Constraints API definition

Структуры данных
class	Physics
class	SurfaceProperties
class	Contact

Определения типов
typedef int[]	dMaterial
typedef int[]	Physics
typedef int[]	SurfaceProperties

Функции
void	PhysicsGeomDef::PhysicsGeomDef (string name, dGeom geom, string materialName, int layerMask)
proto native dJoint	dJointCreateHinge (notnull IEntity ent1, notnull IEntity ent2, vector point1, vector axis1, vector point2, vector axis2, bool block, float breakThreshold)
proto native dJoint	dJointCreateHinge2 (notnull IEntity ent1, notnull IEntity ent2, vector matrix1[4], vector matrix2[4], bool block, float breakThreshold)
proto native dJoint	dJointCreateSlider (notnull IEntity ent1, notnull IEntity ent2, vector matrix1[4], vector matrix2[4], bool block, float breakThreshold)
proto native dJoint	dJointCreateBallSocket (notnull IEntity ent1, notnull IEntity ent2, vector point1, vector point2, bool block, float breakThreshold)
proto native dJoint	dJointCreateFixed (notnull IEntity ent1, notnull IEntity ent2, vector point1, vector point2, bool block, float breakThreshold)
proto native dJoint	dJointCreateConeTwist (notnull IEntity ent1, notnull IEntity ent2, vector matrix1[4], vector matrix2[4], bool block, float breakThreshold)
proto native dJoint	dJointCreate6DOF (notnull IEntity ent1, notnull IEntity ent2, vector matrix1[4], vector matrix2[4], bool block, float breakThreshold)
proto native dJoint	dJointCreate6DOFSpring (notnull IEntity ent1, notnull IEntity ent2, vector matrix1[4], vector matrix2[4], bool block, float breakThreshold)
proto native void	dJointDestroy (dJoint joint)
proto native void	dJointHingeSetLimits (dJoint joint, float low, float high, float softness, float biasFactor, float relaxationFactor)
proto native void	dJointHingeSetAxis (dJoint joint, vector axis)
proto native void	dJointHingeSetMotorTargetAngle (dJoint joint, float angle, float dt, float maxImpulse)
proto native void	dJointConeTwistSetAngularOnly (dJoint joint, bool angularOnly)
proto native void	dJointConeTwistSetLimit (dJoint joint, int limitIndex, float limitValue)
proto native void	dJointConeTwistSetLimits (dJoint joint, float _swingSpan1, float _swingSpan2, float _twistSpan, float _softness, float _biasFactor, float _relaxationFactor)
proto native void	dJoint6DOFSetLinearLimits (dJoint joint, vector linearLower, vector linearUpper)
proto native void	dJoint6DOFSetAngularLimits (dJoint joint, vector angularLower, vector angularUpper)
proto native void	dJoint6DOFSetLimit (dJoint joint, int axis, float lo, float hi)
proto native void	dJoint6DOFSpringSetSpring (dJoint joint, int axis, float stiffness, float damping)
proto native void	dJointSliderSetLinearLimits (dJoint joint, float lowerLimit, float upperLimit)
proto native void	dJointSliderSetAngularLimits (dJoint joint, float lowerLimit, float upperLimit)
proto native void	dJointSliderSetDirLinear (dJoint joint, float softness, float restitution, float damping)
proto native void	dJointSliderSetDirAngular (dJoint joint, float softness, float restitution, float damping)
proto native void	dJointSliderSetLimLinear (dJoint joint, float softness, float restitution, float damping)
proto native void	dJointSliderSetLimAngular (dJoint joint, float softness, float restitution, float damping)
proto native void	dJointSliderSetOrthoLinear (dJoint joint, float softness, float restitution, float damping)
proto native void	dJointSliderSetOrthoAngular (dJoint joint, float softness, float restitution, float damping)
proto native void	dJointSliderSetLinearMotor (dJoint joint, float velocity, float force)
proto native void	dJointSliderSetAngularMotor (dJoint joint, float velocity, float force)
proto native float	dJointSliderGetLinearPos (dJoint joint)
proto native float	dJointSliderGetAngularPos (dJoint joint)
void	Physics::Physics ()
void	Physics::~Physics ()
proto int	Physics::GetNumBones ()
proto Physics	Physics::GetBone (int index)
void	SurfaceProperties::SurfaceProperties ()
void	SurfaceProperties::~SurfaceProperties ()
void	Contact::Contact ()
void	Contact::~Contact ()
proto native vector	Contact::GetNormalImpulse ()
proto native float	Contact::GetRelativeVelocityBefore (vector vel)
proto native float	Contact::GetRelativeVelocityAfter (vector vel)

Переменные
string	PhysicsGeomDef::Name
dGeom	PhysicsGeomDef::Geometry
vector	PhysicsGeomDef::Frame [4] = {Vector(1, 0, 0), Vector(0, 1, 0), Vector(0, 0, 1), Vector(0, 0, 0)}
int	PhysicsGeomDef::ParentNode = -1
string	PhysicsGeomDef::MaterialName
int	PhysicsGeomDef::LayerMask
Physics	Contact::Physics1
Physics	Contact::Physics2
SurfaceProperties	Contact::Material1
	Surface properties of Object1.
SurfaceProperties	Contact::Material2
	Surface properties of Object2.
float	Contact::Impulse
	Impulse applied to resolve the collision.
int	Contact::ShapeIndex1
	Index of collider on Object1.
int	Contact::ShapeIndex2
	Index of collider on Object2.
vector	Contact::Normal
	Collision axis at the contact point.
vector	Contact::Position
	Position of the contact point (world space)
float	Contact::PenetrationDepth
	Penetration depth on Object1.
float	Contact::RelativeNormalVelocityBefore
float	Contact::RelativeNormalVelocityAfter
vector	Contact::RelativeVelocityBefore
vector	Contact::RelativeVelocityAfter
vector	Contact::VelocityBefore1
	Velocity of Object1 before collision (world space)
vector	Contact::VelocityBefore2
	Velocity of Object2 before collision (world space)
vector	Contact::VelocityAfter1
	Velocity of Object1 after collision (world space)
vector	Contact::VelocityAfter2
	Velocity of Object2 after collision (world space)

Подробное описание