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  3. FConstraintInstance

FConstraintInstance

Container for a physics representation of an object.

API > API/Runtime > API/Runtime/Engine > API/Runtime/Engine/PhysicsEngine

Inheritance Hierarchy

References

   
Module Engine
Header /Engine/Source/Runtime/Engine/Classes/PhysicsEngine/ConstraintInstance.h
Include #include "PhysicsEngine/ConstraintInstance.h"

Syntax

USTRUCT ()  
struct FConstraintInstance : public FConstraintInstanceBase

Remarks

Container for a physics representation of an object.

Variables

  Type Name Description
Public variable UProperty Category, EditAnywhere FRotator AngularRotationOffset Specifies the angular offset between the two frames of reference.
Public variable float AverageMass  
Public variable UProperty Category, EditAnywhere uint32: 1 bScaleLinearLimits If true, linear limits scale using the absolute min of the 3d scale of the owning component
Public variable UProperty Category, EditAnywhere FName ConstraintBone1 Name of first bone (body) that this constraint is connecting.
Public variable UProperty Category, EditAnywhere FName ConstraintBone2 Name of second bone (body) that this constraint is connecting.
Public variable UProperty Category visibleanywhere FName JointName Name of bone that this joint is associated with.
Public variable UProperty Category, EditAnywhere FVector Pos1 Location of constraint in Body1 reference frame (usually the "child" body for skeletal meshes).
Public variable UProperty Category, EditAnywhere FVector Pos2 Location of constraint in Body2 reference frame (usually the "parent" body for skeletal meshes).
Public variable UProperty Category, EditAnywhere FVector PriAxis1 Primary (twist) axis in Body1 reference frame.
Public variable UProperty Category, EditAnywhere FVector PriAxis2 Primary (twist) axis in Body2 reference frame.
Public variable UProperty Category, EditAnywhere FConstraintProfileProperties ProfileInstance Constraint Data (properties easily swapped at runtime based on different constraint profiles)
Public variable UProperty Category, EditAnywhere FVector SecAxis1 Secondary axis in Body1 reference frame. Orthogonal to PriAxis1.
Public variable UProperty Category, EditAnywhere FVector SecAxis2 Secondary axis in Body2 reference frame. Orthogonal to PriAxis2.
Public variable FChaosUserData UserData  

Constructors

  Type Name Description
Public function   Constructor

Functions

  Type Name Description
Public function Static FConstraintInstance *

Alloc ()

  
Public function Const FTransform Returns this constraint's default transform relative to its child bone.
Public function Const FTransform

CalculateDefaultParentTransform ( const UPhysicsAsset*const PhysicsAsset
)

 Returns this constraint's default transform relative to its parent bone.
Public function void  
Public function void  
Public function void

CopyConstraintPhysicalPropertiesFrom ( const FConstraintInstance* FromInstance,
bool bKeepPosition,
bool bKeepRotation
)

 Copies non-identifying properties from another constraint instance
Public function void Copies behavior properties from the given profile.
Public function void Disable maxx conditioning.
Public function void  
Public function void Turn off linear and angular projection
Public function Const void

DrawConstraint ( int32 ViewIndex,
FMeshElementCollector& Collector,
float Scale,
float LimitDrawScale,
bool bDrawLimits,
bool bDrawSelected,
const FTransform& Con1Frame,
const FTransform& Con2Frame,
bool bDrawAsPoint,
bool bDrawViolatedLimits
)

  
Public function Const void

DrawConstraint ( FPrimitiveDrawInterface* PDI,
float Scale,
float LimitDrawScale,
bool bDrawLimits,
bool bDrawSelected,
const FTransform& Con1Frame,
const FTransform& Con2Frame,
bool bDrawAsPoint,
bool bDrawViolatedLimits
)

  
Public function void Enable maxx conditioning.
Public function void Enable/Disable parent dominates (meaning the parent body cannot be be affected at all by a child)
Public function void Turn on linear and angular projection
Public function Static void Hacks to easily get zeroed memory for special case when we don't use GC.
Public function Const float Gets Torque needed to break the joint
Public function EAngularDriveMode::Type Set the angular drive mode
Public function Const void

