Class D6Joint

Physics joint that is the most customizable type of joint. This joint type can be used to create all other built-in joint types, and to design your own custom ones, but is less intuitive to use. Allows a specification of a linear constraint (for example for a slider), twist constraint (rotating around X) and swing constraint (rotating around Y and Z). It also allows you to constrain limits to only specific axes or completely lock specific axes.

Inheritance

Object

ScriptingObject

SceneObject

Actor

Joint

D6Joint

Inherited Members

Actor::_box

Joint::_breakForce

Joint::_breakTorque

Actor::_drawCategory

Actor::_drawNoCulling

Joint::_enableAutoAnchor

Joint::_enableCollision

ScriptingObject::_gcHandle

ScriptingObject::_id

Actor::_isActive

Actor::_isActiveInHierarchy

Actor::_isEnabled

Actor::_isHierarchyDirty

Actor::_isPrefabRoot

Joint::_joint

Actor::_layer

Actor::_localTransform

Actor::_name

SceneObject::_parent

Actor::_physicsScene

SceneObject::_prefabID

SceneObject::_prefabObjectID

Actor::_scene

Actor::_sphere

Actor::_staticFlags

Joint::_targetAnchor

Joint::_targetAnchorRotation

Actor::_transform

ScriptingObject::_type

Actor::AddMovement(const Vector3& translation)

Actor::AddMovement(const Vector3& translation, const Quaternion& rotation)

Actor::AddScript()

Actor::AddStaticFlags(StaticFlags flags)

Actor::AddTag(const Tag& tag)

Actor::AddTagRecursive(const Tag& tag)

D6Joint

Joint::BeginPlay(SceneBeginData* data)

Actor::BreakPrefabLink()

ScriptingObject::CanCast(const ScriptingTypeHandle& from, const ScriptingTypeHandle& to)

ScriptingObject::CanCast(const MClass* from, const MClass* to)

ScriptingObject::Cast(ScriptingObject* obj)

ScriptingObject::ChangeID(const Guid& newId)

Actor::ChangeScriptOrder(Script* script, int32 newIndex)

Actor::Children

Actor::Clone()

Joint::Create()

Joint::CreateJoint(const struct PhysicsJointDesc& desc)

ScriptingObject::CreateManaged()

ScriptingObject::CreateManagedInternal()

ScriptingObject::Deleted

Object::DeleteObject(float timeToLive = 0.0f, bool useGameTime=false)

Object::DeleteObjectNow()

Actor::DEPRECATED("Use HasTag instead") const String& GetTag()

Actor::DEPRECATED("Use AddTag instead") void SetTag(const StringView& value)

ISerializable::DeserializeIfExists(DeserializeStream& stream, const char* memberName, ISerializeModifier* modifier)

D6Joint

Actor::DestroyChildren(float timeLeft = 0.0f)

ScriptingObject::DestroyManaged()

Actor::Draw(RenderContext& renderContext)

Actor::Draw(RenderContextBatch& renderContextBatch)

Joint::DrawPhysicsDebug(RenderView& view)

Joint::EndPlay()

Actor::FindActor(const StringView& name)

Actor::FindActor(const MClass* type, bool activeOnly=false)

Actor::FindActor(const MClass* type, const StringView& name)

Actor::FindActor(const MClass* type, const Tag& tag, bool activeOnly=false)

Actor::FindActor()

Actor::FindActor(const Tag& tag)

Actor::FindScript(const MClass* type)

Actor::FindScript()

Object::Flags

Actor::FromBytes(const Span<byte>& data, Array<Actor* >& output, ISerializeModifier* modifier)

Actor::FromBytes(const Span<byte>& data)

Actor::FromBytes(const Span<byte>& data, const Dictionary<Guid, Guid, HeapAllocation>& idsMapping)

ScriptingObject::FromInterface(void* interfaceObj, const ScriptingTypeHandle& interfaceType)

ScriptingObject::FromInterface(T* interfaceObj)

Actor::FromJson(const StringAnsiView& json)

Actor::GetBox()

Actor::GetBoxWithChildren()

Joint::GetBreakForce()

Joint::GetBreakTorque()

Actor::GetChild(int32 index)

Actor::GetChild(const StringView& name)

Actor::GetChild(const MClass* type)

Actor::GetChild()

Actor::GetChildren(const MClass* type)

Actor::GetChildren()

Actor::GetChildrenCount()

ScriptingObject::GetClass()

Joint::GetCurrentForce(Vector3& linear, Vector3& angular)

Actor::GetDirection()

Actor::GetEditorBox()

