A special type of RigidConstraint that force a PhysicObject to remain a certain distance from a predefined cone, limiting its rotation.

See Also

Static Variables

Name	Description
`rigidconstraint`	Parent RigidConstraint responsible of maintaining the active TwistConstraint.
Declaration RigidConstraint *rigidconstraint
`angular_limit`	Controls the rotational limit of the TwistConstraint for each axis.
Declaration vec3 angular_limit Range -180.0 to 180.0
`softness`	Describes the percentage of limits where the movement is free, beyond this percentage, the limit is gradually reinforced until the hard limit (1.0) is reached.
Declaration float softness Range 0.0 to 1.0
`bias`	Strength with which the constraint resists zeroth order (angular, not angular velocity) limit violation.
Declaration float bias Range 0.0 to 1.0
`relaxation`	The lower the value the less the constraint will fight velocities which violate angular limits.
Declaration float relaxation Range 0.0 to 1.0
`fix_threshold`	The threshold to used to force solving the swing limit of the constraint.
Declaration float fix_threshold Range 0.0 to 1.0
`motor_enabled`	Enable angular motor force.
Declaration bool motor_enabled
`motor_normalize_impulse`	Normalize the motor impulse strength.
Declaration bool motor_normalize_impulse
`motor_angular_target`	The motor target rotation on each axis.
Declaration vec3 motor_angular_target
`motor_max_impulse`	Maximum impulse factor that will be accumulated by the motor.
Declaration float motor_max_impulse
`cfm_linear`	The linear constant force mixing factor.
Declaration float cfm_linear Range -0.1 to 1.0
`cfm_angular`	The angular constant force mixing factor.
Declaration float cfm_angular Range -0.1 to 1.0
`erp_linear`	Control the error reduction parameter to use by the constraint solver.
Declaration float erp_linear Range -0.1 to 1.0

Functions

Name	Description
`SetFrames`	Build the constraint frames between two rigid bodies.
Declaration void SetFrames( const vec3 pivotA, const vec3 rotationA, const vec3 pivotB, const vec3 rotationB ) Parameters `pivotA`: Local pivot point located on the first rigid body. `rotationA`: Local rotation relative to the first rigid body. `pivotB`: Local pivot point located on the second rigid body. `rotationB`: Local rotation relative to the second rigid body.
`SetLimits`	Setup the limit parameters of the active TwistConstraint.
Declaration void SetLimits( const vec3 angular_limit, float softness, float bias, float relaxation, float fix_threshold ) Parameters `angular_limit`: The rotational angle limit to use for each axis. `softness`: The percentage of movement limits. `bias`: Strength with which the constraint resists zeroth order. `relaxation`: Control how the constraint fight velocities that violates angular limits. `fix_threshold`: Force solving the swing limits.
`SetMotor`	Enable or disable angular motor (and setup its parameter) for the active TwistConstraint.
Declaration void SetMotor( bool motor_enabled, bool motor_normalize_impulse, const vec3 motor_angular_target, float motor_max_impulse ) Parameters `motor_enabled`: Controls the motor availability. `motor_normalize_impulse`: Force to normalize the motor impulse. `motor_angular_target`: Setup the motor angular target. `motor_max_impulse`: Maximum amount of impulse the mother can produce.
`SetOverrides`	Function that allows you to overrides the default CFM and ERP values.
Declaration void SetOverrides( float cfm_linear, float cfm_angular, float erp_linear ) Parameters `cfm_linear`: The linear constant force mix factor to use. `cfm_angular`: The angular constant force mix factor to use. `erp_linear`: Specify the error reduction parameter to use. Note All value should not exceed `1.0`; a value is lower than `0.0` tell the system to use them default preset for the constraint.
`GetAngle`	Helper that retrieve the current angle (in degree) of the TwistConstraint.
Declaration float GetAngle( void ) Return Value The current angle of the TwistConstraint.