AngularJoint constraints can be created only if the soft body have clusters. They can be use to control the rotation of the soft body around a specific pair of axis. The axis can either be local or relative to another physic body. This type of soft constraint is usually used along with other constraints to achieve the desired movements.

To give a simple example where an angular joint might comes in handy would be the front wheels (a SoftBody) of a car. They are only allowed to revolve around their local X axis and can only turn on their local Z axis. Of course more complex setup can be created using a combination of joints to achieve virtually anything.

Static Variables

Name	Description
`softconstraint`	A reference to the SoftConstraint the current angular joint is attached to.
Declaration SoftConstraint *softconstraint
`cfm`	The constraint force mix factor.
Declaration float cfm Range -0.1 to 1.0
`erp`	The constraint error reduction parameter.
Declaration float erp Range -0.1 to 1.0
`split`	Controls the split impulse factor of the constraint.
Declaration float split Range -0.1 to 1.0

Variables

Name	Description
`enabled`	Enable or disable the constraint solving.
Declaration bool enabled; Remarks When disabled the constraint will still remain in the World however it will not processed by the solver.
`axisA`	The first rotation axis the constraint will revolve around.
Declaration vec3 axisA; Warning The axisA and axisB always have to be normalized. In the case that the axes are opposite this will create an angular impulse. Always insure that your axes are aligned in the rotation axis that you are trying to prevent or encourage.
`physicobjectB`	Connect an existing PhysicObject to the constraint.
Declaration PhysicObject *physicobjectB; Remarks To disconnect the `physicobjectB` simply set the variable to `nil`.
`axisB`	The second rotation axis (either local or relative) the constraint will be aligned with.
Declaration vec3 axisA; Attention The axisB and axisA always have to be normalized. In the case that the axes are opposite this will create an angular impulse. Always insure that your axes are aligned in the rotation axis that you are trying to prevent or encourage.
`collision_between_bodies`	Enable or disable the collision between the physics bodies involved in the constraint.
Declaration bool collision_between_bodies; Note This option is in effect only if the angular joint `physicobjectB` is assigned.

Functions

Name Description

SetSettings Set the angular joint settings.

Declaration

void SetSettings( float cfm, float erp, float split )

Parameters

cfm: The constraint force mix factor.
erp: The error reduction parameter.
split: The split impulse factor (multiply drift).

Note: All parameters should be in the range of 0.0 to 1.0.