import type { Scene } from "../../scene"; import type { Vector3 } from "../../Maths/math.vector"; import type { Nullable } from "../../types"; import type { IPhysicsEnginePluginV2, PhysicsConstraintParameters, PhysicsConstraintAxisLimitMode, PhysicsConstraintMotorType, ConstrainedBodyPair } from "./IPhysicsEnginePlugin"; import { PhysicsConstraintAxis, PhysicsConstraintType } from "./IPhysicsEnginePlugin"; /** * This is a holder class for the physics constraint created by the physics plugin * It holds a set of functions to control the underlying constraint * @see https://doc.babylonjs.com/features/featuresDeepDive/physics/usingPhysicsEngine */ export declare class PhysicsConstraint { /** * V2 Physics plugin private data for a physics material */ _pluginData: any; /** * The V2 plugin used to create and manage this Physics Body */ protected _physicsPlugin: IPhysicsEnginePluginV2; protected _options: PhysicsConstraintParameters; protected _type: PhysicsConstraintType; /** * @internal * The internal options that were used to init the constraint */ _initOptions?: PhysicsConstraintParameters; /** * Constructs a new constraint for the physics constraint. * @param type The type of constraint to create. * @param options The options for the constraint. * @param scene The scene the constraint belongs to. * * This code is useful for creating a new constraint for the physics engine. It checks if the scene has a physics engine, and if the plugin version is correct. * If all checks pass, it initializes the constraint with the given type and options. */ constructor(type: PhysicsConstraintType, options: PhysicsConstraintParameters, scene: Scene); /** * Gets the type of the constraint. * * @returns The type of the constraint. * */ get type(): PhysicsConstraintType; /** * Retrieves the options of the physics constraint. * * @returns The physics constraint parameters. * */ get options(): PhysicsConstraintParameters; /** * Enable/disable the constraint * @param isEnabled value for the constraint */ set isEnabled(isEnabled: boolean); /** * * @returns true if constraint is enabled */ get isEnabled(): boolean; /** * Enables or disables collisions for the physics engine. * * @param isEnabled - A boolean value indicating whether collisions should be enabled or disabled. * */ set isCollisionsEnabled(isEnabled: boolean); /** * Gets whether collisions are enabled for this physics object. * * @returns `true` if collisions are enabled, `false` otherwise. * */ get isCollisionsEnabled(): boolean; /** * Gets all bodies that are using this constraint * @returns */ getBodiesUsingConstraint(): ConstrainedBodyPair[]; /** * Disposes the constraint from the physics engine. * * This method is useful for cleaning up the physics engine when a body is no longer needed. Disposing the body will free up resources and prevent memory leaks. */ dispose(): void; } /** * This describes a single limit used by Physics6DoFConstraint */ export declare class Physics6DoFLimit { /** * The axis ID to limit */ axis: PhysicsConstraintAxis; /** * An optional minimum limit for the axis. * Corresponds to a distance in meters for linear axes, an angle in radians for angular axes. */ minLimit?: number; /** * An optional maximum limit for the axis. * Corresponds to a distance in meters for linear axes, an angle in radians for angular axes. */ maxLimit?: number; /** * The stiffness of the constraint. */ stiffness?: number; /** * A constraint parameter that specifies damping. */ damping?: number; } /** * A generic constraint, which can be used to build more complex constraints than those specified * in PhysicsConstraintType. The axis and pivot options in PhysicsConstraintParameters define the space * the constraint operates in. This constraint contains a set of limits, which restrict the * relative movement of the bodies in that coordinate system */ export declare class Physics6DoFConstraint extends PhysicsConstraint { /** * The collection of limits which this constraint will apply */ limits: Physics6DoFLimit[]; constructor(constraintParams: PhysicsConstraintParameters, limits: Physics6DoFLimit[], scene: Scene); /** * Sets the friction of the given axis of the physics engine. * @param axis - The axis of the physics engine to set the friction for. * @param friction - The friction to set for the given axis. * */ setAxisFriction(axis: PhysicsConstraintAxis, friction: number): void; /** * Gets the friction of the given axis of the physics engine. * @param axis - The axis of the physics engine. * @returns The friction of the given axis, or null if the constraint hasn't been initialized yet. * */ getAxisFriction(axis: PhysicsConstraintAxis): Nullable; /** * Sets the limit mode for the given axis of the constraint. * @param axis The axis to set the limit mode for. * @param