JoltPhysics - Documentation
‹
JoltPhysics

Current low-level API

Explicit worlds and handles for advanced integration.

This reference preserves the separation between managed and low-level API. Declarations are generated from current code; a signature inventory is not verification of every native solver edge case.

Verified operation contracts#

These contracts distinguish units, return values, errors and lifetime according to the current implementation. Check results: false, 0 and undefined can mean different things for different methods.

Symbol / ownerSignatureOperation contract
jolt_get_last_error_codejolt_get_last_error_code()Returns the latest native code (JOLT_ERROR_NONE=0) / error text. Read immediately after an operation; subsequent native calls can replace it. Distinct from managed jolt_get_error().
jolt_get_last_error_messagejolt_get_last_error_message()Returns the latest native code (JOLT_ERROR_NONE=0) / error text. Read immediately after an operation; subsequent native calls can replace it. Distinct from managed jolt_get_error().
jolt_initjolt_init()Initializes the native runtime; 1 on success. Managed applications use jolt_start. Low-level calls use numeric handles; scalar failure returns 0 and sets jolt_get_last_error_code/message. Zero may also be valid: inspect the error state immediately.
jolt_shutdownjolt_shutdown()Shuts down runtime and worlds; success 1 also synchronizes Control/Socket/Debug/Penetration wrappers. Discard handles. Managed applications use jolt_stop. Low-level calls use numeric handles; scalar failure returns 0 and sets jolt_get_last_error_code/message. Zero may also be valid: inspect the error state immediately.
jolt_stepjolt_step(world, delta_time)Same native path as jolt_world_step; collision_steps = clamp(ceil(dt*60), 1, 64). Not an alias of managed jolt_update. Low-level calls use numeric handles; scalar failure returns 0 and sets jolt_get_last_error_code/message. Zero may also be valid: inspect the error state immediately.
jolt_world_body_is_supportedjolt_world_body_is_supported(world, body, minimum_up_dot = 0.45)minimum_up_dot threshold 0..1, default .45; 1 for detected static body support, otherwise 0. Not a CharacterVirtual support getter. Low-level calls use numeric handles; scalar failure returns 0 and sets jolt_get_last_error_code/message. Zero may also be valid: inspect the error state immediately.
jolt_world_closest_pointjolt_world_closest_point(world,x,y,z,max_distance=0, layer_mask=0,ignore_body=0,motion=-1,include_sensors=true)World XYZ point m; max_distance defaults 0 unbounded, layer_mask0 all, ignore_body0 none, motion-1 all, include_sensors true. Result hit/body/distance/position/normal/target_sub_shape_id/candidate_count/exact_body_tests and error_code/error_message per the shared closest-point path; body is a handle. No hit is not an error.
jolt_world_collision_clearjolt_world_collision_clear(world)Clears the event queue; result 1. Does not alter collisions or bodies. Low-level calls use numeric handles; scalar failure returns 0 and sets jolt_get_last_error_code/message. Zero may also be valid: inspect the error state immediately.
jolt_world_collision_get_dropped_countjolt_world_collision_get_dropped_count(world)Number of collision events dropped due to queue capacity, not the number of current contacts. Low-level calls use numeric handles; scalar failure returns 0 and sets jolt_get_last_error_code/message. Zero may also be valid: inspect the error state immediately.
jolt_world_collision_nextjolt_world_collision_next(world)Consumes the next ENTER/STAY/EXIT world event, otherwise undefined (empty queue or error; inspect error). Struct type, body_a, body_b, position XYZ m, normal XYZ, penetration_depth m, body_a_sensor, body_b_sensor. Bodies are handles, not JoltBody; EXIT may reference a destroyed body.
jolt_world_compound_add_childjolt_world_compound_add_child(world, compound, shape_type, size_x, size_y, size_z, x, y, z, qx, qy, qz, qw)Adds BOX/SPHERE/CAPSULE/CYLINDER with local position m and XYZW quaternion. This transport uses half extents / radius / straight-section half-height, not managed factory full sizes. Two commands add then rotate; a failed rotation can leave the child added. Low-level calls use numeric handles; scalar failure returns 0 and sets jolt_get_last_error_code/message. Zero may also be valid: inspect the error state immediately.
