Class SixDOFConstraint

Six degrees of freedom (six DOF) constraint.

Hierarchy (View Summary)

JointConstraint
- SixDOFConstraint

Accessors

axisX1

get axisX1(): Vec3
Returns Vec3
- X axis 1.
Default Value
```
Vec3(1, 0, 0)
```
- Defined in src/physics/jolt/front/constraint/types/joint/six-dof.mjs:116

axisX2

get axisX2(): Vec3
Returns Vec3
- X axis 2.
Default Value
```
Vec3(1, 0, 0)
```
- Defined in src/physics/jolt/front/constraint/types/joint/six-dof.mjs:124

axisY1

get axisY1(): Vec3
Returns Vec3
- Y axis 1.
Default Value
```
Vec3(0, 1, 0)
```
- Defined in src/physics/jolt/front/constraint/types/joint/six-dof.mjs:132

axisY2

get axisY2(): Vec3
Returns Vec3
- Y axis 1.
Default Value
```
Vec3(0, 1, 0)
```
- Defined in src/physics/jolt/front/constraint/types/joint/six-dof.mjs:140

entity1

get entity1(): Entity
First entity this joint is connected to.

Returns Entity
- First entity the joint is connected to.
Inherited from JointConstraint.entity1
- Defined in src/physics/jolt/front/constraint/types/joint/joint-constraint.mjs:59

entity2

get entity2(): Entity
Second entity this joint is connected to.

Returns Entity
- Second entity the joint is connected to.
Inherited from JointConstraint.entity2
- Defined in src/physics/jolt/front/constraint/types/joint/joint-constraint.mjs:68

numPositionStepsOverride

get numPositionStepsOverride(): number
Override for the number of solver position iterations to run. If set to 0, the constraint will use global default set by Physics initialization setting JoltInitSettings.numPositionSteps.

Returns number
- Positions steps override.
Default Value
```
0
```
Inherited from JointConstraint.numPositionStepsOverride
- Defined in src/physics/jolt/front/constraint/types/constraint.mjs:165

numVelocityStepsOverride

get numVelocityStepsOverride(): number
Override for the number of solver velocity iterations to run. If set to 0, the constraint will use global default set by Physics initialization setting JoltInitSettings.numVelocitySteps.

Returns number
- Velocity steps override.
Default Value
```
0
```
Inherited from JointConstraint.numVelocityStepsOverride
- Defined in src/physics/jolt/front/constraint/types/constraint.mjs:153

point1

get point1(): Vec3
First body position in constraint reference frame. Space is determined by space property.

Returns Vec3
Default Value
```
Vec3(0, 0, 0)
```
Inherited from JointConstraint.point1
- Defined in src/physics/jolt/front/constraint/types/joint/joint-constraint.mjs:39

point2

get point2(): Vec3
Second body position in constraint reference frame. Space is determined by space property.

Returns Vec3
Default Value
```
Vec3(0, 0, 0)
```
Inherited from JointConstraint.point2
- Defined in src/physics/jolt/front/constraint/types/joint/joint-constraint.mjs:50

space

get space(): number
Reference frame space that point1 and point2 use.

Returns number
- Number, representing reference space.
Default Value
```
CONSTRAINT_SPACE_WORLD
```
Inherited from JointConstraint.space
- Defined in src/physics/jolt/front/constraint/types/joint/joint-constraint.mjs:78

type

get type(): number
Returns number
- Constraint type alias number.
Default Value
```
CONSTRAINT_TYPE_SIX_DOF
```
Overrides JointConstraint.type
- Defined in src/physics/jolt/front/constraint/types/joint/six-dof.mjs:148

Methods

destroy

destroy(): void
Destroy this constraint. The connected bodies will be activated.

Returns void
Inherited from JointConstraint.destroy
- Defined in src/physics/jolt/front/constraint/types/constraint.mjs:188

setEnabled

setEnabled(enabled: boolean, activate?: boolean): void
Allows to enable/disable a constraint without destroying it.
Parameters
- enabled: boolean
  true - enable constraint, false - disable.
- Optionalactivate: boolean = true
  If true, activate connected bodies after changing the state.
Returns void
Inherited from JointConstraint.setEnabled
- Defined in src/physics/jolt/front/constraint/types/constraint.mjs:213

setLimitsSpringSettings

setLimitsSpringSettings(axis: number, settings: SpringSettings): void
Modifies a spring of the constraint for the selected axis, after it was created.
```
// axis
[posX, posY, posZ, rotX, rotY, rotZ]
```
Parameters
- axis: number
  Axis number, zero-based.
- settings: SpringSettings
  Spring settings.
Returns void
Example
```
// change the spring settings used on X axis of rotation
constraint.setLimitsSpringSettings(3, springSettings);
```
- Defined in src/physics/jolt/front/constraint/types/joint/six-dof.mjs:211

setMaxFriction

setMaxFriction(axis: number, friction: number): void
Modifies the max friction for selected axis (friction force for translation, friction torque for rotation).

