`simvx.core.physics._joints`¶

Physics joints: pin and hinge constraints.

Private leaf module: import via the simvx.core.physics facade.

Module Contents¶

Classes¶

`Joint2D`	Base class for 2D physics joints.
`Joint3D`	Base class for 3D physics joints.
`PinJoint2D`	Pin joint – constrains two 2D bodies to maintain a fixed distance.
`PinJoint3D`	Pin joint – constrains two 3D bodies to maintain a fixed distance.
`HingeJoint3D`	Hinge joint – constrains two 3D bodies to rotate around a shared axis.

Data¶

__all__

API¶

simvx.core.physics._joints.__all__¶: [‘Joint2D’, ‘Joint3D’, ‘PinJoint2D’, ‘PinJoint3D’, ‘HingeJoint3D’]

class simvx.core.physics._joints.Joint2D(body_a=None, body_b=None, **kwargs)[source]¶

Bases: simvx.core.nodes_2d.node2d.Node2D

Base class for 2D physics joints.

Connects two physics bodies with a constraint. Registers with the PhysicsServer so constraints are solved during the physics step, between velocity integration and position integration.

Attributes: body_a: First connected body (set after adding to tree). body_b: Second connected body (set after adding to tree).

Initialization

on_enter_tree() → None[source]¶

on_exit_tree() → None[source]¶

position¶: ‘_SpatialVecProperty(…)’

rotation¶: ‘Property(…)’

scale¶: ‘_SpatialVecProperty(…)’

z_index¶: ‘Property(…)’

z_as_relative¶: ‘Property(…)’

render_layer¶: ‘Property(…)’

set_render_layer(index: int, enabled: bool = True) → None¶

is_on_render_layer(index: int) → bool¶

property absolute_z_index: int¶

property rotation_degrees: float¶

property world_position: simvx.core.math.types.Vec2¶

property world_rotation: float¶

property world_scale: simvx.core.math.types.Vec2¶

property world_transform: tuple[simvx.core.math.types.Vec2, simvx.core.math.types.Vec2, float]¶

property forward: simvx.core.math.types.Vec2¶

property right: simvx.core.math.types.Vec2¶

translate(offset: tuple[float, float] | numpy.ndarray)¶

rotate(radians: float)¶

rotate_deg(degrees: float)¶

look_at(target: tuple[float, float] | numpy.ndarray)¶

transform_points(points: list[simvx.core.math.types.Vec2]) → list[simvx.core.math.types.Vec2]¶

draw_polygon(renderer, points: list[simvx.core.math.types.Vec2], closed=True, colour=None)¶

wrap_screen(margin: float = 20)¶

strict_errors: ClassVar[bool]¶: True

script_error_raised¶: ‘Signal(…)’

classmethod __init_subclass__(**kwargs)¶

property name: str¶

property process_mode: simvx.core.descriptors.ProcessMode¶

property visible: bool¶

reset_error() → None¶

add_child(node: simvx.core.node.Node) → simvx.core.node.Node¶

remove_child(node: simvx.core.node.Node)¶

reparent(new_parent: simvx.core.node.Node)¶

get_node(path: str) → simvx.core.node.Node¶

find_child(name: str, recursive: bool = False) → simvx.core.node.Node | None¶

find(target: type | str, recursive: bool = True) → simvx.core.node.Node | None¶

find_all(node_type: type, recursive: bool = True) → list¶

walk(*, include_self: bool = True) → collections.abc.Iterator[simvx.core.node.Node]¶

property path: str¶

add_to_group(group: str)¶

remove_from_group(group: str)¶

is_in_group(group: str) → bool¶

on_ready() → None¶

on_process(dt: float) → None¶

on_physics_process(dt: float) → None¶

on_draw(renderer) → None¶

on_picked(event: simvx.core.events.InputEvent) → None¶

on_unhandled_input(event: simvx.core.events.TreeInputEvent) → None¶

start_coroutine(gen: simvx.core.descriptors.Coroutine) → simvx.core.descriptors.CoroutineHandle¶

stop_coroutine(gen_or_handle)¶

clear_children()¶

destroy()¶

property app¶

property tree: simvx.core.scene_tree.SceneTree¶

__getitem__(key: str)¶

classmethod get_properties() → dict[str, simvx.core.descriptors.Property]¶

__repr__()¶

class simvx.core.physics._joints.Joint3D(body_a=None, body_b=None, **kwargs)[source]¶

Bases: simvx.core.nodes_3d.node3d.Node3D

Base class for 3D physics joints.