jolt_world_compound_add_shapejolt_world_compound_add_shape(world, compound, shape, x, y, z, qx, qy, qz, qw)Adds a same-world shape handle with local XYZ m and quaternion. Native builder retains the shape reference; adding and rotating are not atomic. Success 1. Low-level calls use numeric handles; scalar failure returns 0 and sets jolt_get_last_error_code/message. Zero may also be valid: inspect the error state immediately.
jolt_world_compound_body_createjolt_world_compound_body_create(world, compound, motion, x, y, z, qx = 0, qy = 0, qz = 0, qw = 1, center_of_mass_x = 0, center_of_mass_y = 0, center_of_mass_z = 0)Compound snapshot → body handle >0. World position m, quaternion defaults identity, local COM offset defaults 0. Rotation is applied after creation; its failure does not destroy the body. Caller owns the body. Low-level calls use numeric handles; scalar failure returns 0 and sets jolt_get_last_error_code/message. Zero may also be valid: inspect the error state immediately.
jolt_world_compound_createjolt_world_compound_create(world)Creates an empty compound builder → handle >0; release with compound_destroy. Low-level calls use numeric handles; scalar failure returns 0 and sets jolt_get_last_error_code/message. Zero may also be valid: inspect the error state immediately.
jolt_world_compound_destroyjolt_world_compound_destroy(world, compound)Releases the builder, not already created bodies; result 1. Low-level calls use numeric handles; scalar failure returns 0 and sets jolt_get_last_error_code/message. Zero may also be valid: inspect the error state immediately.
jolt_world_cone_get_anglejolt_world_cone_get_angle(world, constraint)Current angle between reference and current axes in rad. Low-level calls use numeric handles; scalar failure returns 0 and sets jolt_get_last_error_code/message. Zero may also be valid: inspect the error state immediately.
jolt_world_cone_get_debug_frame_componentjolt_world_cone_get_debug_frame_component(world, constraint, component)One debug frame component: 0..2 anchor XYZ m; 3..5 reference axis XYZ; 6..8 current axis XYZ. Anchor/axes are world-space, relative/target in constraint space. Low-level calls use numeric handles; scalar failure returns 0 and sets jolt_get_last_error_code/message. Zero may also be valid: inspect the error state immediately.
jolt_world_cone_get_impulsejolt_world_cone_get_impulse(world, constraint)Solver angular impulse N·m·s, not instantaneous torque. Low-level calls use numeric handles; scalar failure returns 0 and sets jolt_get_last_error_code/message. Zero may also be valid: inspect the error state immediately.
jolt_world_cone_get_limitjolt_world_cone_get_limit(world, constraint)Cone half angle 0..pi rad; setter 1, getter radians. Low-level calls use numeric handles; scalar failure returns 0 and sets jolt_get_last_error_code/message. Zero may also be valid: inspect the error state immediately.
jolt_world_cone_set_limitjolt_world_cone_set_limit(world, constraint, limit_radians)Cone half angle 0..pi rad; setter 1, getter radians. Low-level calls use numeric handles; scalar failure returns 0 and sets jolt_get_last_error_code/message. Zero may also be valid: inspect the error state immediately.
jolt_world_constraint_create_conejolt_world_constraint_create_cone(world, body_a, body_b, anchor_x, anchor_y, anchor_z, axis_x, axis_y, axis_z)World anchor m and nonzero axis; set the limit separately. Returns constraint handle >0; resources must share a world, a pair must include a Dynamic body; release with constraint_destroy. Low-level calls use numeric handles; scalar failure returns 0 and sets jolt_get_last_error_code/message. Zero may also be valid: inspect the error state immediately.
jolt_world_constraint_create_cone_worldjolt_world_constraint_create_cone_world(world, body, anchor_x, anchor_y, anchor_z, axis_x, axis_y, axis_z, limit_radians)One Dynamic body against the world, anchor m, nonzero axis and limit 0..pi rad. Returns constraint handle >0; resources must share a world, a pair must include a Dynamic body; release with constraint_destroy. Low-level calls use numeric handles; scalar failure returns 0 and sets jolt_get_last_error_code/message. Zero may also be valid: inspect the error state immediately.
