physics::RagdollPbdJoint Struct Reference

One articulated joint in a PBD ragdoll skeleton. More...

#include <RagdollPbd.hpp>

Public Types
enum class	Kind : uint8_t { Point , Hinge , ConeTwist }

Public Attributes
entt::entity	bodyA {entt::null}
	Parent.
entt::entity	bodyB {entt::null}
	Child.
glm::vec3	localAnchorA {0.0f}
	Joint origin in parent local space.
glm::vec3	localAnchorB {0.0f}
	Joint origin in child local space.
Kind	kind = Kind::Point
glm::vec3	axisLocalA {1.0f, 0.0f, 0.0f}
	Hinge / twist axis expressed in the parent's local frame.
float	swingLimit = 1.4f
	Max half-cone angle for swing about the joint frame (radians).
float	twistLimit = 0.8f
	Max ± twist angle for ConeTwist (radians).
float	hingeMin = -1.5f
	Hinge angle bounds (radians). Used only when kind == Hinge.
float	hingeMax = 0.05f

Detailed Description

One articulated joint in a PBD ragdoll skeleton.

Lifetime: one entity per joint, holds this single component. bodyA is the parent, bodyB the child. Anchors localAnchorA / localAnchorB are the joint origin in each body's local space — they MUST coincide in world space at all times (PBD enforces this).

Member Enumeration Documentation

Kind

enum class physics::RagdollPbdJoint::Kind : uint8_t

strong

Enumerator
Point	Ball-and-socket. Cone limit applied (swingLimit).
Hinge	1-DOF rotation about axisLocalA. Clamped to [hingeMin, hingeMax].
ConeTwist	Swing limit (cone) + twist limit about axisLocalA.

Member Data Documentation

axisLocalA

glm::vec3 physics::RagdollPbdJoint::axisLocalA {1.0f, 0.0f, 0.0f}

Hinge / twist axis expressed in the parent's local frame.

bodyA

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

Parent.

bodyB

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

Child.

hingeMax

float physics::RagdollPbdJoint::hingeMax = 0.05f

hingeMin

float physics::RagdollPbdJoint::hingeMin = -1.5f

Hinge angle bounds (radians). Used only when kind == Hinge.

kind

Kind physics::RagdollPbdJoint::kind = Kind::Point

localAnchorA

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

Joint origin in parent local space.

localAnchorB

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

Joint origin in child local space.

swingLimit

float physics::RagdollPbdJoint::swingLimit = 1.4f

Max half-cone angle for swing about the joint frame (radians).

Point and ConeTwist consult this; Hinge ignores it.

twistLimit

float physics::RagdollPbdJoint::twistLimit = 0.8f

Max ± twist angle for ConeTwist (radians).

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

• src/ecs/physics/RagdollPbd.hpp