limitMode The limit mode to set. * * This method is useful for setting the limit mode for a given axis of the constraint. This is important for * controlling the behavior of the physics engine when the constraint is reached. By setting the limit mode, * the engine can be configured to either stop the motion of the objects, or to allow them to continue * moving beyond the constraint. */ setAxisMode(axis: PhysicsConstraintAxis, limitMode: PhysicsConstraintAxisLimitMode): void; /** * Gets the limit mode of the given axis of the constraint. * * @param axis - The axis of the constraint. * @returns The limit mode of the given axis, or null if the constraint hasn't been initialized yet. * */ getAxisMode(axis: PhysicsConstraintAxis): Nullable; /** * Sets the minimum limit of a given axis of a constraint. * @param axis - The axis of the constraint. * @param minLimit - The minimum limit of the axis. * */ setAxisMinLimit(axis: PhysicsConstraintAxis, minLimit: number): void; /** * Gets the minimum limit of the given axis of the physics engine. * @param axis - The axis of the physics engine. * @returns The minimum limit of the given axis, or null if the constraint hasn't been initialized yet. * */ getAxisMinLimit(axis: PhysicsConstraintAxis): Nullable; /** * Sets the maximum limit of the given axis for the physics engine. * @param axis - The axis to set the limit for. * @param limit - The maximum limit of the axis. * * This method is useful for setting the maximum limit of the given axis for the physics engine, * which can be used to control the movement of the physics object. This helps to ensure that the * physics object does not move beyond the given limit. */ setAxisMaxLimit(axis: PhysicsConstraintAxis, limit: number): void; /** * Gets the maximum limit of the given axis of the physics engine. * @param axis - The axis of the physics engine. * @returns The maximum limit of the given axis, or null if the constraint hasn't been initialized yet. * */ getAxisMaxLimit(axis: PhysicsConstraintAxis): Nullable; /** * Sets the motor type of the given axis of the constraint. * @param axis - The axis of the constraint. * @param motorType - The type of motor to use. */ setAxisMotorType(axis: PhysicsConstraintAxis, motorType: PhysicsConstraintMotorType): void; /** * Gets the motor type of the specified axis of the constraint. * * @param axis - The axis of the constraint. * @returns The motor type of the specified axis, or null if the constraint hasn't been initialized yet. * */ getAxisMotorType(axis: PhysicsConstraintAxis): Nullable; /** * Sets the target velocity of the motor associated with the given axis of the constraint. * @param axis - The axis of the constraint. * @param target - The target velocity of the motor. * * This method is useful for setting the target velocity of the motor associated with the given axis of the constraint. */ setAxisMotorTarget(axis: PhysicsConstraintAxis, target: number): void; /** * Gets the target velocity of the motor associated to the given constraint axis. * @param axis - The constraint axis associated to the motor. * @returns The target velocity of the motor, or null if the constraint hasn't been initialized yet. * */ getAxisMotorTarget(axis: PhysicsConstraintAxis): Nullable; /** * Sets the maximum force of the motor of the given axis of the constraint. * @param axis - The axis of the constraint. * @param maxForce - The maximum force of the motor. * */ setAxisMotorMaxForce(axis: PhysicsConstraintAxis, maxForce: number): void; /** * Gets the maximum force of the motor of the given axis of the constraint. * @param axis - The axis of the constraint. * @returns The maximum force of the motor, or null if the constraint hasn't been initialized yet. * */ getAxisMotorMaxForce(axis: PhysicsConstraintAxis): Nullable; } /** * Represents a Ball and Socket Constraint, used to simulate a joint * * @param pivotA - The first pivot, defined locally in the first body frame * @param pivotB - The second pivot, defined locally in the second body frame * @param axisA - The axis of the first body * @param axisB - The axis of the second body * @param scene - The scene the constraint is applied to * @returns The Ball and Socket Constraint * * This class is useful for simulating a joint between two bodies in a physics engine. * It allows for the two bodies to move relative to each other in a way that mimics a ball and socket joint, such as a shoulder or hip joint. */ export declare class BallAndSocketConstraint extends PhysicsConstraint { constructor(pivotA: Vector3, pivotB: Vector3, axisA: Vector3, axisB: Vector3, scene: Scene); } /** * Creates a distance constraint. * @param maxDistance distance between bodies * @param scene The scene the constraint belongs to * @returns DistanceConstraint * * This