jolt_world_constraint_create_distancejolt_world_constraint_create_distance(world, body_a, body_b, point_a_x, point_a_y, point_a_z, point_b_x, point_b_y, point_b_z, min_distance, max_distance)Two world points m and 0<=min<=max distance m; failed limit setup destroys the new constraint. Returns constraint handle >0; resources must share a world, a pair must include a Dynamic body; release with constraint_destroy. Low-level calls use numeric handles; scalar failure returns 0 and sets jolt_get_last_error_code/message. Zero may also be valid: inspect the error state immediately.
jolt_world_constraint_create_distance_worldjolt_world_constraint_create_distance_world(world, body, anchor_x, anchor_y, anchor_z, minimum, maximum)One Dynamic body against a world anchor m, min/max length m. Returns constraint handle >0; resources must share a world, a pair must include a Dynamic body; release with constraint_destroy. Low-level calls use numeric handles; scalar failure returns 0 and sets jolt_get_last_error_code/message. Zero may also be valid: inspect the error state immediately.
jolt_world_constraint_create_fixedjolt_world_constraint_create_fixed(world, body_a, body_b)Preserves the current relative transform of two bodies. Returns constraint handle >0; resources must share a world, a pair must include a Dynamic body; release with constraint_destroy. Low-level calls use numeric handles; scalar failure returns 0 and sets jolt_get_last_error_code/message. Zero may also be valid: inspect the error state immediately.
jolt_world_constraint_create_fixed_worldjolt_world_constraint_create_fixed_world(world, body, anchor_x, anchor_y, anchor_z)One Dynamic body against the fixed world, anchor XYZ m. Returns constraint handle >0; resources must share a world, a pair must include a Dynamic body; release with constraint_destroy. Low-level calls use numeric handles; scalar failure returns 0 and sets jolt_get_last_error_code/message. Zero may also be valid: inspect the error state immediately.
jolt_world_constraint_create_hingejolt_world_constraint_create_hinge(world, body_a, body_b, anchor_x, anchor_y, anchor_z, axis_x, axis_y, axis_z, limits_min = -pi, limits_max = pi)World anchor m and nonzero axis; min/max radians default -pi/+pi. Destroys the new constraint if limit setup fails. Returns constraint handle >0; resources must share a world, a pair must include a Dynamic body; release with constraint_destroy. Low-level calls use numeric handles; scalar failure returns 0 and sets jolt_get_last_error_code/message. Zero may also be valid: inspect the error state immediately.
jolt_world_constraint_create_hinge_worldjolt_world_constraint_create_hinge_world(world, body, anchor_x, anchor_y, anchor_z, axis_x, axis_y, axis_z)One Dynamic body against the world, anchor m and nonzero axis. Returns constraint handle >0; resources must share a world, a pair must include a Dynamic body; release with constraint_destroy. Low-level calls use numeric handles; scalar failure returns 0 and sets jolt_get_last_error_code/message. Zero may also be valid: inspect the error state immediately.
jolt_world_constraint_create_pathjolt_world_constraint_create_path(world, path, body_a, body_b, rotation_mode)Built path handle and same-world body handles → constraint handle >0. Rotation mode 0..5 per JOLT_PATH_ROTATION_*. Pair path is in Body A space, world path in world space. Constraint retains shared path data. Low-level calls use numeric handles; scalar failure returns 0 and sets jolt_get_last_error_code/message. Zero may also be valid: inspect the error state immediately.
jolt_world_constraint_create_path_worldjolt_world_constraint_create_path_world(world, path, body, rotation_mode)Built path handle and same-world body handles → constraint handle >0. Rotation mode 0..5 per JOLT_PATH_ROTATION_*. Pair path is in Body A space, world path in world space. Constraint retains shared path data. Low-level calls use numeric handles; scalar failure returns 0 and sets jolt_get_last_error_code/message. Zero may also be valid: inspect the error state immediately.
jolt_world_constraint_create_pointjolt_world_constraint_create_point(world, body_a, body_b, x, y, z)Shared world XYZ point in m. Returns constraint handle >0; resources must share a world, a pair must include a Dynamic body; release with constraint_destroy. Low-level calls use numeric handles; scalar failure returns 0 and sets jolt_get_last_error_code/message. Zero may also be valid: inspect the error state immediately.
