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|
/**
* $Id$
*
* ***** BEGIN GPL LICENSE BLOCK *****
*
* This program is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
* as published by the Free Software Foundation; either version 2
* of the License, or (at your option) any later version.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program; if not, write to the Free Software Foundation,
* Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA.
*
* The Original Code is Copyright (C) 2001-2002 by NaN Holding BV.
* All rights reserved.
*
* The Original Code is: all of this file.
*
* Contributor(s): 2007, Joshua Leung, major recode
*
* ***** END GPL LICENSE BLOCK *****
* Constraint DNA data
*/
#ifndef DNA_CONSTRAINT_TYPES_H
#define DNA_CONSTRAINT_TYPES_H
#include "DNA_ID.h"
#include "DNA_listBase.h"
#include "DNA_object_types.h"
struct Action;
struct Text;
struct Ipo;
/* channels reside in Object or Action (ListBase) constraintChannels */
// XXX depreceated... old AnimSys
typedef struct bConstraintChannel {
struct bConstraintChannel *next, *prev;
struct Ipo *ipo;
short flag;
char name[30];
} bConstraintChannel;
/* A Constraint */
typedef struct bConstraint {
struct bConstraint *next, *prev;
void *data; /* Constraint data (a valid constraint type) */
short type; /* Constraint type */
short flag; /* Flag - General Settings */
char ownspace; /* Space that owner should be evaluated in */
char tarspace; /* Space that target should be evaluated in (only used if 1 target) */
char name[30]; /* Constraint name */
float enforce; /* Amount of influence exherted by constraint (0.0-1.0) */
float headtail; /* Point along subtarget bone where the actual target is. 0=head (default for all), 1=tail*/
int pad;
struct Ipo *ipo; /* local influence ipo or driver */ // XXX depreceated for 2.5... old animation system hack
/* below are readonly fields that are set at runtime by the solver for use in the GE (only IK atm) */
float lin_error; /* residual error on constraint expressed in blender unit*/
float rot_error; /* residual error on constraint expressed in radiant */
} bConstraint;
/* Multiple-target constraints --------------------- */
/* This struct defines a constraint target.
* It is used during constraint solving regardless of how many targets the
* constraint has.
*/
typedef struct bConstraintTarget {
struct bConstraintTarget *next, *prev;
Object *tar; /* object to use as target */
char subtarget[32]; /* subtarget - pchan or vgroup name */
float matrix[4][4]; /* matrix used during constraint solving - should be cleared before each use */
short space; /* space that target should be evaluated in (overrides bConstraint->tarspace) */
short flag; /* runtime settings (for editor, etc.) */
short type; /* type of target (B_CONSTRAINT_OB_TYPE) */
short rotOrder; /* rotation order for target (as defined in BLI_math.h) */
} bConstraintTarget;
/* bConstraintTarget -> flag */
typedef enum B_CONSTRAINT_TARGET_FLAG {
CONSTRAINT_TAR_TEMP = (1<<0), /* temporary target-struct that needs to be freed after use */
} B_CONSTRAINT_TARGET_FLAG;
/* bConstraintTarget/bConstraintOb -> type */
typedef enum B_CONSTRAINT_OB_TYPE {
CONSTRAINT_OBTYPE_OBJECT = 1, /* string is "" */
CONSTRAINT_OBTYPE_BONE, /* string is bone-name */
CONSTRAINT_OBTYPE_VERT, /* string is vertex-group name */
CONSTRAINT_OBTYPE_CV /* string is vertex-group name - is not available until curves get vgroups */
} B_CONSTRAINT_OB_TYPE;
/* Python Script Constraint */
typedef struct bPythonConstraint {
struct Text *text; /* text-buffer (containing script) to execute */
IDProperty *prop; /* 'id-properties' used to store custom properties for constraint */
int flag; /* general settings/state indicators accessed by bitmapping */
int tarnum; /* number of targets - usually only 1-3 are needed */
ListBase targets; /* a list of targets that this constraint has (bConstraintTarget-s) */
Object *tar; /* target from previous implementation (version-patch sets this to NULL on file-load) */
char subtarget[32]; /* subtarger from previous implentation (version-patch sets this to "" on file-load) */
} bPythonConstraint;
/* Inverse-Kinematics (IK) constraint
This constraint supports a variety of mode determine by the type field
according to B_CONSTRAINT_IK_TYPE.
