Physics Constraints (bge.constraints)¶

Basic Physics Constraint
++++++++++++++++++++++++
Example of how to create a hinge Physics Constraint between two objects.

from bge import logic
from bge import constraints

# get object list
objects = logic.getCurrentScene().objects

# get object named Object1 and Object 2
object_1 = objects["Object1"]
object_2 = objects["Object2"]

# want to use Edge constraint type
constraint_type = 2

# get Object1 and Object2 physics IDs
physics_id_1 = object_1.getPhysicsId()
physics_id_2 = object_2.getPhysicsId()

# Use bottom right edge of Object1 for hinge position
edge_position_x = 1.0
edge_position_y = 0.0
edge_position_z = -1.0

# use Object1 y axis for angle to point hinge
edge_angle_x = 0.0
edge_angle_y = 1.0
edge_angle_z = 0.0

# create an edge constraint
constraints.createConstraint(physics_id_1, physics_id_2,
                             constraint_type,
                             edge_position_x, edge_position_y, edge_position_z,
                             edge_angle_x, edge_angle_y, edge_angle_z)

bge.constraints.createConstraint(physicsid, physicsid2, constrainttype, [pivotX, pivotY, pivotZ, [axisX, axisY, axisZ, [flag]]]])¶

Creates a constraint.

Parameters:	physicsid (int) – the physics id of the first object in constraint physicsid2 (int) – the physics id of the second object in constraint constrainttype – the type of the constraint. The constraint types are:

POINTTOPOINT_CONSTRAINT
LINEHINGE_CONSTRAINT
ANGULAR_CONSTRAINT
CONETWIST_CONSTRAINT
VEHICLE_CONSTRAINT
GENERIC_6DOF_CONSTRAINT

Parameters:	pivotX (float) – pivot X position pivotY (float) – pivot Y position pivotZ (float) – pivot Z position axisX (float) – X axis axisY (float) – Y axis axisZ (float) – Z axis flag (int) – 128 to disable collision between linked bodies

bge.constraints.error¶: Simbolic constant string that indicates error.

bge.constraints.exportBulletFile(filename)¶

export a .bullet file

Parameters:	filename (string) – File name

bge.constraints.getAppliedImpulse(constraintId)¶

Parameters:	constraintId (int) – The id of the constraint.
Returns:	the most recent applied impulse.
Return type:	float

bge.constraints.getVehicleConstraint(constraintId)¶

Parameters:	constraintId (int) – The id of the vehicle constraint.
Returns:	a vehicle constraint object.
Return type:	`bge.types.KX_VehicleWrapper`

bge.constraints.getCharacter(gameobj)¶

Parameters:	gameobj (`bge.types.KX_GameObject`) – The game object with the character physics.
Returns:	character wrapper
Return type:	`bge.types.KX_CharacterWrapper`

bge.constraints.removeConstraint(constraintId)¶

Removes a constraint.

Parameters:	constraintId (int) – The id of the constraint to be removed.

bge.constraints.setCcdMode(ccdMode)¶

Note

Very experimental, not recommended

Sets the CCD (Continous Colision Detection) mode in the Physics Environment.

Parameters:	ccdMode (int) – The new CCD mode.

bge.constraints.setContactBreakingTreshold(breakingTreshold)¶

Note

Reasonable default is 0.02 (if units are meters)

Sets tresholds to do with contact point management.

Parameters:	breakingTreshold (float) – The new contact breaking treshold.

bge.constraints.setDeactivationAngularTreshold(angularTreshold)¶

Sets the angular velocity treshold.

Parameters:	angularTreshold (float) – New deactivation angular treshold.

bge.constraints.setDeactivationLinearTreshold(linearTreshold)¶

Sets the linear velocity treshold.

Parameters:	linearTreshold (float) – New deactivation linear treshold.

bge.constraints.setDeactivationTime(time)¶

Sets the time after which a resting rigidbody gets deactived.

Parameters:	time (float) – The deactivation time.

bge.constraints.setDebugMode(mode)¶

Sets the debug mode.

Debug modes:

DBG_NODEBUG
DBG_DRAWWIREFRAME
DBG_DRAWAABB
DBG_DRAWFREATURESTEXT
DBG_DRAWCONTACTPOINTS
DBG_NOHELPTEXT
DBG_DRAWTEXT
DBG_PROFILETIMINGS
DBG_ENABLESATCOMPARISION
DBG_DISABLEBULLETLCP
DBG_ENABLECCD
DBG_DRAWCONSTRAINTS
DBG_DRAWCONSTRAINTLIMITS
DBG_FASTWIREFRAME

Parameters:	mode (int) – The new debug mode.

bge.constraints.setGravity(x, y, z)¶

Sets the gravity force.