Connects two physics bodies with a constraint. Registers with the PhysicsServer so constraints are solved during the physics step.

Initialization

on_enter_tree() → None[source]¶

on_exit_tree() → None[source]¶

position¶: ‘_SpatialVecProperty(…)’

rotation¶: ‘Property(…)’

scale¶: ‘_SpatialVecProperty(…)’

render_layer¶: ‘Property(…)’

property rotation_degrees: simvx.core.math.types.Vec3¶

property world_position: simvx.core.math.types.Vec3¶

property world_rotation: simvx.core.math.types.Quat¶

property world_scale: simvx.core.math.types.Vec3¶

property forward: simvx.core.math.types.Vec3¶

property right: simvx.core.math.types.Vec3¶

property up: simvx.core.math.types.Vec3¶

translate(offset: tuple[float, float, float] | numpy.ndarray)¶

translate_global(offset: tuple[float, float, float] | numpy.ndarray)¶

rotate(axis: tuple[float, float, float] | numpy.ndarray, angle: float)¶

rotate_x(angle: float)¶

rotate_y(angle: float)¶

rotate_z(angle: float)¶

look_at(target: tuple[float, float, float] | numpy.ndarray, up=None)¶

face_along(forward: tuple[float, float, float] | numpy.ndarray, up: tuple[float, float, float] | numpy.ndarray | None = None) → None¶

set_render_layer(index: int, enabled: bool = True) → None¶

is_on_render_layer(index: int) → bool¶

wrap_bounds(bounds: tuple[float, float, float] | numpy.ndarray, margin: float = 1.0)¶

strict_errors: ClassVar[bool]¶: True

script_error_raised¶: ‘Signal(…)’

classmethod __init_subclass__(**kwargs)¶

property name: str¶

property process_mode: simvx.core.descriptors.ProcessMode¶

property visible: bool¶

reset_error() → None¶

add_child(node: simvx.core.node.Node) → simvx.core.node.Node¶

remove_child(node: simvx.core.node.Node)¶

reparent(new_parent: simvx.core.node.Node)¶

get_node(path: str) → simvx.core.node.Node¶

find_child(name: str, recursive: bool = False) → simvx.core.node.Node | None¶

find(target: type | str, recursive: bool = True) → simvx.core.node.Node | None¶

find_all(node_type: type, recursive: bool = True) → list¶

walk(*, include_self: bool = True) → collections.abc.Iterator[simvx.core.node.Node]¶

property path: str¶

add_to_group(group: str)¶

remove_from_group(group: str)¶

is_in_group(group: str) → bool¶

on_ready() → None¶

on_process(dt: float) → None¶

on_physics_process(dt: float) → None¶

on_draw(renderer) → None¶

on_picked(event: simvx.core.events.InputEvent) → None¶

on_unhandled_input(event: simvx.core.events.TreeInputEvent) → None¶

start_coroutine(gen: simvx.core.descriptors.Coroutine) → simvx.core.descriptors.CoroutineHandle¶

stop_coroutine(gen_or_handle)¶

clear_children()¶

destroy()¶

property app¶

property tree: simvx.core.scene_tree.SceneTree¶

__getitem__(key: str)¶

classmethod get_properties() → dict[str, simvx.core.descriptors.Property]¶

__repr__()¶

class simvx.core.physics._joints.PinJoint2D(body_a=None, body_b=None, distance: float = 0.0, stiffness: float = 1.0, damping: float = 0.5, bias_factor: float = 0.3, **kwargs)[source]¶

Bases: simvx.core.physics._joints.Joint2D

Pin joint – constrains two 2D bodies to maintain a fixed distance.

Uses velocity-level constraint solving with Baumgarte stabilization. Solved by the PhysicsServer during its step, not in physics_process.