Some fields are used by all types, some are specific to some types
This is indicated in the comments for each field
*/
typedef struct bKinematicConstraint {
Object *tar; /* All: target object in case constraint needs a target */
short iterations; /* All: Maximum number of iterations to try */
short flag; /* All & CopyPose: some options Like CONSTRAINT_IK_TIP */
short rootbone; /* All: index to rootbone, if zero go all the way to mother bone */
short max_rootbone; /* CopyPose: for auto-ik, maximum length of chain */
char subtarget[32]; /* All: String to specify sub-object target */
Object *poletar; /* All: Pole vector target */
char polesubtarget[32]; /* All: Pole vector sub-object target */
float poleangle; /* All: Pole vector rest angle */
float weight; /* All: Weight of constraint in IK tree */
float orientweight; /* CopyPose: Amount of rotation a target applies on chain */
float grabtarget[3]; /* CopyPose: for target-less IK */
short type; /* subtype of IK constraint: B_CONSTRAINT_IK_TYPE */
short mode; /* Distance: how to limit in relation to clamping sphere: LIMITDIST_.. */
float dist; /* Distance: distance (radius of clamping sphere) from target */
} bKinematicConstraint;
typedef enum B_CONSTRAINT_IK_TYPE {
CONSTRAINT_IK_COPYPOSE = 0, /* 'standard' IK constraint: match position and/or orientation of target */
CONSTRAINT_IK_DISTANCE /* maintain distance with target */
} B_CONSTRAINT_IK_TYPE;
/* Spline IK Constraint
* Aligns 'n' bones to the curvature defined by the curve,
* with the chain ending on the bone that owns this constraint,
* and starting on the nth parent.
*/
typedef struct bSplineIKConstraint {
/* target(s) */
Object *tar; /* curve object (with follow path enabled) which drives the bone chain */
/* binding details */
float *points; /* array of numpoints items, denoting parametric positions along curve that joints should follow */
short numpoints; /* number of points to bound in points array */
short chainlen; /* number of bones ('n') that are in the chain */
/* settings */
short flag; /* general settings for constraint */
short xzScaleMode; /* method used for determining the x & z scaling of the bones */
} bSplineIKConstraint;
/* Single-target subobject constraints --------------------- */
/* Track To Constraint */
typedef struct bTrackToConstraint {
Object *tar;
int reserved1; /* I'll be using reserved1 and reserved2 as Track and Up flags, not sure if that's what they were intented for anyway. Not sure either if it would create backward incompatibility if I were to rename them. - theeth*/
int reserved2;
int flags;
int pad;
char subtarget[32];
} bTrackToConstraint;
/* Copy Rotation Constraint */
typedef struct bRotateLikeConstraint {
Object *tar;
int flag;
int reserved1;
char subtarget[32];
} bRotateLikeConstraint;
/* Copy Location Constraint */
typedef struct bLocateLikeConstraint {
Object *tar;
int flag;
int reserved1;
char subtarget[32];
} bLocateLikeConstraint;
/* Floor Constraint */
typedef struct bMinMaxConstraint {
Object *tar;
int minmaxflag;
float offset;
int flag;
short sticky, stuck, pad1, pad2; /* for backward compatability */
float cache[3];
char subtarget[32];
} bMinMaxConstraint;
/* Copy Scale Constraint */
typedef struct bSizeLikeConstraint {
Object *tar;
int flag;
int reserved1;
char subtarget[32];
} bSizeLikeConstraint;
/* Action Constraint */
typedef struct bActionConstraint {
Object *tar;
short type; /* what transform 'channel' drives the result */
short local; /* was used in versions prior to the Constraints recode */
int start;
int end;
float min;
float max;