Parameters:	x (float) – Gravity X force. y (float) – Gravity Y force. z (float) – Gravity Z force.

bge.constraints.setLinearAirDamping(damping)¶: Note

Not implemented.

Sets the linear air damping for rigidbodies.

bge.constraints.setNumIterations(numiter)¶

Sets the number of iterations for an iterative constraint solver.

Parameters:	numiter (int) – New number of iterations.

bge.constraints.setNumTimeSubSteps(numsubstep)¶

Sets the number of substeps for each physics proceed. Tradeoff quality for performance.

Parameters:	numsubstep (int) – New number of substeps.

bge.constraints.setSolverDamping(damping)¶

Note

Very experimental, not recommended

Sets the damper constant of a penalty based solver.

Parameters:	damping (float) – New damping for the solver.

bge.constraints.setSolverTau(tau)¶

Note

Very experimental, not recommended

Sets the spring constant of a penalty based solver.

Parameters:	tau (float) – New tau for the solver.

bge.constraints.setSolverType(solverType)¶

Note

Very experimental, not recommended

Sets the solver type.

Parameters:	solverType (int) – The new type of the solver.

bge.constraints.setSorConstant(sor)¶

Note

Very experimental, not recommended

Sets the successive overrelaxation constant.

Parameters:	sor (float) – New sor value.

bge.constraints.setUseEpa(epa)¶: Not implemented.

bge.constraints.DBG_NODEBUG¶: Note

Debug mode to be used with function setDebugMode

No debug.

bge.constraints.DBG_DRAWWIREFRAME¶: Note

Debug mode to be used with function setDebugMode

Draw wireframe in debug.

bge.constraints.DBG_DRAWAABB¶: Note

Debug mode to be used with function setDebugMode

Draw Axis Aligned Bounding Box in debug.

bge.constraints.DBG_DRAWFREATURESTEXT¶: Note

Debug mode to be used with function setDebugMode

Draw freatures text in debug.

bge.constraints.DBG_DRAWCONTACTPOINTS¶: Note

Debug mode to be used with function setDebugMode

Draw contact points in debug.

bge.constraints.DBG_NOHELPTEXT¶: Note

Debug mode to be used with function setDebugMode

Debug without help text.

bge.constraints.DBG_DRAWTEXT¶: Note

Debug mode to be used with function setDebugMode

Draw text in debug.

bge.constraints.DBG_PROFILETIMINGS¶: Note

Debug mode to be used with function setDebugMode

Draw profile timings in debug.

bge.constraints.DBG_ENABLESATCOMPARISION¶: Note

Debug mode to be used with function setDebugMode

Enable sat comparision in debug.

bge.constraints.DBG_DISABLEBULLETLCP¶: Note

Debug mode to be used with function setDebugMode

Disable Bullet LCP.

bge.constraints.DBG_ENABLECCD¶: Note

Debug mode to be used with function setDebugMode

Enable Continous Colision Detection in debug.

bge.constraints.DBG_DRAWCONSTRAINTS¶: Note

Debug mode to be used with function setDebugMode

Draw constraints in debug.

bge.constraints.DBG_DRAWCONSTRAINTLIMITS¶: Note

Debug mode to be used with function setDebugMode

Draw constraint limits in debug.

bge.constraints.DBG_FASTWIREFRAME¶: Note

Debug mode to be used with function setDebugMode

Draw a fast wireframe in debug.

bge.constraints.POINTTOPOINT_CONSTRAINT¶: Note

Constraint type to be used with function createConstraint

bge.constraints.LINEHINGE_CONSTRAINT¶: Note

Constraint type to be used with function createConstraint

bge.constraints.ANGULAR_CONSTRAINT¶: Note

Constraint type to be used with function createConstraint

bge.constraints.CONETWIST_CONSTRAINT¶: Note

Constraint type to be used with function createConstraint

bge.constraints.VEHICLE_CONSTRAINT¶: Note

Constraint type to be used with function createConstraint

bge.constraints.GENERIC_6DOF_CONSTRAINT¶: Note

Constraint type to be used with function createConstraint

Physics Constraints (bge.constraints)¶

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