GetAngularDriveParams ( float& OutSpring,
float& OutDamping,
float& OutForceLimit
)

 Get the angular drive's strength parameters
Public function Const const FRotator & Get the angular drive's orientation target
Public function Const float Gets Delta from target needed to reset the target joint
Public function Const float Gets the cone limit swing1 angle in degrees
Public function Const EAngularConstraintMotion Gets the motion type for the swing1 of the cone constraint
Public function Const float Gets the cone limit swing2 angle in degrees
Public function Const EAngularConstraintMotion Gets the motion type for the swing2 of the cone constraint
Public function Const float Gets the twist limit angle in degrees
Public function Const EAngularConstraintMotion Gets the motion type for the twist of the cone constraint
Public function bool Get whether the SLERP angular velocity drive is enabled.
Public function void

GetAngularVelocityDriveTwistAndSwing ( bool& bOutEnableTwistDrive,
bool& bOutEnableSwingDrive
)

 Get which twist and swing angular velocity drives are enabled.
Public function Const const FVector & Get the angular drive's angular velocity target
Public function Const const FName & Get the child bone name
Public function void

GetConstraintForce ( FVector& OutLinearForce,
FVector& OutAngularForce
)

 Retrieve the constraint force most recently applied to maintain this constraint. Returns 0 forces if the constraint is not initialized or broken.
Public function FVector Get the position of this constraint in world space.
Public function Const float Get the Contact Transfer Scale for the parent of the joint
Public function Const float The current swing1 of the constraint.
Public function Const float The current swing2 of the constraint.
Public function Const float The current twist of the constraint.
Public function Const bool Whether the linear limits are soft (only if at least one axis if Limited)
Public function Const bool Whether the swing limits are soft (only available if swing1 and/or swing2 is Limited)
Public function Const bool Whether the twist limits are soft (only available if twist is Limited)
Public function Const float  
Public function Const float Gets linear force needed to break the joint
Public function void

GetLinearDriveParams ( FVector& OutPositionStrength,
FVector& OutVelocityStrength,
FVector& OutForceLimit
)

 Get the linear drive's strength parameters.Get the linear drive's strength parameters
Public function void

GetLinearDriveParams ( float& OutPositionStrength,
float& OutVelocityStrength,
float& OutForceLimit
)

 Get the linear drive's strength parameters.
Public function Const float Gets the linear limit size
Public function Const float Gets Delta from target needed to reset the target joint
Public function Const TEnumAsByte< enum EConstraintPlasticityType > Gets Plasticity Type from joint
Public function const FVector & Get the linear drive's target position position
Public function const FVector & Get the linear drive's target velocity
Public function Const ELinearConstraintMotion Gets the motion type for the linear X-axis limit.
Public function Const ELinearConstraintMotion Gets the motion type for the linear Y-axis limit.
Public function Const ELinearConstraintMotion Gets the motion type for the linear Z-axis limit.
Public function bool Get whether the SLERP angular position drive is enabled.
Public function void

GetOrientationDriveTwistAndSwing ( bool& bOutEnableTwistDrive,
bool& bOutEnableSwingDrive
)

 Get which twist and swing orientation drives are enabled.
Public function Const const FName & Get the parent bone name
Public function Const const FPhysicsConstraintHandle & Get underlying physics engine constraint
Public function Const void

GetProjectionParams ( float& ProjectionLinearAlpha,
float& ProjectionAngularAlpha,
float& ProjectionLinearTolerance,
float& ProjectionAngularTolerance
)

 Get projection parameters
Public function Const FTransform

GetRefFrame ( EConstraintFrame::Type Frame
)

