Structure that allows you to manipulate different types of rigid body constraint. A rigid constraint can simulate any type of physical limitation or restriction that can be applied to the movements of one or between two masses (in other worlds two RigidBody). These masses can either be a single Object or a SkeletalMesh Bone associated with an existing PhysicObject.

A rigid constraint is built to handle a certain amount of impulse or pressure that can be applied to them. If that limit is violated the constraint will breaks. Further logic based on this system can be handled in code using the programming interface below.

Static Variables

Name	Description
`rigidbodyA`	Parent RigidBody where the RigidConstraint is contained.
Declaration RigidBody *rigidbodyA
`pivotA`	First pivot of the constraint which is relative to `rigidbodyA`.
Declaration vec3 pivotA
`rotationA`	Rotation in Euler angles relative to `rigidbodyA`.
Declaration vec3 rotationA
`pivotB`	Second pivot of the RigidConstraint which is relative to `rigidbodyB`.
Declaration vec3 pivotB
`rotationB`	Rotation in Euler relative to `rigidbodyB`.
Declaration vec3 rotationB
`uid`	Unique id of the RigidConstraint to identify it globally.
Declaration unsigned int uid
`data`	Access to the RigidConstraint properties for the active RigidConstraintType the constraint was created with.
Declaration RigidConstraintData data

Variables

Name	Description
`draw_size`	Size of the RigidConstraint debug draw (editor only) to use.
Declaration float draw_size Range 0.01 to 10.0
`name`	A unique name to identify the RigidConstraint.
Declaration char *name
`breaking_impulse_threshold`	Control how much impulse the current RigidConstraint can handle before it breaks.
Declaration float breaking_impulse_threshold Range 0.0 to inf.
`num_solver_iterations`	Control the number of time the solver should evaluate the RigidConstraint per frame.
Declaration int num_solver_iterations Note Increasing this value will make the RigidConstraint more stable. Decreasing it will cause the RigidConstraint to become "jaggy" and unstable. Tweak this value based on your requirements.
`collision_between_bodies`	Enable or disable collision between the two RigidBody involved in the RigidConstraint.
Declaration bool collision_between_bodies
`enabled`	Control whether or not the current RigidConstraint should be active.
Declaration bool enabled
`rigidbodyB`	Reference to the second RigidBody involved in the RigidConstraint.
Declaration RigidBody *rigidbodyB Note Setting the second RigidBody to `nil` indicates that the `pivotB` and `rotationB` values should be interpreted as world space coordinates. If a valid RigidBody reference is attached the pivot and rotation will be relative the body transformation.

Functions

Name	Description
`GetAppliedImpulse`	Get the current ammount of impulse applied to the RigidConstraint.
Declaration float GetAppliedImpulse( void ) Return Value The amount of impulse currently applied to the active RigidConstraint.
`ReachBreakingPoint`	Evaluate wheter or not the active RigidConstraint have reach its breaking point.
Declaration bool ReachBreakingPoint( void ) Return Value `true` if the constraint have already reach it breaking point; else return `false`.
`Build`	Manually rebuilt the RigidConstraint.
Declaration void Build( void )

RigidConstraintData

Access the properties available to the RigidConstraint based on its current RigidConstraintType.

Static Variables

Name	Description
`type`	The RigidConstraintType of the active RigidConstraint.
Declaration RigidConstraintType type
`fixedconstraint`	Access the property available for a FixedConstraint RigidConstraintType.
Declaration FixedConstraint *fixedconstraint Warning The reference will be `nil` if the type of the active RigidConstraint is not `kFixed`.
`ballconstraint`	Access the property available for a BallConstraint RigidConstraintType.
Declaration BallConstraint *ballconstraint Warning The reference will be `nil` if the type of the active RigidConstraint is not `kBall`.
`hingeconstraint`	Access the property available for a HingeConstraint RigidConstraintType.
Declaration HingeConstraint *hingeconstraint Warning The reference will be `nil` if the type of the active RigidConstraint is not `kHinge`.
`twistconstraint`	Access the property available for a TwistConstraint RigidConstraintType.
Declaration TwistConstraint *twistconstraint Warning The reference will be `nil` if the type of the active RigidConstraint is not `kTwist`.
`sliderconstraint`	Access the property available for a SliderConstraint RigidConstraintType.
Declaration SliderConstraint *sliderconstraint Warning The reference will be `nil` if the type of the active RigidConstraint is not `kSlider`.
`genericconstraint`	Access the property available for a GenericConstraint RigidConstraintType.
Declaration GenericConstraint *genericconstraint Warning The reference will be `nil` if the type of the active RigidConstraint is not `kGeneric`.

RigidConstraintType

Available types of RigidConstraint.

kFixed: Creates an attachment; similar as a pin either in world space or relative to another existing rigid body.
kBall: Create a point to point constraint.
kHinge: Create a movable joint mechanism like the one found on windows or doors.
kTwist: Create cone twist constraints such as the one found on levers or pully.
kSlider: Create a linear constraint that allows the connected RigidBody to slide from one point to another.
kGeneric: All-in-one 6 degrees of freedom constraint capable to simulate all others constraint type. Its flexibility allows you to customize your own RigidConstraint as you see fit.

MotorType

Constant values that enumerate the different type of motor impulse that can be attached to RigidConstraint.

kDisabled: The motor is disabled.
kEnabled: Regular motor applying either linear or rotational impulse.
kSpring: Spring-motor that can apply either a linear or angular spring impulse to the RigidConstraint.