See setLimitsSpringSettings for example.
Parameters
- axis: number
  Axis number, zero-based.
- friction: number
  Friction value.
Returns void
- Defined in src/physics/jolt/front/constraint/types/joint/six-dof.mjs:245

setMotorState

setMotorState(axis: number, state: number): void
Changes the motor state, e.g. turn it on/off. Following aliases available:
```
MOTOR_STATE_OFF
```
```
MOTOR_STATE_VELOCITY
```
```
MOTOR_STATE_POSITION
```
- MOTOR_STATE_POSITION: Motor will drive to target position.
- MOTOR_STATE_VELOCITY: Motor will drive to target velocity.
See setLimitsSpringSettings for example.
Parameters
- axis: number
  Axis number, zero-based.
- state: number
  Constants, representing the state.
Returns void
- Defined in src/physics/jolt/front/constraint/types/joint/six-dof.mjs:281

setRotationLimits

setRotationLimits(min: number, max: number): void
Modifies rotation limits of the constraint after it was created. In radians.
Parameters
- min: number
  Lower limit of the constraint.
- max: number
  Upper limit of the constraint.
Returns void
- Defined in src/physics/jolt/front/constraint/types/joint/six-dof.mjs:180

setTargetAngularVelocityCS

setTargetAngularVelocityCS(velocity: Vec3): void
Sets the target angular velocity for the constraint (constraint space).
Parameters
- velocity: Vec3
  Target velocity.
Returns void
- Defined in src/physics/jolt/front/constraint/types/joint/six-dof.mjs:321

setTargetOrientationBS

setTargetOrientationBS(rotation: Quat): void
Sets the target orientation for the constraint (body space). Refer to Jolt documentation for details.
Parameters
- rotation: Quat
  Target orientation.
Returns void
- Defined in src/physics/jolt/front/constraint/types/joint/six-dof.mjs:379

setTargetOrientationCS

setTargetOrientationCS(rotation: Quat): void
Sets the target orientation for the constraint (constraint space).
Parameters
- rotation: Quat
  Target orientation.
Returns void
- Defined in src/physics/jolt/front/constraint/types/joint/six-dof.mjs:359

setTargetPositionCS

setTargetPositionCS(position: Vec3): void
Sets the target position for the constraint (constraint space).
Parameters
- position: Vec3
  Target position.
Returns void
- Defined in src/physics/jolt/front/constraint/types/joint/six-dof.mjs:340

setTargetVelocityCS

setTargetVelocityCS(velocity: Vec3): void
Sets the target velocity for the constraint (constraint space).
Parameters
- velocity: Vec3
  Target velocity.
Returns void
- Defined in src/physics/jolt/front/constraint/types/joint/six-dof.mjs:302

setTranslationLimits

setTranslationLimits(min: number, max: number): void
Modifies translation limits of the constraint after it was created. In meters.
Parameters
- min: number
  Lower limit of the constraint.
- max: number
  Upper limit of the constraint.
Returns void
- Defined in src/physics/jolt/front/constraint/types/joint/six-dof.mjs:158

Class SixDOFConstraint

Hierarchy (View Summary)

Index

Accessors

Methods

Accessors

axisX1

Returns Vec3

Default Value

axisX2

Returns Vec3

Default Value

axisY1

Returns Vec3

Default Value

axisY2

Returns Vec3

Default Value

entity1

Returns Entity

entity2

Returns Entity

numPositionStepsOverride

Returns number

Default Value

numVelocityStepsOverride

Returns number

Default Value

point1

Returns Vec3

Default Value

point2

Returns Vec3

Default Value

space

Returns number

Default Value

type

Returns number

Default Value

Methods

destroy

Returns void

setEnabled

Parameters

Returns void

setLimitsSpringSettings

Parameters

Returns void

Example

setMaxFriction

Parameters

Returns void

setMotorState

Parameters

Returns void

setRotationLimits

Parameters

Returns void

setTargetAngularVelocityCS

Parameters

Returns void

setTargetOrientationBS

Parameters

Returns void

setTargetOrientationCS

Parameters

Returns void

setTargetPositionCS

Parameters

Returns void

setTargetVelocityCS

Parameters

Returns void

setTranslationLimits

Parameters

Returns void

Settings

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