 Get component ref frame.
Public function Const float Get the shock propagation amount [0, 1]
Public function Const float Linear contact distance if the constraint is set to use soft linear limits
Public function Const float Linear damping if the constraint is set to use soft linear limits
Public function Const float Linear restitution if the constraint is set to use soft linear limits
Public function Const float Linear stiffness if the constraint is set to use soft linear limits
Public function Const float Swing Contact distance if the constraint is set to use soft limits
Public function Const float Swing damping if the constraint is set to use soft limits
Public function Const float Swing restitution if the constraint is set to use soft limits
Public function Const float Swing stiffness if the constraint is set to use soft limits
Public function Const float Twist contact distance if the constraint is set to use soft limits
Public function Const float Twist damping if the constraint is set to use soft limits
Public function Const float Twist restitution if the constraint is set to use soft limits
Public function Const float Twist stiffness if the constraint is set to use soft limits
Public function void  
Public function Const bool Gets Whether it is possible to reset the target angles
Public function Const bool Gets Whether it is possible to reset the target position
Public function void

InitConstraint ( Chaos::FPhysicsObject* Body1,
Chaos::FPhysicsObject* Body2,
float Scale,
UObject* DebugOwner,
FOnConstraintBroken InConstraintBrokenDelegate,
FOnPlasticDeformation InPlasticDeformationDelegate
)

  
Public function void

InitConstraint ( FBodyInstance* Body1,
FBodyInstance* Body2,
float Scale,
UObject* DebugOwner,
FOnConstraintBroken InConstraintBrokenDelegate,
FOnPlasticDeformation InPlasticDeformationDelegate
)

 Create physics engine constraint.
Public function void

InitConstraint_AssumesLocked ( Chaos::FPhysicsObject* Body1,
Chaos::FPhysicsObject* Body2,
float InScale,
FOnConstraintBroken InConstraintBrokenDelegate,
FOnPlasticDeformation InPlasticDeformationDelegate
)

  
Public function void

InitConstraint_AssumesLocked ( const FPhysicsActorHandle& ActorRef1,
const FPhysicsActorHandle& ActorRef2,
float InScale,
FOnConstraintBroken InConstraintBrokenDelegate,
FOnPlasticDeformation InPlasticDeformationDelegate
)

 Create physics engine constraint using physx actors.
Public function Const bool Gets Whether it is possible to break the joint with angular force
Public function Const bool Whether the angular orientation drive is enabled
Public function Const bool Whether the angular velocity drive is enabled
Public function bool Retrieve the status of constraint being broken.
Public function Const bool Whether collision is currently disabled
Public function Const bool Gets Whether it is possible to break the joint with linear force
Public function Const bool Whether the linear position drive is enabled
Public function Const bool Get which linear position drives is enabled on XAxis
Public function Const bool Get which linear position drives is enabled on YAxis
Public function Const bool Get which linear position drives is enabled on ZAxis
Public function Const bool Whether the linear velocity drive is enabled
Public function Const bool Get which linear position drives is enabled on XAxis
Public function Const bool Get which linear position drives is enabled on YAxis
Public function Const bool Get which linear position drives is enabled on ZAxis
Public function Const bool Whether mass conditioning is enabled.
Public function Const bool Whether parent domination is enabled (meaning the parent body cannot be be affected at all by a child)
Public function Const bool Whether projection is enabled for this constraint
Public function Const bool Whether the physics engine constraint has been terminated
Public function Const bool See if this constraint is valid.
Public function void

PostSerialize ( const FArchive& Ar
)

  
Public function bool  
Public function void

SetAngularBreakable ( bool bInAngularBreakable,
float InAngularBreakThreshold
)

 Sets the Angular Breakable properties
Public function void

SetAngularDOFLimitScale ( float InSwing1LimitScale,
float InSwing2LimitScale,
float InTwistLimitScale
)

 Scale Angular Limit Constraints (as defined in RB_ConstraintSetup).
Public function void

SetAngularDriveAccelerationMode ( bool bAccelerationMode
)

 Set the angular drive force-mode
Public function void Set the angular drive mode
Public function void

SetAngularDriveParams ( float InSpring,
float InDamping,
float InForceLimit
)

 Set the angular drive's strength parametersFunction for setting angular motor parameters.
Public function void

SetAngularOrientationTarget ( const FQuat& InPosTarget
)

