physics::HingeJoint Struct Reference

Single-axis hinge — locks the bodies' anchors together AND constrains their relative rotation to a single axis. More...

#include <Joints.hpp>

Public Attributes
entt::entity	bodyA {entt::null}
entt::entity	bodyB {entt::null}
glm::vec3	localAnchorA {0.0f}
glm::vec3	localAnchorB {0.0f}
glm::vec3	localAxisA {0.0f, 0.0f, 1.0f}
	Hinge axis in A's local space.
glm::vec3	localAxisB {0.0f, 0.0f, 1.0f}
	Hinge axis in B's local space.
float	minAngle = 0.0f
	Limit angles in radians.
float	maxAngle = 0.0f
bool	hasLimit = false
bool	motorEnabled = false
	Motor — if enabled, drive angularVelocity toward targetAngularSpeed with at most maxMotorTorque.
float	targetAngularSpeed = 0.0f
float	maxMotorTorque = 0.0f
glm::vec3	accumulatedAnchorImpulse {0.0f}
glm::vec3	accumulatedAngularImpulse {0.0f}

Detailed Description

Single-axis hinge — locks the bodies' anchors together AND constrains their relative rotation to a single axis.

Optional swing limit (relative to body A's local-space rest orientation).

Member Data Documentation

accumulatedAnchorImpulse

glm::vec3 physics::HingeJoint::accumulatedAnchorImpulse {0.0f}

accumulatedAngularImpulse

glm::vec3 physics::HingeJoint::accumulatedAngularImpulse {0.0f}

bodyA

entt::entity physics::HingeJoint::bodyA {entt::null}

bodyB

entt::entity physics::HingeJoint::bodyB {entt::null}

hasLimit

bool physics::HingeJoint::hasLimit = false

localAnchorA

glm::vec3 physics::HingeJoint::localAnchorA {0.0f}

localAnchorB

glm::vec3 physics::HingeJoint::localAnchorB {0.0f}

localAxisA

glm::vec3 physics::HingeJoint::localAxisA {0.0f, 0.0f, 1.0f}

Hinge axis in A's local space.

localAxisB

glm::vec3 physics::HingeJoint::localAxisB {0.0f, 0.0f, 1.0f}

Hinge axis in B's local space.

maxAngle

float physics::HingeJoint::maxAngle = 0.0f

maxMotorTorque

float physics::HingeJoint::maxMotorTorque = 0.0f

minAngle

float physics::HingeJoint::minAngle = 0.0f

Limit angles in radians.

When minAngle == maxAngle, the joint is locked; when both are zero, no limit is applied.

motorEnabled

bool physics::HingeJoint::motorEnabled = false

Motor — if enabled, drive angularVelocity toward targetAngularSpeed with at most maxMotorTorque.

targetAngularSpeed

float physics::HingeJoint::targetAngularSpeed = 0.0f

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The documentation for this struct was generated from the following file:

• src/ecs/physics/Joints.hpp