int pad;
struct bAction *act;
char subtarget[32];
} bActionConstraint;
/* Locked Axis Tracking constraint */
typedef struct bLockTrackConstraint {
Object *tar;
int trackflag;
int lockflag;
char subtarget[32];
} bLockTrackConstraint;
/* Damped Tracking constraint */
typedef struct bDampTrackConstraint {
Object *tar;
int trackflag;
int pad;
char subtarget[32];
} bDampTrackConstraint;
/* Follow Path constraints */
typedef struct bFollowPathConstraint {
Object *tar; /* Must be path object */
float offset; /* Offset in time on the path (in frame) */
int followflag;
int trackflag;
int upflag;
} bFollowPathConstraint;
/* Stretch to constraint */
typedef struct bStretchToConstraint {
Object *tar;
int volmode;
int plane;
float orglength;
float bulge;
char subtarget[32];
} bStretchToConstraint;
/* Rigid Body constraint */
typedef struct bRigidBodyJointConstraint {
Object *tar;
Object *child;
int type;
float pivX;
float pivY;
float pivZ;
float axX;
float axY;
float axZ;
float minLimit[6];
float maxLimit[6];
float extraFz;
short flag;
short pad;
short pad1;
short pad2;
} bRigidBodyJointConstraint;
/* Clamp-To Constraint */
typedef struct bClampToConstraint {
Object *tar; /* 'target' must be a curve */
int flag; /* which axis/plane to compare owner's location on */
int flag2; /* for legacy reasons, this is flag2. used for any extra settings */
} bClampToConstraint;
/* Child Of Constraint */
typedef struct bChildOfConstraint {
Object *tar; /* object which will act as parent (or target comes from) */
int flag; /* settings */
int pad;
float invmat[4][4]; /* parent-inverse matrix to use */
char subtarget[32]; /* string to specify a subobject target */
} bChildOfConstraint;
/* Generic Transform->Transform Constraint */
typedef struct bTransformConstraint {
Object *tar; /* target (i.e. 'driver' object/bone) */
char subtarget[32];
short from, to; /* can be loc(0) , rot(1), or size(2) */
char map[3]; /* defines which target-axis deform is copied by each owner-axis */
char expo; /* extrapolate motion? if 0, confine to ranges */
float from_min[3]; /* from_min/max defines range of target transform */
float from_max[3]; /* to map on to to_min/max range. */
float to_min[3]; /* range of motion on owner caused by target */
float to_max[3];
} bTransformConstraint;
/* transform limiting constraints - zero target ---------------------------- */
/* Limit Location Constraint */
typedef struct bLocLimitConstraint {
float xmin, xmax;
float ymin, ymax;
float zmin, zmax;
short flag;
short flag2;
} bLocLimitConstraint;
/* Limit Rotation Constraint */
typedef struct bRotLimitConstraint {
float xmin, xmax;
float ymin, ymax;
float zmin, zmax;
short flag;
short flag2;
} bRotLimitConstraint;
/* Limit Scaling Constraint */
typedef struct bSizeLimitConstraint {
float xmin, xmax;
float ymin, ymax;
float zmin, zmax;
short flag;
short flag2;
} bSizeLimitConstraint;
/* Limit Distance Constraint */
typedef struct bDistLimitConstraint {
Object *tar;
char subtarget[32];
float dist; /* distance (radius of clamping sphere) from target */
float soft; /* distance from clamping-sphere to start applying 'fade' */
short flag; /* settings */
short mode; /* how to limit in relation to clamping sphere */
int pad;
} bDistLimitConstraint;
/* ShrinkWrap Constraint */
typedef struct bShrinkwrapConstraint {
Object *target;
float dist; /* distance to kept from target */
short shrinkType; /* shrink type (look on MOD shrinkwrap for values) */
char projAxis; /* axis to project over UP_X, UP_Y, UP_Z */
char pad[9];
} bShrinkwrapConstraint;
/* ------------------------------------------ */