Actor::GetEditorBoxChildren()

Joint::GetEnableAutoAnchor()

Joint::GetEnableCollision()

ScriptingObject::GetID()

Actor::GetIsActive()

Actor::GetLayer()

Actor::GetLayerMask()

Actor::GetLayerName()

Actor::GetLocalOrientation()

Actor::GetLocalPosition()

Actor::GetLocalScale()

Actor::GetLocalToWorldMatrix(Matrix& localToWorld)

Actor::GetLocalToWorldMatrix(Double4x4& localToWorld)

Actor::GetLocalTransform()

ScriptingObject::GetManagedInstance()

Actor::GetName()

SceneObject::GetNamePath(Char separatorChar='/')

Actor::GetOrAddChild()

ScriptingObject::GetOrCreateManagedInstance()

Actor::GetOrderInParent()

Actor::GetOrientation()

SceneObject::GetParent()

Actor::GetPerInstanceRandom()

Joint::GetPhysicsImpl()

Actor::GetPhysicsScene()

Actor::GetPosition()

SceneObject::GetPrefabID()

SceneObject::GetPrefabObjectID()

Actor::GetPrefabRoot()

Actor::GetRotation()

Actor::GetScale()

Actor::GetScene()

Actor::GetSceneObjectId()

Actor::GetSceneRendering()

Actor::GetScript(int32 index)

Actor::GetScript(const MClass* type)

Actor::GetScript()

Actor::GetScriptByID(const Guid& id)

Actor::GetScripts(const MClass* type)

Actor::GetScripts()

Actor::GetScriptsCount()

Actor::GetSphere()

Actor::GetStaticFlags()

Joint::GetTargetAnchor()

Joint::GetTargetAnchorRotation()

Joint::GetTargetOrientation()

Joint::GetTargetPosition()

Actor::GetTransform()

ScriptingObject::GetType()

ScriptingObject::GetTypeHandle()

Actor::GetWorldToLocalMatrix(Matrix& worldToLocal)

Actor::GetWorldToLocalMatrix(Double4x4& worldToLocal)

Actor::HasActorInChildren(Actor* a)

Actor::HasActorInHierarchy(Actor* a)

Actor::HasContentLoaded()

ScriptingObject::HasManagedInstance()

SceneObject::HasParent()

SceneObject::HasPrefabLink()

Actor::HasScene()

Actor::HasStaticFlag(StaticFlags flag)

Actor::HasTag()

Actor::HasTag(const Tag& tag)

Actor::HasTag(const StringView& tag)

Actor::HideFlags

Actor::Initialize()

Actor::InitializeHierarchy()

Actor::Intersects(const Ray& ray, Real& distance, Vector3& normal)

Actor::IntersectsItself(const Ray& ray, Real& distance, Vector3& normal)

ScriptingObject::Is(const ScriptingTypeHandle& type)

ScriptingObject::Is(const MClass* type)

ScriptingObject::Is()

Actor::IsActiveInHierarchy()

SceneObject::IsDuringPlay()

Actor::IsPrefabRoot()

ScriptingObject::IsRegistered()

Actor::IsStatic()

Actor::IsTransformStatic()

Joint::JointBreak

Actor::LinkPrefab(const Guid& prefabId, const Guid& prefabObjectId)

Actor::LookAt(const Vector3& worldPos)

Actor::LookAt(const Vector3& worldPos, const Vector3& worldUp)

Actor::LookingAt(const Vector3& worldPos)

Actor::LookingAt(const Vector3& worldPos, const Vector3& worldUp)

ScriptingObject::NewObject(const ScriptingTypeHandle& typeHandle)

ScriptingObject::NewObject()

Actor::OnActiveChanged()

Joint::OnActiveInTreeChanged()

Actor::OnBeginPlay()

Actor::OnDebugDraw()

Actor::OnDeleteObject()

Joint::OnDisable()

Joint::OnEnable()

Actor::OnEndPlay()

Joint::OnJointBreak()

Actor::OnLayerChanged()

ScriptingObject::OnManagedInstanceDeleted()

Actor::OnOrderInParentChanged()

Joint::OnParentChanged()

Actor::OnPhysicsSceneChanged(PhysicsScene* previous)

ScriptingObject::OnScriptingDispose()

Actor::OnStaticFlagsChanged()

Joint::OnTransformChanged()

ScriptingObject::RegisterObject()

Actor::RemoveStaticFlags(StaticFlags flags)

Actor::RemoveTag(const Tag& tag)

Actor::ResetLocalTransform()

