| | | 1 | | //======================================================================= |
| | | 2 | | // JointDefinition3D.cs |
| | | 3 | | //======================================================================= |
| | | 4 | | // MIT License, Copyright (c) 2026-present David Oravsky (mrdav30) |
| | | 5 | | // See LICENSE file in the project root for full license information. |
| | | 6 | | //======================================================================= |
| | | 7 | | |
| | | 8 | | using FixedMathSharp; |
| | | 9 | | |
| | | 10 | | namespace Gravitas.Constraints; |
| | | 11 | | |
| | | 12 | | /// <summary> |
| | | 13 | | /// Authored payload used to register one context-owned deterministic 3D joint. |
| | | 14 | | /// </summary> |
| | | 15 | | public readonly struct JointDefinition3D |
| | | 16 | | { |
| | | 17 | | /// <summary> |
| | | 18 | | /// Creates a 3D joint definition. |
| | | 19 | | /// </summary> |
| | | 20 | | public JointDefinition3D( |
| | | 21 | | SolidBody bodyA, |
| | | 22 | | SolidBody bodyB, |
| | | 23 | | FixedTransform localFrameA, |
| | | 24 | | FixedTransform localFrameB, |
| | | 25 | | JointType3D type, |
| | | 26 | | JointLimit3D limits, |
| | | 27 | | JointMotor3D motor, |
| | | 28 | | JointCollisionPolicy collisionPolicy) |
| | | 29 | | { |
| | 377 | 30 | | BodyA = bodyA; |
| | 377 | 31 | | BodyB = bodyB; |
| | 377 | 32 | | LocalFrameA = localFrameA; |
| | 377 | 33 | | LocalFrameB = localFrameB; |
| | 377 | 34 | | Type = type; |
| | 377 | 35 | | Limits = limits; |
| | 377 | 36 | | Motor = motor; |
| | 377 | 37 | | CollisionPolicy = collisionPolicy; |
| | 377 | 38 | | } |
| | | 39 | | |
| | | 40 | | /// <summary> |
| | | 41 | | /// Gets the first body linked by the joint. |
| | | 42 | | /// </summary> |
| | | 43 | | public SolidBody BodyA { get; } |
| | | 44 | | |
| | | 45 | | /// <summary> |
| | | 46 | | /// Gets the second body linked by the joint. |
| | | 47 | | /// </summary> |
| | | 48 | | public SolidBody BodyB { get; } |
| | | 49 | | |
| | | 50 | | /// <summary> |
| | | 51 | | /// Gets the first local anchor frame. Values are copied at registration time. |
| | | 52 | | /// </summary> |
| | | 53 | | public FixedTransform LocalFrameA { get; } |
| | | 54 | | |
| | | 55 | | /// <summary> |
| | | 56 | | /// Gets the second local anchor frame. Values are copied at registration time. |
| | | 57 | | /// </summary> |
| | | 58 | | public FixedTransform LocalFrameB { get; } |
| | | 59 | | |
| | | 60 | | /// <summary> |
| | | 61 | | /// Gets the joint type. |
| | | 62 | | /// </summary> |
| | | 63 | | public JointType3D Type { get; } |
| | | 64 | | |
| | | 65 | | /// <summary> |
| | | 66 | | /// Gets optional angular limit data. |
| | | 67 | | /// </summary> |
| | | 68 | | public JointLimit3D Limits { get; } |
| | | 69 | | |
| | | 70 | | /// <summary> |
| | | 71 | | /// Gets optional angular motor data. |
| | | 72 | | /// </summary> |
| | | 73 | | public JointMotor3D Motor { get; } |
| | | 74 | | |
| | | 75 | | /// <summary> |
| | | 76 | | /// Gets physical collision filtering behavior for the linked colliders. |
| | | 77 | | /// </summary> |
| | | 78 | | public JointCollisionPolicy CollisionPolicy { get; } |
| | | 79 | | } |