code is useful for creating a distance constraint in a physics engine. * A distance constraint is a type of constraint that keeps two objects at a certain distance from each other. * The scene is used to add the constraint to the physics engine. */ export declare class DistanceConstraint extends PhysicsConstraint { constructor(maxDistance: number, scene: Scene); } /** * Creates a HingeConstraint, which is a type of PhysicsConstraint. * * @param pivotA - The first pivot point, in world space. * @param pivotB - The second pivot point, in world space. * @param scene - The scene the constraint is used in. * @returns The new HingeConstraint. * * This code is useful for creating a HingeConstraint, which is a type of PhysicsConstraint. * This constraint is used to simulate a hinge joint between two rigid bodies, allowing them to rotate around a single axis. */ export declare class HingeConstraint extends PhysicsConstraint { constructor(pivotA: Vector3, pivotB: Vector3, axisA: Vector3, axisB: Vector3, scene: Scene); } /** * Creates a SliderConstraint, which is a type of PhysicsConstraint. * * @param pivotA - The first pivot of the constraint, in world space. * @param pivotB - The second pivot of the constraint, in world space. * @param axisA - The first axis of the constraint, in world space. * @param axisB - The second axis of the constraint, in world space. * @param scene - The scene the constraint belongs to. * @returns The created SliderConstraint. * * This code is useful for creating a SliderConstraint, which is a type of PhysicsConstraint. * It allows the user to specify the two pivots and two axes of the constraint in world space, as well as the scene the constraint belongs to. * This is useful for creating a constraint between two rigid bodies that allows them to move along a certain axis. */ export declare class SliderConstraint extends PhysicsConstraint { constructor(pivotA: Vector3, pivotB: Vector3, axisA: Vector3, axisB: Vector3, scene: Scene); } /** * Creates a LockConstraint, which is a type of PhysicsConstraint. * * @param pivotA - The first pivot of the constraint in local space. * @param pivotB - The second pivot of the constraint in local space. * @param axisA - The first axis of the constraint in local space. * @param axisB - The second axis of the constraint in local space. * @param scene - The scene the constraint belongs to. * @returns The created LockConstraint. * * This code is useful for creating a LockConstraint, which is a type of PhysicsConstraint. * It takes in two pivots and two axes in local space, as well as the scene the constraint belongs to, and creates a LockConstraint. */ export declare class LockConstraint extends PhysicsConstraint { constructor(pivotA: Vector3, pivotB: Vector3, axisA: Vector3, axisB: Vector3, scene: Scene); } /** * Creates a PrismaticConstraint, which is a type of PhysicsConstraint. * * @param pivotA - The first pivot of the constraint in local space. * @param pivotB - The second pivot of the constraint in local space. * @param axisA - The first axis of the constraint in local space. * @param axisB - The second axis of the constraint in local space. * @param scene - The scene the constraint belongs to. * @returns The created LockConstraint. * * This code is useful for creating a PrismaticConstraint, which is a type of PhysicsConstraint. * It takes in two pivots and two axes in local space, as well as the scene the constraint belongs to, and creates a PrismaticConstraint. */ export declare class PrismaticConstraint extends PhysicsConstraint { constructor(pivotA: Vector3, pivotB: Vector3, axisA: Vector3, axisB: Vector3, scene: Scene); } /** * Creates a SpringConstraint, which is a type of Physics6DoFConstraint. This constraint applies a force at the ends which is proportional * to the distance between ends, and a stiffness and damping factor. The force is calculated as (stiffness * positionError) - (damping * velocity) * * @param pivotA - The first pivot of the constraint in local space. * @param pivotB - The second pivot of the constraint in local space. * @param axisA - The first axis of the constraint in local space. * @param axisB - The second axis of the constraint in local space. * @param minDistance - The minimum distance between the two pivots. * @param maxDistance - The maximum distance between the two pivots. * @param stiffness - The stiffness of the spring. * @param damping - The damping of the spring. * @param scene - The scene the constraint belongs to. * @returns The created SpringConstraint. */ export declare class SpringConstraint extends Physics6DoFConstraint { constructor(pivotA: Vector3, pivotB: Vector3, axisA: Vector3, axisB: Vector3, minDistance: number, maxDistance: number, stiffness: number, damping: number, scene: Scene); }