SceneObject::SceneObject(const SpawnParams& params)

ScriptingObject::ScriptingObject(const SpawnParams& params)

Actor::Scripts

D6Joint

D6Joint

Joint::SetBreakForce(float value)

Joint::SetBreakTorque(float value)

Actor::SetDirection(const Float3& value)

Joint::SetEnableAutoAnchor(bool value)

Joint::SetEnableCollision(bool value)

Actor::SetIsActive(bool value)

Joint::SetJointLocation(const Vector3& location)

Joint::SetJointOrientation(const Quaternion& orientation)

Actor::SetLayer(int32 layerIndex)

Actor::SetLayerName(const StringView& value)

Actor::SetLayerNameRecursive(const StringView& value)

Actor::SetLayerRecursive(int32 layerIndex)

Actor::SetLocalOrientation(const Quaternion& value)

Actor::SetLocalPosition(const Vector3& value)

Actor::SetLocalScale(const Float3& value)

Actor::SetLocalTransform(const Transform& value)

ScriptingObject::SetManagedInstance(MObject* instance)

Actor::SetName(String&& value)

Actor::SetName(const StringView& value)

Actor::SetOrderInParent(int32 index)

Actor::SetOrientation(const Quaternion& value)

Actor::SetParent(Actor* value, bool worldPositionsStays, bool canBreakPrefabLink)

Actor::SetParent(Actor* value, bool canBreakPrefabLink=true)

SceneObject::SetParent(Actor* value)

Actor::SetPhysicsScene(PhysicsScene* scene)

Actor::SetPosition(const Vector3& value)

Actor::SetRotation(const Matrix& value)

Actor::SetScale(const Float3& value)

Actor::SetStaticFlag(StaticFlags flag, bool value)

Actor::SetStaticFlags(StaticFlags value)

Joint::SetTargetAnchor(const Vector3& value)

Joint::SetTargetAnchorRotation(const Quaternion& value)

Actor::SetTransform(const Transform& value)

D6Joint

Actor::Tags

Joint::Target

Actor::ToBytes(const Array<Actor* >& actors, MemoryWriteStream& output)

Actor::ToBytes(const Array<Actor* >& actors)

ScriptingObject::ToInterface(ScriptingObject* obj, const ScriptingTypeHandle& interfaceType)

ScriptingObject::ToInterface(ScriptingObject* obj)

Actor::ToJson()

ScriptingObject::ToManaged(const ScriptingObject* obj)

ScriptingObject::ToNative(MObject* obj)

Actor::ToString()

Actor::TreeExecute(Function<bool(Actor* , Params ...)>& action, Params ... args)

Actor::TreeExecuteChildren(Function<bool(Actor* , Params ...)>& action, Params ... args)

Actor::TryGetSerializedObjectsIds(const Span<byte>& data)

ScriptingObject::UnregisterObject()

Actor::UnregisterObjectHierarchy()

ISerializable::~ISerializable()

Object::~Object()

SceneObject::~SceneObject()

ScriptingObject::~ScriptingObject()

Assembly: FlaxEngine.dll

File: Engine/Physics/Joints/D6Joint.h

Syntax

public class D6Joint : public Joint

Methods

CreateJoint(const PhysicsJointDesc& desc)

Declaration

protected void* CreateJoint(const PhysicsJointDesc& desc) override

Parameters

PhysicsJointDesc desc

Returns

void

Deserialize(DeserializeStream& stream, ISerializeModifier* modifier)

Deserializes object from the input stream.

Declaration

public virtual void Deserialize(DeserializeStream& stream, ISerializeModifier* modifier) override

Parameters

DeserializeStream stream The input stream.

ISerializeModifier modifier The deserialization modifier object. Always valid.

Overrides

Actor::Deserialize(DeserializeStream& stream, ISerializeModifier* modifier)

GetCurrentSwingY()

Gets the current swing angle of the joint from the Y axis.

Declaration

public float GetCurrentSwingY() const

Returns

float

GetCurrentSwingZ()

Gets the current swing angle of the joint from the Z axis.

Declaration

public float GetCurrentSwingZ() const

Returns

float

GetCurrentTwist()

Gets the twist angle of the joint (in the range (-2Pi, 2Pi]).

Declaration

public float GetCurrentTwist() const

Returns

float

GetDrive(const D6JointDriveType index)

Gets the drive parameters for the specified drive type.

Declaration

public D6JointDrive GetDrive(const D6JointDriveType index) const

Parameters

D6JointDriveType index The type of drive being specified.

Returns

D6JointDrive The value.