/* bConstraint->type
* - Do not ever change the order of these, or else files could get
* broken as their correct value cannot be resolved
*/
typedef enum eBConstraint_Types {
CONSTRAINT_TYPE_NULL = 0, /* Invalid/legacy constraint */
CONSTRAINT_TYPE_CHILDOF, /* Unimplemented non longer :) - during constraints recode, Aligorith */
CONSTRAINT_TYPE_TRACKTO,
CONSTRAINT_TYPE_KINEMATIC,
CONSTRAINT_TYPE_FOLLOWPATH,
CONSTRAINT_TYPE_ROTLIMIT, /* Unimplemented no longer :) - Aligorith */
CONSTRAINT_TYPE_LOCLIMIT, /* Unimplemented no longer :) - Aligorith */
CONSTRAINT_TYPE_SIZELIMIT, /* Unimplemented no longer :) - Aligorith */
CONSTRAINT_TYPE_ROTLIKE,
CONSTRAINT_TYPE_LOCLIKE,
CONSTRAINT_TYPE_SIZELIKE,
CONSTRAINT_TYPE_PYTHON, /* Unimplemented no longer :) - Aligorith. Scripts */
CONSTRAINT_TYPE_ACTION,
CONSTRAINT_TYPE_LOCKTRACK, /* New Tracking constraint that locks an axis in place - theeth */
CONSTRAINT_TYPE_DISTLIMIT, /* limit distance */
CONSTRAINT_TYPE_STRETCHTO, /* claiming this to be mine :) is in tuhopuu bjornmose */
CONSTRAINT_TYPE_MINMAX, /* floor constraint */
CONSTRAINT_TYPE_RIGIDBODYJOINT, /* rigidbody constraint */
CONSTRAINT_TYPE_CLAMPTO, /* clampto constraint */
CONSTRAINT_TYPE_TRANSFORM, /* transformation (loc/rot/size -> loc/rot/size) constraint */
CONSTRAINT_TYPE_SHRINKWRAP, /* shrinkwrap (loc/rot) constraint */
CONSTRAINT_TYPE_DAMPTRACK, /* New Tracking constraint that minimises twisting */
CONSTRAINT_TYPE_SPLINEIK, /* Spline-IK - Align 'n' bones to a curve */
/* NOTE: no constraints are allowed to be added after this */
NUM_CONSTRAINT_TYPES
} eBConstraint_Types;
/* bConstraint->flag */
/* flags 0x2 (1<<1) and 0x8 (1<<3) were used in past */
/* flag 0x20 (1<<5) was used to indicate that a constraint was evaluated using a 'local' hack for posebones only */
typedef enum eBConstraint_Flags {
/* expand for UI */
CONSTRAINT_EXPAND = (1<<0),
/* pre-check for illegal object name or bone name */
CONSTRAINT_DISABLE = (1<<2),
/* to indicate which Ipo should be shown, maybe for 3d access later too */
CONSTRAINT_ACTIVE = (1<<4),
/* to indicate that the owner's space should only be changed into ownspace, but not out of it */
CONSTRAINT_SPACEONCE = (1<<6),
/* influence ipo is on constraint itself, not in action channel */
CONSTRAINT_OWN_IPO = (1<<7),
/* indicates that constraint was added locally (i.e. didn't come from the proxy-lib) */
CONSTRAINT_PROXY_LOCAL = (1<<8),
/* indicates that constraint is temporarily disabled (only used in GE) */
CONSTRAINT_OFF = (1<<9)
} eBConstraint_Flags;
/* bConstraint->ownspace/tarspace */
typedef enum eBConstraint_SpaceTypes {
/* default for all - worldspace */
CONSTRAINT_SPACE_WORLD = 0,
/* for objects (relative to parent/without parent influence),
* for bones (along normals of bone, without parent/restpositions)
*/
CONSTRAINT_SPACE_LOCAL, /* = 1 */
/* for posechannels - pose space */
CONSTRAINT_SPACE_POSE, /* = 2 */
/* for posechannels - local with parent */
CONSTRAINT_SPACE_PARLOCAL, /* = 3 */
/* for files from between 2.43-2.46 (should have been parlocal) */
CONSTRAINT_SPACE_INVALID, /* = 4. do not exchange for anything! */
} eBConstraint_SpaceTypes;
/* bConstraintChannel.flag */
// XXX depreceated... old AnimSys
typedef enum eConstraintChannel_Flags {
CONSTRAINT_CHANNEL_SELECT = (1<<0),
CONSTRAINT_CHANNEL_PROTECTED = (1<<1)
} eConstraintChannel_Flags;
/* -------------------------------------- */
/**
* The flags for ROTLIKE, LOCLIKE and SIZELIKE should be kept identical
* (that is, same effect, different name). It simplifies the Python API access a lot.
