Cone-twist constraint allows rotation within a cone and twist around an axis. Use for ragdoll shoulders, hips, spine joints, or any joint with limited range of motion.

Example - ragdoll shoulder:

Entity.create(listOf(
    ConeTwistConstraint(
        bodyA = torso,
        bodyB = upperArm,
        anchorA = Vector3(0.3f, 0.5f, 0f),  // Shoulder position
        anchorB = Vector3(0f, 0.15f, 0f),   // Top of arm
        twistAxis = Vector3(0f, -1f, 0f),   // Arm points down
        swingSpan1 = 1.57f,                  // 90 degrees forward/back
        swingSpan2 = 1.05f,                  // 60 degrees side-to-side
        twistSpan = 0.79f                    // 45 degrees twist
    )
))

Signature

class ConeTwistConstraint(bodyA: Entity = Entity.nullEntity(), bodyB: Entity = Entity.nullEntity(), anchorA: Vector3 = Vector3(0.0f, 0.0f, 0.0f), anchorB: Vector3 = Vector3(0.0f, 0.0f, 0.0f), breakForce: Float = 0.0f, breakTorque: Float = 0.0f, isBroken: Boolean = false, twistAxis: Vector3 = Vector3(0.0f, 1.0f, 0.0f), swingSpan1: Float = 1.57079f, swingSpan2: Float = 1.57079f, twistSpan: Float = 3.14159f, softness: Float = 1.0f, biasFactor: Float = 0.3f, relaxationFactor: Float = 1.0f, motorEnabled: Boolean = false, motorTargetVelocity: Float = 0.0f, motorMaxForce: Float = 0.0f) : ComponentBase

Constructors

ConeTwistConstraint ( bodyA , bodyB , anchorA , anchorB , breakForce , breakTorque , isBroken , twistAxis , swingSpan1 , swingSpan2 , twistSpan , softness , biasFactor , relaxationFactor , motorEnabled , motorTargetVelocity , motorMaxForce )

Signature

constructor(bodyA: Entity = Entity.nullEntity(), bodyB: Entity = Entity.nullEntity(), anchorA: Vector3 = Vector3(0.0f, 0.0f, 0.0f), anchorB: Vector3 = Vector3(0.0f, 0.0f, 0.0f), breakForce: Float = 0.0f, breakTorque: Float = 0.0f, isBroken: Boolean = false, twistAxis: Vector3 = Vector3(0.0f, 1.0f, 0.0f), swingSpan1: Float = 1.57079f, swingSpan2: Float = 1.57079f, twistSpan: Float = 3.14159f, softness: Float = 1.0f, biasFactor: Float = 0.3f, relaxationFactor: Float = 1.0f, motorEnabled: Boolean = false, motorTargetVelocity: Float = 0.0f, motorMaxForce: Float = 0.0f)

Parameters

bodyA: Entity : First physics body (required, must have Physics component)

bodyB: Entity : Second physics body (null = world anchor)

anchorA: Vector3 : Anchor point in local space of bodyA

anchorB: Vector3 : Anchor point in local space of bodyB

breakForce: Float : Force threshold to break constraint (0 = unbreakable)

breakTorque: Float : Torque threshold to break constraint (0 = unbreakable)

isBroken: Boolean : Runtime state indicating if constraint has broken (read-only)

twistAxis: Vector3 : The primary axis around which twisting occurs (in local space of bodyA)

swingSpan1: Float : Maximum swing angle on first axis in radians (perpendicular to twist)

swingSpan2: Float : Maximum swing angle on second axis in radians (perpendicular to both)

twistSpan: Float : Maximum twist angle around twist axis in radians

softness: Float : Constraint softness (0-1, higher = softer)

biasFactor: Float : Error correction factor (0-1, higher = faster correction)

relaxationFactor: Float : Constraint relaxation (0-1, higher = more relaxed)