 Set the angular drive's orientation targetFunction for setting target angular position.
Public function void

SetAngularPlasticity ( bool bInAngularPlasticity,
float InAngularPlasticityThreshold
)

 Sets the Angular Plasticity properties
Public function void

SetAngularSwing1Limit ( EAngularConstraintMotion MotionType,
float InSwing1LimitAngle
)

 Sets the Angular Swing1 Motion Type
Public function void

SetAngularSwing1Motion ( EAngularConstraintMotion MotionType
)

 Sets the cone limit's swing1 motion type
Public function void

SetAngularSwing2Limit ( EAngularConstraintMotion MotionType,
float InSwing2LimitAngle
)

 Sets the Angular Swing2 Motion Type
Public function void

SetAngularSwing2Motion ( EAngularConstraintMotion MotionType
)

 Sets the cone limit's swing2 motion type
Public function void

SetAngularTwistLimit ( EAngularConstraintMotion MotionType,
float InTwistLimitAngle
)

 Sets the Angular Twist Motion Type
Public function void

SetAngularTwistMotion ( EAngularConstraintMotion MotionType
)

 Sets the twist limit's motion type
Public function void

SetAngularVelocityDriveSLERP ( bool bInEnableSLERP
)

 Set whether the SLERP angular velocity drive is enabled.
Public function void

SetAngularVelocityDriveTwistAndSwing ( bool bInEnableTwistDrive,
bool bInEnableSwingDrive
)

 Set which twist and swing angular velocity drives are enabled.
Public function void

SetAngularVelocityTarget ( const FVector& InVelTarget
)

 Set the angular drive's angular velocity target (in revolutions per second)
Public function void

SetContactTransferScale ( float InContactTransferScale
)

 Sets the Contact Transfer Scale properties
Public function void

SetDisableCollision ( bool InDisableCollision
)

 Set whether jointed actors can collide with each other
Public function void

SetDriveParams ( const FVector& InPositionStrength,
const FVector& InVelocityStrength,
const FVector& InForceLimit,
const FVector& InAngularSpring,
const FVector& InAngularDamping,
const FVector& InTorqueLimit,
EAngularDriveMode::Type InAngularDriveMode
)

 This allows the most common drive parameters to be set in one call, avoiding lock overheads etc.
Public function void

SetLinearBreakable ( bool bInLinearBreakable,
float InLinearBreakThreshold
)

 Sets the Linear Breakable properties
Public function void

SetLinearDriveAccelerationMode ( bool bAccelerationMode
)

 Set the linear drive force-mode
Public function void

SetLinearDriveParams ( float InPositionStrength,
float InVelocityStrength,
float InForceLimit
)

 Set the linear drive's strength parametersFunction for setting linear motor parameters.
Public function void

SetLinearDriveParams ( const FVector& InPositionStrength,
const FVector& InVelocityStrength,
const FVector& InForceLimit
)

 Set the linear drive's strength parameters per-axis
Public function void

SetLinearLimits ( ELinearConstraintMotion XConstraintType,
ELinearConstraintMotion YConstraintType,
ELinearConstraintMotion ZConstraintType,
float InLinearLimitSize
)

 Sets the Linear XYZ Motion Type and the limit distance (Note distance is the same for all 3 axes)
Public function void

SetLinearLimitSize ( float NewLimitSize
)

 Allows you to dynamically change the size of the linear limit 'sphere'.
Public function void

SetLinearPlasticity ( bool bInLinearPlasticity,
float InLinearPlasticityThreshold,
EConstraintPlasticityType InLinearPlasticityType
)

 Sets the Linear Plasticity properties
Public function void

SetLinearPositionDrive ( bool bEnableXDrive,
bool bEnableYDrive,
bool bEnableZDrive
)

 Set which linear position drives are enabled
Public function void

SetLinearPositionTarget ( const FVector& InPosTarget
)

 Set the linear drive's target position positionFunction for setting linear position target.
Public function void

SetLinearVelocityDrive ( bool bEnableXDrive,
bool bEnableYDrive,
bool bEnableZDrive
)