*/
/* bRotateLikeConstraint.flag */
typedef enum eCopyRotation_Flags {
ROTLIKE_X = (1<<0),
ROTLIKE_Y = (1<<1),
ROTLIKE_Z = (1<<2),
ROTLIKE_X_INVERT = (1<<4),
ROTLIKE_Y_INVERT = (1<<5),
ROTLIKE_Z_INVERT = (1<<6),
ROTLIKE_OFFSET = (1<<7),
} eCopyRotation_Flags;
/* bLocateLikeConstraint.flag */
typedef enum eCopyLocation_Flags {
LOCLIKE_X = (1<<0),
LOCLIKE_Y = (1<<1),
LOCLIKE_Z = (1<<2),
/* LOCLIKE_TIP is a depreceated option... use headtail=1.0f instead */
LOCLIKE_TIP = (1<<3),
LOCLIKE_X_INVERT = (1<<4),
LOCLIKE_Y_INVERT = (1<<5),
LOCLIKE_Z_INVERT = (1<<6),
LOCLIKE_OFFSET = (1<<7),
} eCopyLocation_Flags;
/* bSizeLikeConstraint.flag */
typedef enum eCopyScale_Flags {
SIZELIKE_X = (1<<0),
SIZELIKE_Y = (1<<1),
SIZELIKE_Z = (1<<2),
SIZELIKE_OFFSET = (1<<3),
} eCopyScale_Flags;
/* Locked-Axis Values (Locked Track) */
typedef enum eLockAxis_Modes {
LOCK_X = 0,
LOCK_Y,
LOCK_Z,
} eLockAxis_Modes;
/* Up-Axis Values (TrackTo and Locked Track) */
typedef enum eUpAxis_Modes {
UP_X = 0,
UP_Y,
UP_Z,
} eUpAxis_Modes;
/* Tracking axis (TrackTo, Locked Track, Damped Track) */
typedef enum eTrackToAxis_Modes {
TRACK_X = 0,
TRACK_Y,
TRACK_Z,
TRACK_nX,
TRACK_nY,
TRACK_nZ,
} eTrackToAxis_Modes;
/* FollowPath flags */
typedef enum eFollowPath_Flags {
FOLLOWPATH_FOLLOW = (1<<0),
FOLLOWPATH_STATIC = (1<<1),
FOLLOWPATH_RADIUS = (1<<2),
} eFollowPath_Flags;
/* bTrackToConstraint->flags */
typedef enum eTrackTo_Flags {
TARGET_Z_UP = (1<<0),
} eTrackTo_Flags;
/* Strech To Constraint -> volmode */
typedef enum eStretchTo_VolMode {
VOLUME_XZ = 0,
VOLUME_X,
VOLUME_Z,
NO_VOLUME,
} eStretchTo_VolMode;
/* Stretch To Constraint -> plane mode */
typedef enum eStretchTo_PlaneMode {
PLANE_X = 0,
PLANE_Y,
PLANE_Z,
} eStretchTo_PlaneMode;
/* Clamp-To Constraint ->flag */
typedef enum eClampTo_Modes {
CLAMPTO_AUTO = 0,
CLAMPTO_X,
CLAMPTO_Y,
CLAMPTO_Z,
} eClampTo_Modes;
/* ClampTo Constraint ->flag2 */
typedef enum eClampTo_Flags {
CLAMPTO_CYCLIC = (1<<0),
} eClampTo_Flags;
/* bKinematicConstraint->flag */
typedef enum eKinematic_Flags {
CONSTRAINT_IK_TIP = (1<<0),
CONSTRAINT_IK_ROT = (1<<1),
/* targetless */
CONSTRAINT_IK_AUTO = (1<<2),
/* autoik */
CONSTRAINT_IK_TEMP = (1<<3),
CONSTRAINT_IK_STRETCH = (1<<4),
CONSTRAINT_IK_POS = (1<<5),
CONSTRAINT_IK_SETANGLE = (1<<6),
CONSTRAINT_IK_GETANGLE = (1<<7),
/* limit axis */
CONSTRAINT_IK_NO_POS_X = (1<<8),
CONSTRAINT_IK_NO_POS_Y = (1<<9),
CONSTRAINT_IK_NO_POS_Z = (1<<10),
CONSTRAINT_IK_NO_ROT_X = (1<<11),
CONSTRAINT_IK_NO_ROT_Y = (1<<12),
CONSTRAINT_IK_NO_ROT_Z = (1<<13),
/* axis relative to target */
CONSTRAINT_IK_TARGETAXIS = (1<<14),
} eKinematic_Flags;
/* bSplineIKConstraint->flag */
typedef enum eSplineIK_Flags {
/* chain has been attached to spline */
CONSTRAINT_SPLINEIK_BOUND = (1<<0),