motorEnabled: Boolean : Whether motor is active for twist axis

motorTargetVelocity: Float : Target angular velocity for twist in rad/s

motorMaxForce: Float : Maximum torque motor can apply in Nm

Returns

ConeTwistConstraint

Properties

anchorA : Vector3 [Get][Set]	Anchor point in local space of bodyA Signature var anchorA: Vector3
anchorB : Vector3 [Get][Set]	Anchor point in local space of bodyB Signature var anchorB: Vector3
biasFactor : Float [Get][Set]	Error correction factor (0-1, higher = faster correction) Signature var biasFactor: Float
bodyA : Entity [Get][Set]	First physics body (required, must have Physics component) Signature var bodyA: Entity
bodyB : Entity [Get][Set]	Second physics body (null = world anchor) Signature var bodyB: Entity
breakForce : Float [Get][Set]	Force threshold to break constraint in Newtons (0 = unbreakable) Signature var breakForce: Float
breakTorque : Float [Get][Set]	Torque threshold to break constraint in Nm (0 = unbreakable) Signature var breakTorque: Float
cachable : BuildConfig.COMPONENTCACHE_LEVEL >= 1 [Get][Set]	Signature open override var cachable: BuildConfig.COMPONENTCACHE_LEVEL >= 1
entID : Long [Get][Set]	Signature var entID: Long
isBroken : Boolean [Get][Set]	Runtime state: true if constraint has exceeded breaking threshold Signature var isBroken: Boolean
isDirty : Boolean [Get][Set]	Signature var isDirty: Boolean
motorEnabled : Boolean [Get][Set]	Whether motor is active for twist axis Signature var motorEnabled: Boolean
motorMaxForce : Float [Get][Set]	Maximum torque motor can apply in Nm Signature var motorMaxForce: Float
motorTargetVelocity : Float [Get][Set]	Target angular velocity for twist in rad/s Signature var motorTargetVelocity: Float
recycled : Boolean [Get][Set]	Signature var recycled: Boolean
relaxationFactor : Float [Get][Set]	Constraint relaxation factor (0-1, higher = more relaxed) Signature var relaxationFactor: Float
softness : Float [Get][Set]	Constraint softness (0-1, higher = softer limits) Signature var softness: Float
swingSpan1 : Float [Get][Set]	Maximum swing angle on first axis in radians (PI/2 = 90 degrees) Signature var swingSpan1: Float
swingSpan2 : Float [Get][Set]	Maximum swing angle on second axis in radians (PI/2 = 90 degrees) Signature var swingSpan2: Float
timeStamp : Long [Get][Set]	Signature var timeStamp: Long
twistAxis : Vector3 [Get][Set]	Primary axis around which twisting occurs (in local space of bodyA) Signature var twistAxis: Vector3
twistSpan : Float [Get][Set]	Maximum twist angle around twist axis in radians (PI = 180 degrees) Signature var twistSpan: Float