 Set which linear velocity drives are enabled
Public function void

SetLinearVelocityTarget ( const FVector& InVelTarget
)

 Set the linear drive's target velocityFunction for setting linear velocity target.
Public function void

SetLinearXLimit ( ELinearConstraintMotion XConstraintType,
float InLinearLimitSize
)

 Sets the LinearX Motion Type and the limit distance (Note distance is the same for all 3 axes)
Public function void

SetLinearXMotion ( ELinearConstraintMotion XConstraintType
)

 Sets the Linear XMotion type
Public function void

SetLinearYLimit ( ELinearConstraintMotion YConstraintType,
float InLinearLimitSize
)

 Sets the LinearY Motion Type and the limit distance (Note distance is the same for all 3 axes)
Public function void

SetLinearYMotion ( ELinearConstraintMotion YConstraintType
)

 Sets the Linear YMotion type
Public function void

SetLinearZLimit ( ELinearConstraintMotion ZConstraintType,
float InLinearLimitSize
)

 Sets the LinearZ Motion Type and the limit distance (Note distance is the same for all 3 axes)
Public function void

SetLinearZMotion ( ELinearConstraintMotion ZConstraintType
)

 Sets the Linear ZMotion type
Public function void

SetOrientationDriveSLERP ( bool bInEnableSLERP
)

 Set whether the SLERP angular position drive is enabled.
Public function void

SetOrientationDriveTwistAndSwing ( bool bInEnableTwistDrive,
bool bInEnableSwingDrive
)

 Set which twist and swing orientation drives are enabled.
Public function void

SetParentDominates ( bool bParentDominates
)

  
Public function void

SetProjectionParams ( bool bEnableProjection,
float ProjectionLinearAlpha,
float ProjectionAngularAlpha,
float ProjectionLinearTolerance,
float ProjectionAngularTolerance
)

 Set projection parameters
Public function void

SetRefFrame ( EConstraintFrame::Type Frame,
const FTransform& RefFrame
)

 Pass in reference frame in. If the constraint is currently active, this will set its active local pose. Otherwise the change will take affect in InitConstraint.
Public function void

SetRefOrientation ( EConstraintFrame::Type Frame,
const FVector& PriAxis,
const FVector& SecAxis
)

 Pass in reference orientation in (maintains reference position). If the constraint is currently active, this will set its active local pose. Otherwise the change will take affect in InitConstraint.
Public function void

SetRefPosition ( EConstraintFrame::Type Frame,
const FVector& RefPosition
)

 Pass in reference position in (maintains reference orientation). If the constraint is currently active, this will set its active local pose. Otherwise the change will take affect in InitConstraint.
Public function void

SetShockPropagationParams ( bool bEnableShockPropagation,
float ShockPropagationAlpha
)

 Set the shock propagation amount [0, 1]
Public function void

SetSoftLinearLimitParams ( bool bIsSoftLimit,
float Stiffness,
float Damping,
float Restitution,
float ContactDistance
)

 Set twist soft limit parameters
Public function void

SetSoftSwingLimitParams ( bool bIsSoftLimit,
float Stiffness,
float Damping,
float Restitution,
float ContactDistance
)

 Set twist soft limit parameters
Public function void

SetSoftTwistLimitParams ( bool bIsSoftLimit,
float Stiffness,
float Damping,
float Restitution,
float ContactDistance
)

 Set twist soft limit parameters
Public function void

SnapTransformsToDefault ( const EConstraintTransformComponentFlags SnapFlags,
const UPhysicsAsset*const PhysicsAsset
)

 Set the constraint transform components specified by the SnapFlags to their default values (derived from the parent and child bone transforms).
Public function void Terminate physics engine constraint
Public function void Refreshes the physics engine joint's angular limits.
Public function void Refreshes the physics engine joint's linear limits.