Attributes: distance: Rest distance between anchors. 0 = compute from initial positions. stiffness: Constraint stiffness [0..1]. 1 = rigid, lower = springy. damping: Velocity damping factor for the constraint. bias_factor: Baumgarte stabilization factor (higher = faster correction).

Initialization

on_enter_tree() → None¶

on_exit_tree() → None¶

position¶: ‘_SpatialVecProperty(…)’

rotation¶: ‘Property(…)’

scale¶: ‘_SpatialVecProperty(…)’

z_index¶: ‘Property(…)’

z_as_relative¶: ‘Property(…)’

render_layer¶: ‘Property(…)’

set_render_layer(index: int, enabled: bool = True) → None¶

is_on_render_layer(index: int) → bool¶

property absolute_z_index: int¶

property rotation_degrees: float¶

property world_position: simvx.core.math.types.Vec2¶

property world_rotation: float¶

property world_scale: simvx.core.math.types.Vec2¶

property world_transform: tuple[simvx.core.math.types.Vec2, simvx.core.math.types.Vec2, float]¶

property forward: simvx.core.math.types.Vec2¶

property right: simvx.core.math.types.Vec2¶

translate(offset: tuple[float, float] | numpy.ndarray)¶

rotate(radians: float)¶

rotate_deg(degrees: float)¶

look_at(target: tuple[float, float] | numpy.ndarray)¶

transform_points(points: list[simvx.core.math.types.Vec2]) → list[simvx.core.math.types.Vec2]¶

draw_polygon(renderer, points: list[simvx.core.math.types.Vec2], closed=True, colour=None)¶

wrap_screen(margin: float = 20)¶

strict_errors: ClassVar[bool]¶: True

script_error_raised¶: ‘Signal(…)’

classmethod __init_subclass__(**kwargs)¶

property name: str¶

property process_mode: simvx.core.descriptors.ProcessMode¶

property visible: bool¶

reset_error() → None¶

add_child(node: simvx.core.node.Node) → simvx.core.node.Node¶

remove_child(node: simvx.core.node.Node)¶

reparent(new_parent: simvx.core.node.Node)¶

get_node(path: str) → simvx.core.node.Node¶

find_child(name: str, recursive: bool = False) → simvx.core.node.Node | None¶

find(target: type | str, recursive: bool = True) → simvx.core.node.Node | None¶

find_all(node_type: type, recursive: bool = True) → list¶

walk(*, include_self: bool = True) → collections.abc.Iterator[simvx.core.node.Node]¶

property path: str¶

add_to_group(group: str)¶

remove_from_group(group: str)¶

is_in_group(group: str) → bool¶

on_ready() → None¶

on_process(dt: float) → None¶

on_physics_process(dt: float) → None¶

on_draw(renderer) → None¶

on_picked(event: simvx.core.events.InputEvent) → None¶

on_unhandled_input(event: simvx.core.events.TreeInputEvent) → None¶

start_coroutine(gen: simvx.core.descriptors.Coroutine) → simvx.core.descriptors.CoroutineHandle¶

stop_coroutine(gen_or_handle)¶

clear_children()¶

destroy()¶

property app¶

property tree: simvx.core.scene_tree.SceneTree¶

__getitem__(key: str)¶

classmethod get_properties() → dict[str, simvx.core.descriptors.Property]¶

__repr__()¶

class simvx.core.physics._joints.PinJoint3D(body_a=None, body_b=None, distance: float = 0.0, stiffness: float = 1.0, damping: float = 0.5, bias_factor: float = 0.3, **kwargs)[source]¶

Bases: simvx.core.physics._joints.Joint3D

Pin joint – constrains two 3D bodies to maintain a fixed distance.

Uses velocity-level constraint solving with Baumgarte stabilization. Solved by the PhysicsServer during its step.

Attributes: distance: Rest distance. 0 = auto-compute from initial positions. stiffness: Constraint stiffness [0..1]. damping: Velocity damping along the constraint axis. bias_factor: Baumgarte stabilization factor.