/* root of chain is not influenced by the constraint */
CONSTRAINT_SPLINEIK_NO_ROOT = (1<<1),
/* bones in the chain should not scale to fit the curve */
CONSTRAINT_SPLINEIK_SCALE_LIMITED = (1<<2),
/* evenly distribute the bones along the path regardless of length */
CONSTRAINT_SPLINEIK_EVENSPLITS = (1<<3),
/* don't adjust the x and z scaling of the bones by the curve radius */
CONSTRAINT_SPLINEIK_NO_CURVERAD = (1<<4),
} eSplineIK_Flags;
/* bSplineIKConstraint->xzScaleMode */
typedef enum eSplineIK_XZScaleModes {
/* no x/z scaling */
CONSTRAINT_SPLINEIK_XZS_NONE = 0,
/* bones in the chain should take their x/z scales from the original scaling */
CONSTRAINT_SPLINEIK_XZS_ORIGINAL,
/* x/z scales are the inverse of the y-scale */
CONSTRAINT_SPLINEIK_XZS_VOLUMETRIC,
} eSplineIK_XZScaleModes;
/* MinMax (floor) flags */
typedef enum eFloor_Flags {
MINMAX_STICKY = (1<<0),
MINMAX_STUCK = (1<<1),
MINMAX_USEROT = (1<<2),
} eFloor_Flags;
/* transform limiting constraints -> flag2 */
typedef enum eTransformLimits_Flags2 {
/* not used anymore - for older Limit Location constraints only */
LIMIT_NOPARENT = (1<<0),
/* for all Limit constraints - allow to be used during transform? */
LIMIT_TRANSFORM = (1<<1),
} eTransformLimits_Flags2;
/* transform limiting constraints -> flag (own flags) */
typedef enum eTransformLimits_Flags {
LIMIT_XMIN = (1<<0),
LIMIT_XMAX = (1<<1),
LIMIT_YMIN = (1<<2),
LIMIT_YMAX = (1<<3),
LIMIT_ZMIN = (1<<4),
LIMIT_ZMAX = (1<<5),
} eTransformLimits_Flags;
/* limit rotation constraint -> flag (own flags) */
typedef enum eRotLimit_Flags {
LIMIT_XROT = (1<<0),
LIMIT_YROT = (1<<1),
LIMIT_ZROT = (1<<2),
} eRotLimit_Flags;
/* distance limit constraint */
/* bDistLimitConstraint->flag */
typedef enum eDistLimit_Flag {
LIMITDIST_USESOFT = (1<<0),
} eDistLimit_Flag;
/* bDistLimitConstraint->mode */
typedef enum eDistLimit_Modes {
LIMITDIST_INSIDE = 0,
LIMITDIST_OUTSIDE,
LIMITDIST_ONSURFACE,
} eDistLimit_Modes;
/* python constraint -> flag */
typedef enum ePyConstraint_Flags {
PYCON_USETARGETS = (1<<0),
PYCON_SCRIPTERROR = (1<<1),
} ePyConstraint_Flags;
/* ChildOf Constraint -> flag */
typedef enum eChildOf_Flags {
CHILDOF_LOCX = (1<<0),
CHILDOF_LOCY = (1<<1),
CHILDOF_LOCZ = (1<<2),
CHILDOF_ROTX = (1<<3),
CHILDOF_ROTY = (1<<4),
CHILDOF_ROTZ = (1<<5),
CHILDOF_SIZEX = (1<<6),
CHILDOF_SIZEY = (1<<7),
CHILDOF_SIZEZ = (1<<8),
} eChildOf_Flags;
/* Rigid-Body Constraint */
#define CONSTRAINT_DRAW_PIVOT 0x40
#define CONSTRAINT_DISABLE_LINKED_COLLISION 0x80
/* important: these defines need to match up with PHY_DynamicTypes headerfile */
#define CONSTRAINT_RB_BALL 1
#define CONSTRAINT_RB_HINGE 2
#define CONSTRAINT_RB_CONETWIST 4
#define CONSTRAINT_RB_VEHICLE 11
#define CONSTRAINT_RB_GENERIC6DOF 12
#endif
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