Struct Constraint

A linear or angular constraint in 1, 2, or 3 dimensions.

Implements

IEquatable<Constraint>

Inherited Members

ValueType.ToString()

object.Equals(object, object)

object.ReferenceEquals(object, object)

object.GetType()

Namespace: Unity.Physics

Assembly: solution.dll

Syntax

public struct Constraint : IEquatable<Constraint>

Fields

Name	Description
ConstrainedAxes	The constrained axes.
DampingRatio	The damping ratio.
DefaultDampingRatio	The default damping ratio.
DefaultMaxImpulse	The default maximum impulse.
DefaultSpringDamping	Deprecated. Use DefaultDampingRatio instead. The default damping ratio.
DefaultSpringFrequency	The default spring frequency. (Immutable) Current default values give tau = 0.6 damping = 0.99 at 60hz The values are huge and we can't get damping = 1 -- a stiff constraint is the limit of a damped spring as spring params go to infinity. Rather than baking them these values could be calculated using JacobianUtilities.CalculateSpringFrequencyAndDamping(0.6f, 0.99f, math.rcp(60.0f), 4, out DefaultSpringFrequency, out DefaultDampingRatio);
Max	The maximum.
MaxImpulse	The impulse threshold after which ImpulseEvent will be raised from this constraint. In case of motorized constraints, represents the maximum impulse that can be applied to it during one step.
Min	The minimum.
SpringDamping	Deprecated. Use DampingRatio instead. The spring damping ratio.
SpringFrequency	The spring frequency.
Target	The target a motor will drive towards. Can be set to zero for non-motor type constraints
Type	The constraint type.

Properties

Name	Description
ConstrainedAxis1D	Selects the constrained axis from a constraint with Dimension == 1
Dimension	Number of affected degrees of freedom. 1, 2, or 3.
FreeAxis2D	Selects the free axis from a constraint with Dimension == 2

Methods

Name	Description
AngularVelocityMotor(float, float, float, float)	Drives bodies to a specified target angular velocity, around one axis.
BallAndSocket(float, float)	Constrains linear motion about all three axes to zero.
BallAndSocket(float3, float, float)	Constrains linear motion about all three axes to zero.
Cone(int, FloatRange, float, float)	Constrains angular motion about two axes within the specified range. Rotation around the third is unrestricted.
Cone(int, FloatRange, float3, float, float)	Constrains angular motion about two axes within the specified range. Rotation around the third is unrestricted.
Cylindrical(int, FloatRange, float, float)	Constrains linear motion about two axes within the specified range. Movement about the third is unrestricted.
Cylindrical(int, FloatRange, float3, float, float)	Constrains linear motion about two axes within the specified range. Movement about the third is unrestricted.
Equals(object)	Tests if this object is considered equal to another.
Equals(Constraint)	Tests if this Constraint is considered equal to another.
FixedAngle(float, float)	Constrains angular motion about all three axes to zero.
FixedAngle(float3, float, float)	Constrains angular motion about all three axes to zero.
GetHashCode()	Calculates a hash code for this object.
Hinge(int, float, float)	Constrains angular motion about two axes to zero. Rotation around the third is unrestricted.
Hinge(int, float3, float, float)	Constrains angular motion about two axes to zero. Rotation around the third is unrestricted.
LimitedDistance(FloatRange, float, float)	Constrains linear motion about all three axes within the specified range.
LimitedDistance(FloatRange, float3, float, float)	Constrains linear motion about all three axes within the specified range.
LinearVelocityMotor(float, float, float, float)	Drives bodies to a specified target relative velocity, along one axis.
MotorPlanar(float, float, float, float)	Moves bodies along one axis to specified target distance. Movement about the other two perpendicular axes is unrestricted.
MotorTwist(float, float, float, float)	Constrains angular motion about one axis and drives towards the specified target rotation.
Planar(int, FloatRange, float, float)	Constrains linear motion about one axis within the specified range. Movement about the other two is unrestricted.
Planar(int, FloatRange, float3, float, float)	Constrains linear motion about one axis within the specified range. Movement about the other two is unrestricted.
Twist(int, FloatRange, float, float)	Constrains angular motion about about one axis within the specified range.
Twist(int, FloatRange, float3, float, float)	Constrains angular motion about about one axis within the specified range.