint data is still valid.

public bool IsValid { get; }

Property Value

bool

SmallHandle

Gets a handle to the constraint data reinterpreted as SmallConstraintData.

public JHandle<SmallConstraintData> SmallHandle { get; }

Property Value

JHandle<SmallConstraintData>

Tag

Gets or sets application data associated with this constraint. The engine does not use this value.

public object? Tag { get; set; }

Property Value

object

Methods

CheckDataSize<T>()

Checks that the constraint data type fits within ConstraintData.

protected static void CheckDataSize<T>() where T : unmanaged

Type Parameters

T

The constraint-specific data type.

Exceptions

InvalidOperationException

Thrown if the data type is too large.

Create()

Called when the world creates this constraint. Override to set DispatchId to the ID returned by registering the constraint's solver methods.

protected virtual void Create()

DebugDraw(IDebugDrawer)

Draws a debug visualization of this constraint.

public virtual void DebugDraw(IDebugDrawer drawer)

Parameters

drawer IDebugDrawer

The debug drawer to receive visualization primitives.

Exceptions

NotImplementedException

Thrown if the derived class does not override this method.

DebugDraw(IDebugDrawer, in DebugDrawSettings)

Draws this constraint using the supplied visualization settings. Custom constraints that only override DebugDraw(IDebugDrawer) use their default visualization.

public virtual void DebugDraw(IDebugDrawer drawer, in DebugDrawSettings settings)

Parameters

drawer IDebugDrawer

settings DebugDrawSettings

FormatDescription(string)

Formats the constraint's ID, connected body IDs, and state using the supplied name.

protected string FormatDescription(string name)

Parameters

name string

The constraint type name to display.

Returns

string

GetDebugDrawOrigin(in DebugDrawSettings)

Gets the display origin for an angular constraint, keeping world-relative guides near body 2.

protected JVector GetDebugDrawOrigin(in DebugDrawSettings settings)

Parameters

settings DebugDrawSettings

Returns

JVector

RegisterFullConstraint(delegate*<ref ConstraintData, in TimeStep, void>, delegate*<ref ConstraintData, in TimeStep, void>)

protected static uint RegisterFullConstraint(delegate*<ref ConstraintData, in TimeStep, void> prepare, delegate*<ref ConstraintData, in TimeStep, void> iterate)

Parameters

prepare delegate*<ref ConstraintData, in TimeStep, void>

iterate delegate*<ref ConstraintData, in TimeStep, void>

Returns

uint

RegisterSmallConstraint(delegate*<ref SmallConstraintData, in TimeStep, void>, delegate*<ref SmallConstraintData, in TimeStep, void>)

protected static uint RegisterSmallConstraint(delegate*<ref SmallConstraintData, in TimeStep, void> prepare, delegate*<ref SmallConstraintData, in TimeStep, void> iterate)

Parameters

prepare delegate*<ref SmallConstraintData, in TimeStep, void>

iterate delegate*<ref SmallConstraintData, in TimeStep, void>

Returns

uint

ResetWarmStart()

Clears impulses saved from the previous solve, without changing constraint settings.

public virtual void ResetWarmStart()

Remarks

Use after restoring a saved state or making a sudden change to the bodies, when impulses from their previous state should no longer be reused.

ToString()

Returns a short description of the constraint's ID, connected bodies, and state.

public override string ToString()

Returns

string

VerifyNotZero()

Verifies that this constraint has been properly created via the World class.

protected void VerifyNotZero()

Exceptions

InvalidOperationException

Thrown if the constraint was instantiated directly instead of through CreateConstraint<T>(RigidBody, RigidBody).