GetDriveAngularVelocity()

Gets the drive's target angular velocity.

Declaration

public Vector3 GetDriveAngularVelocity() const

Returns

Vector3

GetDriveLinearVelocity()

Gets the drive's target linear velocity.

Declaration

public Vector3 GetDriveLinearVelocity() const

Returns

Vector3

GetDrivePosition()

Gets the drive's target position relative to the joint's first body.

Declaration

public Vector3 GetDrivePosition() const

Returns

Vector3

GetDriveRotation()

Gets the drive's target rotation relative to the joint's first body.

Declaration

public Quaternion GetDriveRotation() const

Returns

Quaternion

GetLimitLinear()

Determines the linear limit used for constraining translation degrees of freedom.

Declaration

public LimitLinear GetLimitLinear() const

Returns

LimitLinear

GetLimitSwing()

Determines the cone limit used for constraining the swing (rotation around Y and Z) degree of freedom.

Declaration

public LimitConeRange GetLimitSwing() const

Returns

LimitConeRange

GetLimitTwist()

Determines the angular limit used for constraining the twist (rotation around X) degree of freedom.

Declaration

public LimitAngularRange GetLimitTwist() const

Returns

LimitAngularRange

GetMotion(const D6JointAxis axis)

Gets the motion type around the specified axis.

Each axis may independently specify that the degree of freedom is locked (blocking relative movement along or around this axis), limited by the corresponding limit, or free.

Declaration

public D6JointMotion GetMotion(const D6JointAxis axis) const

Parameters

D6JointAxis axis The axis the degree of freedom around which the motion type is specified.

Returns

D6JointMotion The value.

OnDebugDrawSelected()

Draws debug shapes for the selected actor and all child scripts.

Declaration

public virtual void OnDebugDrawSelected() override

Overrides

Actor::OnDebugDrawSelected()

Serialize(SerializeStream& stream, const void* otherObj)

Serializes object to the output stream compared to the values of the other object instance (eg. default class object). If other object is null then serialize all properties.

Declaration

public virtual void Serialize(SerializeStream& stream, const void* otherObj) override

Parameters

SerializeStream stream The output stream.

void otherObj The instance of the object to compare with and serialize only the modified properties. If null, then serialize all properties.

Overrides

Actor::Serialize(SerializeStream& stream, const void* otherObj)

SetDrive(const D6JointDriveType index, const D6JointDrive& value)

Sets the drive parameters for the specified drive type.

Declaration

public void SetDrive(const D6JointDriveType index, const D6JointDrive& value)

Parameters

D6JointDriveType index The type of drive being specified.

D6JointDrive value The value.

SetDriveAngularVelocity(const Vector3& value)

Sets the drive's target angular velocity.

Declaration

public void SetDriveAngularVelocity(const Vector3& value)

Parameters

Vector3 value

SetDriveLinearVelocity(const Vector3& value)

Sets the drive's target linear velocity.

Declaration

public void SetDriveLinearVelocity(const Vector3& value)

Parameters

Vector3 value

SetDrivePosition(const Vector3& value)

Sets the drive's target position relative to the joint's first body.

Declaration

public void SetDrivePosition(const Vector3& value)

Parameters

Vector3 value

SetDriveRotation(const Quaternion& value)

Sets the drive's target rotation relative to the joint's first body.

Declaration

public void SetDriveRotation(const Quaternion& value)

Parameters

Quaternion value

SetLimitLinear(const LimitLinear& value)

Determines the linear limit used for constraining translation degrees of freedom.

Declaration

public void SetLimitLinear(const LimitLinear& value)

Parameters

LimitLinear value

SetLimitSwing(const LimitConeRange& value)

Determines the cone limit used for constraining the swing (rotation around Y and Z) degree of freedom.

Declaration

public void SetLimitSwing(const LimitConeRange& value)

Parameters

LimitConeRange value

SetLimitTwist(const LimitAngularRange& value)

Determines the angular limit used for constraining the twist (rotation around X) degree of freedom.

Declaration

public void SetLimitTwist(const LimitAngularRange& value)

Parameters

LimitAngularRange value

SetMotion(const D6JointAxis axis, const D6JointMotion value)

Sets the motion type around the specified axis.

Each axis may independently specify that the degree of freedom is locked (blocking relative movement along or around this axis), limited by the corresponding limit, or free.

Declaration

public void SetMotion(const D6JointAxis axis, const D6JointMotion value)

Parameters

D6JointAxis axis The axis the degree of freedom around which the motion type is specified.

D6JointMotion value The value.

See Also

Joint