Methods

companion ()	Gets the companion object for this component. The companion object provides metadata about the component. Signature open override fun companion(): ComponentCompanion Returns `ComponentCompanion` The component's companion object Throws `RuntimeException` If the companion is not implemented
getComponentDataAttributeType ( key )	Gets the attribute type for the specified key. Signature fun getComponentDataAttributeType(key: Int): AttributePrimitive? Parameters `key: Int` The integer key to look up Returns `AttributePrimitive?` The attribute primitive type, or null if the key doesn't exist
getComponentDataAttributeType ( keyString )	Gets the attribute type for the specified string key. Signature fun getComponentDataAttributeType(keyString: String): AttributePrimitive? Parameters `keyString: String` The string key to look up Returns `AttributePrimitive?` The attribute primitive type Throws `IllegalArgumentException` If the key doesn't exist
getComponentDataKey ( key )	Gets the integer key associated with the specified string key. Signature fun getComponentDataKey(key: String): Int? Parameters `key: String` The string key to look up Returns `Int?` The integer key, or null if the string key doesn't exist
getComponentDataValue ( key )	Gets the value for the specified key. Signature fun getComponentDataValue(key: Int): Any? Parameters `key: Int` The integer key to look up Returns `Any?` The value associated with the key, or null if the key doesn't exist
getComponentDataValue ( keyString )	Gets the value for the specified string key. Signature fun getComponentDataValue(keyString: String): Any? Parameters `keyString: String` The string key to look up Returns `Any?` The value associated with the key, or null if the key doesn't exist Throws `IllegalArgumentException` If the key doesn't exist
getEnumClass ( key )	Gets the enum class associated with the specified string key. Signature fun getEnumClass(key: String): Class<out Enum<*>>? Parameters `key: String` The string key to look up Returns `Class?` The enum class, or null if the key doesn't exist or is not an enum
hasAttributeChanges ()	Returns true if any attribute has been modified since the last read/write sync. This is a read-only check. To clear the flag, call Entity.setComponent which syncs changes to native and resets the dirty state. Signature fun hasAttributeChanges(): Boolean Returns `Boolean`
hasComponentData ( key )	Checks if this component has data for the specified key. Signature fun hasComponentData(key: Int): Boolean Parameters `key: Int` The integer key to check Returns `Boolean` True if the component has data for the key, false otherwise
hasComponentData ( keyString )	Checks if this component has data for the specified string key. Signature fun hasComponentData(keyString: String): Boolean Parameters `keyString: String` The string key to check Returns `Boolean` True if the component has data for the key, false otherwise
read ( e , cachable )	Reads component data from the specified entity. Signature fun read(e: Entity, cachable: Boolean) Parameters `e: Entity` The entity to read data from `cachable: Boolean` Whether the component's data should be cached
recycle ()	Recycles this component by returning it to its pool. If the component has a pool assigned, it will be returned to that pool for reuse. Signature fun recycle()
reset ()	Resets the component to its default state. This method is called when a component is recycled to clear any state. Subclasses should override this method to reset their specific state. Signature open fun reset()
setComponentDataValue ( key , value )	Sets the value for the specified key. Signature fun setComponentDataValue(key: Int, value: Any): Boolean Parameters `key: Int` The integer key to set `value: Any` The value to set Returns `Boolean` True if the value was set successfully, false otherwise
setComponentDataValue ( keyString , value )	Sets the value for the specified string key. Signature fun setComponentDataValue(keyString: String, value: Any): Boolean Parameters `keyString: String` The string key to set `value: Any` The value to set Returns `Boolean` True if the key exists and the value was set, false otherwise
setPool ( pool , entID )	Sets the component pool and entity ID for this component. This is used for component recycling to track which pool the component belongs to and which entity it was associated with. Signature fun setPool(pool: ComponentPool<*>, entID: Long) Parameters `pool: ComponentPool` The component pool this component belongs to `entID: Long` The ID of the entity this component is associated with
toString ()	Signature open override fun toString(): String Returns `String`
typeID ()	Returns the unique type ID of this component. Each component type must have a unique ID for identification in the entity-component system. Signature open override fun typeID(): Int Returns `Int` The unique type ID for this component
write ( e )	Writes this component's data to the specified entity. Signature fun write(e: Entity) Parameters `e: Entity` The entity to write this component's data to

