Safe Haskell	None
Language	GHC2021

Box3D.Joint

Synopsis

destroy :: JointId -> Bool -> IO ()
isValid :: JointId -> IO Bool
getType :: JointId -> IO JointType
getBodyA :: JointId -> IO BodyId
getBodyB :: JointId -> IO BodyId
getWorld :: JointId -> IO WorldId
setLocalFrameA :: JointId -> Transform -> IO ()
getLocalFrameA :: JointId -> IO Transform
getLocalFrameAInto :: JointId -> Ptr Transform -> IO ()
setLocalFrameB :: JointId -> Transform -> IO ()
getLocalFrameB :: JointId -> IO Transform
getLocalFrameBInto :: JointId -> Ptr Transform -> IO ()
setCollideConnected :: JointId -> Bool -> IO ()
getCollideConnected :: JointId -> IO Bool
setUserData :: JointId -> Ptr () -> IO ()
getUserData :: JointId -> IO (Ptr ())
wakeBodies :: JointId -> IO ()
getConstraintForce :: JointId -> IO Vec3
getConstraintForceInto :: JointId -> Ptr Vec3 -> IO ()
getConstraintTorque :: JointId -> IO Vec3
getConstraintTorqueInto :: JointId -> Ptr Vec3 -> IO ()
getLinearSeparation :: JointId -> IO Float
getAngularSeparation :: JointId -> IO Float
setConstraintTuning :: JointId -> Float -> Float -> IO ()
getConstraintTuning :: JointId -> Ptr Float -> Ptr Float -> IO ()
setForceThreshold :: JointId -> Float -> IO ()
getForceThreshold :: JointId -> IO Float
setTorqueThreshold :: JointId -> Float -> IO ()
getTorqueThreshold :: JointId -> IO Float

Documentation

destroy Source #

Arguments

:: JointId
-> Bool	wakeAttached
-> IO ()

Destroy a joint

Binds b3DestroyJoint.

isValid :: JointId -> IO Bool Source #

Joint identifier validation. Provides validation for up to 64K allocations.

Binds b3Joint_IsValid.

getType :: JointId -> IO JointType Source #

Get the joint type

Binds b3Joint_GetType.

getBodyA :: JointId -> IO BodyId Source #

Get body A id on a joint

Binds b3Joint_GetBodyA.

getBodyB :: JointId -> IO BodyId Source #

Get body B id on a joint

Binds b3Joint_GetBodyB.

getWorld :: JointId -> IO WorldId Source #

Get the world that owns this joint

Binds b3Joint_GetWorld.

setLocalFrameA Source #

Arguments

:: JointId
-> Transform	localFrame
-> IO ()

Set the local frame on bodyA

Binds b3Joint_SetLocalFrameA.

getLocalFrameA :: JointId -> IO Transform Source #

Get the local frame on bodyA

Binds b3Joint_GetLocalFrameA.

getLocalFrameAInto Source #

Arguments

:: JointId
-> Ptr Transform	Result buffer.
-> IO ()

Like getLocalFrameA, but the result is written into a caller-supplied buffer.

setLocalFrameB Source #

Arguments

:: JointId
-> Transform	localFrame
-> IO ()

Set the local frame on bodyB

Binds b3Joint_SetLocalFrameB.

getLocalFrameB :: JointId -> IO Transform Source #

Get the local frame on bodyB

Binds b3Joint_GetLocalFrameB.

getLocalFrameBInto Source #

Arguments

:: JointId
-> Ptr Transform	Result buffer.
-> IO ()

Like getLocalFrameB, but the result is written into a caller-supplied buffer.

setCollideConnected Source #

Arguments

:: JointId
-> Bool	shouldCollide
-> IO ()

Toggle collision between connected bodies

Binds b3Joint_SetCollideConnected.

getCollideConnected :: JointId -> IO Bool Source #

Is collision allowed between connected bodies?

Binds b3Joint_GetCollideConnected.

setUserData Source #

Arguments

:: JointId
-> Ptr ()	userData
-> IO ()

Set the user data on a joint

Binds b3Joint_SetUserData.

getUserData :: JointId -> IO (Ptr ()) Source #

Get the user data on a joint

Binds b3Joint_GetUserData.

wakeBodies :: JointId -> IO () Source #

Wake the bodies connect to this joint

Binds b3Joint_WakeBodies.

getConstraintForce :: JointId -> IO Vec3 Source #

Get the current constraint force for this joint

Binds b3Joint_GetConstraintForce.

getConstraintForceInto Source #

Arguments

:: JointId
-> Ptr Vec3	Result buffer.
-> IO ()

Like getConstraintForce, but the result is written into a caller-supplied buffer.

getConstraintTorque :: JointId -> IO Vec3 Source #

Get the current constraint torque for this joint

Binds b3Joint_GetConstraintTorque.

getConstraintTorqueInto Source #

Arguments

:: JointId
-> Ptr Vec3	Result buffer.
-> IO ()

Like getConstraintTorque, but the result is written into a caller-supplied buffer.

getLinearSeparation :: JointId -> IO Float Source #

Get the current linear separation error for this joint. Does not consider admissible movement. Usually in meters.

Binds b3Joint_GetLinearSeparation.

getAngularSeparation :: JointId -> IO Float Source #

Get the current angular separation error for this joint. Does not consider admissible movement. Usually in radians.

Binds b3Joint_GetAngularSeparation.

setConstraintTuning Source #

Arguments

:: JointId	`jointId`: the joint
-> Float	`hertz`: the stiffness in Hertz (cycles per second)
-> Float	`dampingRatio`: the non-dimensional damping ratio (one for critical damping)
-> IO ()

Set the joint constraint tuning. Advanced feature.

Binds b3Joint_SetConstraintTuning.

getConstraintTuning Source #

Arguments

:: JointId
-> Ptr Float	hertz
-> Ptr Float	dampingRatio
-> IO ()

Get the joint constraint tuning. Advanced feature.

Binds b3Joint_GetConstraintTuning.

setForceThreshold Source #

Arguments

:: JointId
-> Float	threshold
-> IO ()

Set the force threshold for joint events (Newtons)

Binds b3Joint_SetForceThreshold.

getForceThreshold :: JointId -> IO Float Source #

Get the force threshold for joint events (Newtons)

Binds b3Joint_GetForceThreshold.

setTorqueThreshold Source #

Arguments

:: JointId
-> Float	threshold
-> IO ()

Set the torque threshold for joint events (N-m)

Binds b3Joint_SetTorqueThreshold.

getTorqueThreshold :: JointId -> IO Float Source #

Get the torque threshold for joint events (N-m)

Binds b3Joint_GetTorqueThreshold.