Initialization

on_enter_tree() → None¶

on_exit_tree() → None¶

position¶: ‘_SpatialVecProperty(…)’

rotation¶: ‘Property(…)’

scale¶: ‘_SpatialVecProperty(…)’

render_layer¶: ‘Property(…)’

property rotation_degrees: simvx.core.math.types.Vec3¶

property world_position: simvx.core.math.types.Vec3¶

property world_rotation: simvx.core.math.types.Quat¶

property world_scale: simvx.core.math.types.Vec3¶

property forward: simvx.core.math.types.Vec3¶

property right: simvx.core.math.types.Vec3¶

property up: simvx.core.math.types.Vec3¶

translate(offset: tuple[float, float, float] | numpy.ndarray)¶

translate_global(offset: tuple[float, float, float] | numpy.ndarray)¶

rotate(axis: tuple[float, float, float] | numpy.ndarray, angle: float)¶

rotate_x(angle: float)¶

rotate_y(angle: float)¶

rotate_z(angle: float)¶

look_at(target: tuple[float, float, float] | numpy.ndarray, up=None)¶

face_along(forward: tuple[float, float, float] | numpy.ndarray, up: tuple[float, float, float] | numpy.ndarray | None = None) → None¶

set_render_layer(index: int, enabled: bool = True) → None¶

is_on_render_layer(index: int) → bool¶

wrap_bounds(bounds: tuple[float, float, float] | numpy.ndarray, margin: float = 1.0)¶

strict_errors: ClassVar[bool]¶: True

script_error_raised¶: ‘Signal(…)’

classmethod __init_subclass__(**kwargs)¶

property name: str¶

property process_mode: simvx.core.descriptors.ProcessMode¶

property visible: bool¶

reset_error() → None¶

add_child(node: simvx.core.node.Node) → simvx.core.node.Node¶

remove_child(node: simvx.core.node.Node)¶

reparent(new_parent: simvx.core.node.Node)¶

get_node(path: str) → simvx.core.node.Node¶

find_child(name: str, recursive: bool = False) → simvx.core.node.Node | None¶

find(target: type | str, recursive: bool = True) → simvx.core.node.Node | None¶

find_all(node_type: type, recursive: bool = True) → list¶

walk(*, include_self: bool = True) → collections.abc.Iterator[simvx.core.node.Node]¶

property path: str¶

add_to_group(group: str)¶

remove_from_group(group: str)¶

is_in_group(group: str) → bool¶

on_ready() → None¶

on_process(dt: float) → None¶

on_physics_process(dt: float) → None¶

on_draw(renderer) → None¶

on_picked(event: simvx.core.events.InputEvent) → None¶

on_unhandled_input(event: simvx.core.events.TreeInputEvent) → None¶

start_coroutine(gen: simvx.core.descriptors.Coroutine) → simvx.core.descriptors.CoroutineHandle¶

stop_coroutine(gen_or_handle)¶

clear_children()¶

destroy()¶

property app¶

property tree: simvx.core.scene_tree.SceneTree¶

__getitem__(key: str)¶

classmethod get_properties() → dict[str, simvx.core.descriptors.Property]¶

__repr__()¶

class simvx.core.physics._joints.HingeJoint3D(body_a=None, body_b=None, axis=None, distance: float = 0.0, stiffness: float = 1.0, damping: float = 0.5, bias_factor: float = 0.3, angular_limit_min: float = 0.0, angular_limit_max: float = 0.0, **kwargs)[source]¶

Bases: simvx.core.physics._joints.Joint3D

Hinge joint – constrains two 3D bodies to rotate around a shared axis.

Maintains a fixed distance in the hinge plane and restricts motion to rotation around a single axis. Two-phase solver:

_solve_constraint (pre-integration): velocity-level Baumgarte correction constrains velocity to be tangential and in the hinge plane.
_position_correct (post-integration): hard position projection snaps the body back to the correct distance on the constraint manifold.

Attributes: axis: Hinge rotation axis in world space (normalized). distance: Rest distance between body centres. stiffness: Position constraint stiffness. damping: Velocity damping. bias_factor: Baumgarte stabilization factor. angular_limit_min: Minimum angle in degrees (0 = no limit). angular_limit_max: Maximum angle in degrees (0 = no limit).

Initialization

reset() → None[source]¶

Reset cached initialisation state.

Forces the next physics tick to recapture the reference angle and the initial lever-arm direction from current body positions/rotations. Call this after teleporting either body or resetting their orientation so the hinge does not retain a stale rest configuration.