Companion Object

Properties

anchorAData : Vector3AttributeData [Get]	Signature val anchorAData: Vector3AttributeData
anchorAId : [Get]	Signature val anchorAId:
anchorBData : Vector3AttributeData [Get]	Signature val anchorBData: Vector3AttributeData
anchorBId : [Get]	Signature val anchorBId:
attributeKeys_ : IntArray [Get]	Signature val attributeKeys_: IntArray
attributeTypeCounts_ : IntArray [Get]	Signature val attributeTypeCounts_: IntArray
attributeTypes_ : IntArray [Get]	Signature val attributeTypes_: IntArray
attrMetaData_ : Map [Get]	Signature val attrMetaData_: Map
biasFactorData : FloatAttributeData [Get]	Signature val biasFactorData: FloatAttributeData
biasFactorId : [Get]	Signature val biasFactorId:
bodyAData : EntityAttributeData [Get]	Signature val bodyAData: EntityAttributeData
bodyAId : [Get]	Signature val bodyAId:
bodyBData : EntityAttributeData [Get]	Signature val bodyBData: EntityAttributeData
bodyBId : [Get]	Signature val bodyBId:
breakForceData : FloatAttributeData [Get]	Signature val breakForceData: FloatAttributeData
breakForceId : [Get]	Signature val breakForceId:
breakTorqueData : FloatAttributeData [Get]	Signature val breakTorqueData: FloatAttributeData
breakTorqueId : [Get]	Signature val breakTorqueId:
createDefaultInstance : Function0 [Get]	Signature open override val createDefaultInstance: () -> ConeTwistConstraint
enumClassesMap_ : Map [Get]	Signature val enumClassesMap_: Map<Int, Class<out Enum<*>>>
id : [Get]	Signature open override val id:
isBrokenData : BooleanAttributeData [Get]	Signature val isBrokenData: BooleanAttributeData
isBrokenId : [Get]	Signature val isBrokenId:
keyStringToKeyIntMap_ : Map [Get]	Signature val keyStringToKeyIntMap_: Map<String, Int>
motorEnabledData : BooleanAttributeData [Get]	Signature val motorEnabledData: BooleanAttributeData
motorEnabledId : [Get]	Signature val motorEnabledId:
motorMaxForceData : FloatAttributeData [Get]	Signature val motorMaxForceData: FloatAttributeData
motorMaxForceId : [Get]	Signature val motorMaxForceId:
motorTargetVelocityData : FloatAttributeData [Get]	Signature val motorTargetVelocityData: FloatAttributeData
motorTargetVelocityId : [Get]	Signature val motorTargetVelocityId:
relaxationFactorData : FloatAttributeData [Get]	Signature val relaxationFactorData: FloatAttributeData
relaxationFactorId : [Get]	Signature val relaxationFactorId:
softnessData : FloatAttributeData [Get]	Signature val softnessData: FloatAttributeData
softnessId : [Get]	Signature val softnessId:
swingSpan1Data : FloatAttributeData [Get]	Signature val swingSpan1Data: FloatAttributeData
swingSpan1Id : [Get]	Signature val swingSpan1Id:
swingSpan2Data : FloatAttributeData [Get]	Signature val swingSpan2Data: FloatAttributeData
swingSpan2Id : [Get]	Signature val swingSpan2Id:
twistAxisData : Vector3AttributeData [Get]	Signature val twistAxisData: Vector3AttributeData
twistAxisId : [Get]	Signature val twistAxisId:
twistSpanData : FloatAttributeData [Get]	Signature val twistSpanData: FloatAttributeData
twistSpanId : [Get]	Signature val twistSpanId:

Methods

attributeKeys ()	Signature open override fun attributeKeys(): IntArray Returns `IntArray`
attributeMetaData ()	Returns `Map`
attributeTypeCountAvailable ()	Signature open override fun attributeTypeCountAvailable(): Boolean Returns `Boolean`
attributeTypeCounts ()	Signature open override fun attributeTypeCounts(): IntArray Returns `IntArray`
attributeTypes ()	Signature open override fun attributeTypes(): IntArray Returns `IntArray`
dependents ()	Signature open fun dependents(): IntArray Returns `IntArray`
enumClassesMap ()	Signature open override fun enumClassesMap(): Map<Int, Class<out Enum<*>>> Returns `Map`
keyStringToKeyIntMap ( keyString )	Signature open override fun keyStringToKeyIntMap(keyString: String): Int? Parameters `keyString: String` Returns `Int?`