Struct PhysicsJoint

A set of constraints on the relative motion of a PhysicsConstrainedBodyPair. Most joint types can be described with a single instance, but complex setups like ragdoll joints require more than one instance to stabilize. In these cases, you should associate multiple joints using PhysicsJointCompanion.

Namespace: Unity.Physics
Syntax
public struct PhysicsJoint : IComponentData

Properties

BodyAFromJoint

The anchor point and orientation in the space of the first body.

Declaration
public BodyFrame BodyAFromJoint { get; set; }
Property Value
Type Description
BodyFrame

BodyBFromJoint

The target point and orientation in the space of the second body.

Declaration
public BodyFrame BodyBFromJoint { get; set; }
Property Value
Type Description
BodyFrame

JointType

An optional property to provide a hint about what behavior the underlying constraints represent. Use it in conjunction with convenience setters in JointComponentExtensions to modify constraints. Its value is set when you use a factory method to construct a new PhysicsJoint instance, but it has no effect on joint behavior. See also CreateBallAndSocket(float3, float3), CreateFixed(BodyFrame, BodyFrame), CreateHinge(BodyFrame, BodyFrame), CreateLimitedDistance(float3, float3, Math.FloatRange), CreateLimitedHinge(BodyFrame, BodyFrame, Math.FloatRange), CreatePrismatic(BodyFrame, BodyFrame, Math.FloatRange), CreateRagdoll(BodyFrame, BodyFrame, Single, Math.FloatRange, Math.FloatRange, out PhysicsJoint, out PhysicsJoint). CreateLimitedDOF(RigidTransform, bool3, bool3).

Declaration
public JointType JointType { get; set; }
Property Value
Type Description
JointType

Version

A counter to keep track of changes to the joint's definition. Use it with back-ends like Havok that cache information about the joint if its properties have not changed.

Declaration
public readonly byte Version { get; }
Property Value
Type Description
Byte

Methods

CreateBallAndSocket(float3, float3)

Create a BallAndSocket joint.

Declaration
public static PhysicsJoint CreateBallAndSocket(float3 anchorA, float3 anchorB)
Parameters
Type Name Description
float3 anchorA

Specifies the anchor point in the space of body A.
float3 anchorB

Specifies the target point in the space of body B.
Returns
Type Description
PhysicsJoint

CreateFixed(BodyFrame, BodyFrame)

Create a Fixed joint.

Declaration
public static PhysicsJoint CreateFixed(BodyFrame bodyAFromJoint, BodyFrame bodyBFromJoint)
Parameters
Type Name Description
BodyFrame bodyAFromJoint

Specifies a reference point and orientation in the space of body A.
BodyFrame bodyBFromJoint

Specifies a target point and orientation in the space of body B.
Returns
Type Description
PhysicsJoint

CreateHinge(BodyFrame, BodyFrame)

Create a Hinge joint.

Declaration
public static PhysicsJoint CreateHinge(BodyFrame bodyAFromJoint, BodyFrame bodyBFromJoint)
Parameters
Type Name Description
BodyFrame bodyAFromJoint

Specifies the anchor point and axis of rotation in the space of body A.
BodyFrame bodyBFromJoint

Specifies the target point and axis of alignment in the space of body B.
Returns
Type Description
PhysicsJoint

CreateLimitedDistance(float3, float3, Math.FloatRange)

Create a LimitedDistance joint.

Declaration
public static PhysicsJoint CreateLimitedDistance(float3 anchorA, float3 anchorB, Math.FloatRange distanceRange)
Parameters
Type Name Description
float3 anchorA

Specifies the anchor point in the space of body A.
float3 anchorB

Specifies the target point in the space of body B.
Math.FloatRange distanceRange

The minimum required distance and maximum possible distance between the two anchor points.
Returns
Type Description
PhysicsJoint

CreateLimitedDOF(RigidTransform, bool3, bool3)

Create a LimitedDegreeOfFreedom joint.

Declaration
public static PhysicsJoint CreateLimitedDOF(RigidTransform offset, bool3 linearLocks, bool3 angularLocks)
Parameters
Type Name Description
RigidTransform offset

Specifies a target point and orientation in the space of body B.
bool3 linearLocks

Specifies which linear axes are constrained.
bool3 angularLocks

Specifies which angular axes are constrained.
Returns
Type Description
PhysicsJoint

CreateLimitedHinge(BodyFrame, BodyFrame, Math.FloatRange)

Create a LimitedHinge joint.

Declaration
public static PhysicsJoint CreateLimitedHinge(BodyFrame bodyAFromJoint, BodyFrame bodyBFromJoint, Math.FloatRange angularRange)
Parameters
Type Name Description
BodyFrame bodyAFromJoint

Specifies the anchor point, axis of rotation, and rest orientation in the space of body A.
BodyFrame bodyBFromJoint

Specifies the target point, axis of alignment, and reference orientation in the space of body B.
Math.FloatRange angularRange

The minimum required and maximum possible angle of rotation about the aligned axes.
Returns
Type Description
PhysicsJoint

CreatePrismatic(BodyFrame, BodyFrame, Math.FloatRange)

Create a Prismatic joint.

Declaration
public static PhysicsJoint CreatePrismatic(BodyFrame bodyAFromJoint, BodyFrame bodyBFromJoint, Math.FloatRange distanceOnAxis)
Parameters
Type Name Description
BodyFrame bodyAFromJoint

Specifies the anchor point and axis of rotation in the space of body A.
BodyFrame bodyBFromJoint

Specifies the target point and axis of alignment in the space of body B.
Math.FloatRange distanceOnAxis

The minimum required and maximum possible distance between the two anchor points along their aligned axes.
Returns
Type Description
PhysicsJoint

CreateRagdoll(BodyFrame, BodyFrame, Single, Math.FloatRange, Math.FloatRange, out PhysicsJoint, out PhysicsJoint)

Declaration
public static void CreateRagdoll(BodyFrame bodyAFromJoint, BodyFrame bodyBFromJoint, float maxConeAngle, Math.FloatRange angularPlaneRange, Math.FloatRange angularTwistRange, out PhysicsJoint primaryConeAndTwist, out PhysicsJoint perpendicularCone)
Parameters
Type Name Description
BodyFrame bodyAFromJoint
BodyFrame bodyBFromJoint
Single maxConeAngle
Math.FloatRange angularPlaneRange
Math.FloatRange angularTwistRange
PhysicsJoint primaryConeAndTwist
PhysicsJoint perpendicularCone

GetConstraints()

Get the sequence of Constraint atoms to apply between the two bodies.

Declaration
public FixedList128Bytes<Constraint> GetConstraints()
Returns
Type Description
FixedList128Bytes<Constraint>

SetConstraints(FixedList128Bytes<Constraint>)

Set the sequence of Constraint atoms to apply between the two bodies.

Declaration
public void SetConstraints(FixedList128Bytes<Constraint> constraints)
Parameters
Type Name Description
FixedList128Bytes<Constraint> constraints

A sequence of Constraint atoms to apply in order.

Extension Methods