| | | 1 | | //======================================================================= |
| | | 2 | | // RagdollJointDefinition3D.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 joint entry for a deterministic 3D ragdoll articulation. |
| | | 14 | | /// </summary> |
| | | 15 | | public readonly struct RagdollJointDefinition3D |
| | | 16 | | { |
| | | 17 | | /// <summary> |
| | | 18 | | /// Creates a ragdoll joint definition with unrestricted limits, no motor, and adjacent self-collision suppression. |
| | | 19 | | /// </summary> |
| | | 20 | | public RagdollJointDefinition3D( |
| | | 21 | | int linkAId, |
| | | 22 | | int linkBId, |
| | | 23 | | JointType3D type, |
| | | 24 | | FixedTransform localFrameA, |
| | | 25 | | FixedTransform localFrameB) |
| | 43 | 26 | | : this( |
| | 43 | 27 | | linkAId, |
| | 43 | 28 | | linkBId, |
| | 43 | 29 | | type, |
| | 43 | 30 | | localFrameA, |
| | 43 | 31 | | localFrameB, |
| | 43 | 32 | | JointLimit3D.Unrestricted, |
| | 43 | 33 | | JointMotor3D.Disabled, |
| | 43 | 34 | | JointCollisionPolicy.SuppressLinked) |
| | | 35 | | { |
| | 43 | 36 | | } |
| | | 37 | | |
| | | 38 | | /// <summary> |
| | | 39 | | /// Creates a ragdoll joint definition. |
| | | 40 | | /// </summary> |
| | | 41 | | public RagdollJointDefinition3D( |
| | | 42 | | int linkAId, |
| | | 43 | | int linkBId, |
| | | 44 | | JointType3D type, |
| | | 45 | | FixedTransform localFrameA, |
| | | 46 | | FixedTransform localFrameB, |
| | | 47 | | JointLimit3D limits, |
| | | 48 | | JointMotor3D motor, |
| | | 49 | | JointCollisionPolicy collisionPolicy) |
| | | 50 | | { |
| | 62 | 51 | | LinkAId = linkAId; |
| | 62 | 52 | | LinkBId = linkBId; |
| | 62 | 53 | | Type = type; |
| | 62 | 54 | | LocalFrameA = localFrameA; |
| | 62 | 55 | | LocalFrameB = localFrameB; |
| | 62 | 56 | | Limits = limits; |
| | 62 | 57 | | Motor = motor; |
| | 62 | 58 | | CollisionPolicy = collisionPolicy; |
| | 62 | 59 | | } |
| | | 60 | | |
| | | 61 | | /// <summary> |
| | | 62 | | /// Gets the first authored link ID. |
| | | 63 | | /// </summary> |
| | | 64 | | public int LinkAId { get; } |
| | | 65 | | |
| | | 66 | | /// <summary> |
| | | 67 | | /// Gets the second authored link ID. |
| | | 68 | | /// </summary> |
| | | 69 | | public int LinkBId { get; } |
| | | 70 | | |
| | | 71 | | /// <summary> |
| | | 72 | | /// Gets the joint type. |
| | | 73 | | /// </summary> |
| | | 74 | | public JointType3D Type { get; } |
| | | 75 | | |
| | | 76 | | /// <summary> |
| | | 77 | | /// Gets the local frame for the first link. |
| | | 78 | | /// </summary> |
| | | 79 | | public FixedTransform LocalFrameA { get; } |
| | | 80 | | |
| | | 81 | | /// <summary> |
| | | 82 | | /// Gets the local frame for the second link. |
| | | 83 | | /// </summary> |
| | | 84 | | public FixedTransform LocalFrameB { get; } |
| | | 85 | | |
| | | 86 | | /// <summary> |
| | | 87 | | /// Gets optional angular limit data. |
| | | 88 | | /// </summary> |
| | | 89 | | public JointLimit3D Limits { get; } |
| | | 90 | | |
| | | 91 | | /// <summary> |
| | | 92 | | /// Gets optional angular motor data. |
| | | 93 | | /// </summary> |
| | | 94 | | public JointMotor3D Motor { get; } |
| | | 95 | | |
| | | 96 | | /// <summary> |
| | | 97 | | /// Gets physical collision filtering behavior for the linked colliders. |
| | | 98 | | /// </summary> |
| | | 99 | | public JointCollisionPolicy CollisionPolicy { get; } |
| | | 100 | | } |