Deprecated Variables

  Type Name Description
Public variable UProperty float AngularBreakThreshold_DEPRECATED  
Public variable UProperty float AngularDriveDamping_DEPRECATED  
Public variable UProperty float AngularDriveForceLimit_DEPRECATED  
Public variable UProperty TEnumAsByte< EAngularDriveMode::Type > AngularDriveMode_DEPRECATED  
Public variable UProperty float AngularDriveSpring_DEPRECATED  
Public variable UProperty FRotator AngularOrientationTarget_DEPRECATED  
Public variable UProperty FQuat AngularPositionTarget_DEPRECATED  
Public variable UProperty TEnumAsByte< enum EAngularConstraintMotion > AngularSwing1Motion_DEPRECATED  
Public variable UProperty TEnumAsByte< enum EAngularConstraintMotion > AngularSwing2Motion_DEPRECATED  
Public variable UProperty TEnumAsByte< enum EAngularConstraintMotion > AngularTwistMotion_DEPRECATED  
Public variable UProperty FVector AngularVelocityTarget_DEPRECATED  
Public variable UProperty uint32: 1 bAngularBreakable_DEPRECATED  
Public variable UProperty uint32: 1 bAngularOrientationDrive_DEPRECATED  
Public variable UProperty uint32: 1 bAngularSlerpDrive_DEPRECATED  
Public variable UProperty uint32: 1 bAngularVelocityDrive_DEPRECATED  
Public variable UProperty uint32: 1 bDisableCollision_DEPRECATED DEPRECATED Most of these properties have moved inside the ProfileInstance member (FConstraintProfileProperties struct)
Public variable UProperty uint32: 1 bEnableProjection_DEPRECATED  
Public variable UProperty uint32: 1 bLinearBreakable_DEPRECATED  
Public variable UProperty uint32: 1 bLinearLimitSoft_DEPRECATED  
Public variable UProperty uint32: 1 bLinearPositionDrive_DEPRECATED  
Public variable UProperty uint32: 1 bLinearVelocityDrive_DEPRECATED  
Public variable UProperty uint32: 1 bSwingLimitSoft_DEPRECATED  
Public variable UProperty uint32: 1 bSwingPositionDrive_DEPRECATED  
Public variable UProperty uint32: 1 bSwingVelocityDrive_DEPRECATED  
Public variable UProperty uint32: 1 bTwistLimitSoft_DEPRECATED  
Public variable UProperty uint32: 1 bTwistPositionDrive_DEPRECATED  
Public variable UProperty uint32: 1 bTwistVelocityDrive_DEPRECATED  
Public variable UProperty float LinearBreakThreshold_DEPRECATED  
Public variable UProperty float LinearDriveDamping_DEPRECATED  
Public variable UProperty float LinearDriveForceLimit_DEPRECATED  
Public variable UProperty float LinearDriveSpring_DEPRECATED  
Public variable UProperty float LinearLimitDamping_DEPRECATED  
Public variable UProperty float LinearLimitSize_DEPRECATED  
Public variable UProperty float LinearLimitStiffness_DEPRECATED  
Public variable UProperty FVector LinearPositionTarget_DEPRECATED  
Public variable UProperty FVector LinearVelocityTarget_DEPRECATED  
Public variable UProperty TEnumAsByte< enum ELinearConstraintMotion > LinearXMotion_DEPRECATED  
Public variable UProperty TEnumAsByte< enum ELinearConstraintMotion > LinearYMotion_DEPRECATED  
Public variable UProperty TEnumAsByte< enum ELinearConstraintMotion > LinearZMotion_DEPRECATED  
Public variable UProperty float ProjectionAngularTolerance_DEPRECATED  
Public variable UProperty float ProjectionLinearTolerance_DEPRECATED  
Public variable UProperty float Swing1LimitAngle_DEPRECATED  
Public variable UProperty float Swing2LimitAngle_DEPRECATED  
Public variable UProperty float SwingLimitDamping_DEPRECATED  
Public variable UProperty float SwingLimitStiffness_DEPRECATED  
Public variable UProperty float TwistLimitAngle_DEPRECATED  
Public variable UProperty float TwistLimitDamping_DEPRECATED  
Public variable UProperty float TwistLimitStiffness_DEPRECATED  

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