jolt_world_constraint_create_point_worldjolt_world_constraint_create_point_world(world, body, anchor_x, anchor_y, anchor_z)One Dynamic body against the fixed world, anchor XYZ m. Returns constraint handle >0; resources must share a world, a pair must include a Dynamic body; release with constraint_destroy. Low-level calls use numeric handles; scalar failure returns 0 and sets jolt_get_last_error_code/message. Zero may also be valid: inspect the error state immediately.
jolt_world_constraint_create_sliderjolt_world_constraint_create_slider(world, body_a, body_b, x, y, z, axis_x, axis_y, axis_z)World anchor m and nonzero direction axis. Returns constraint handle >0; resources must share a world, a pair must include a Dynamic body; release with constraint_destroy. Low-level calls use numeric handles; scalar failure returns 0 and sets jolt_get_last_error_code/message. Zero may also be valid: inspect the error state immediately.
jolt_world_constraint_create_slider_worldjolt_world_constraint_create_slider_world(world, body, anchor_x, anchor_y, anchor_z, axis_x, axis_y, axis_z)One Dynamic body against the world, anchor m and nonzero axis. Returns constraint handle >0; resources must share a world, a pair must include a Dynamic body; release with constraint_destroy. Low-level calls use numeric handles; scalar failure returns 0 and sets jolt_get_last_error_code/message. Zero may also be valid: inspect the error state immediately.
jolt_world_constraint_destroyjolt_world_constraint_destroy(world, constraint)Destroys the constraint, not its bodies; success 1. Low-level calls use numeric handles; scalar failure returns 0 and sets jolt_get_last_error_code/message. Zero may also be valid: inspect the error state immediately.
jolt_world_constraint_distance_set_limitsjolt_world_constraint_distance_set_limits(world, constraint, minimum, maximum)0<=min<=max m; success 1. Low-level calls use numeric handles; scalar failure returns 0 and sets jolt_get_last_error_code/message. Zero may also be valid: inspect the error state immediately.
jolt_world_constraint_get_collision_enabledjolt_world_constraint_get_collision_enabled(world, constraint)Current enabled or pair-collision flag as 0/1. Low-level calls use numeric handles; scalar failure returns 0 and sets jolt_get_last_error_code/message. Zero may also be valid: inspect the error state immediately.
jolt_world_constraint_get_enabledjolt_world_constraint_get_enabled(world, constraint)Current enabled or pair-collision flag as 0/1. Low-level calls use numeric handles; scalar failure returns 0 and sets jolt_get_last_error_code/message. Zero may also be valid: inspect the error state immediately.
jolt_world_constraint_hinge_set_limitsjolt_world_constraint_hinge_set_limits(world, constraint, minimum, maximum)-pi<=min<=max<=pi rad; success 1. Low-level calls use numeric handles; scalar failure returns 0 and sets jolt_get_last_error_code/message. Zero may also be valid: inspect the error state immediately.
jolt_world_constraint_is_validjolt_world_constraint_is_valid(world, constraint)Returns 1 only for a live resource of the correct type in the given world; 0 for invalid handles. Low-level calls use numeric handles; scalar failure returns 0 and sets jolt_get_last_error_code/message. Zero may also be valid: inspect the error state immediately.
jolt_world_constraint_set_collision_enabledjolt_world_constraint_set_collision_enabled(world, constraint, enabled)Enabled 0/1; success 1. First toggles constraint solving, second pair collisions; destroying the constraint releases its own collision suppression. Low-level calls use numeric handles; scalar failure returns 0 and sets jolt_get_last_error_code/message. Zero may also be valid: inspect the error state immediately.
jolt_world_constraint_set_enabledjolt_world_constraint_set_enabled(world, constraint, enabled)Enabled 0/1; success 1. First toggles constraint solving, second pair collisions; destroying the constraint releases its own collision suppression. Low-level calls use numeric handles; scalar failure returns 0 and sets jolt_get_last_error_code/message. Zero may also be valid: inspect the error state immediately.
jolt_world_constraint_slider_set_limitsjolt_world_constraint_slider_set_limits(world, constraint, minimum, maximum)Finite min<=max in metres; success 1. Low-level calls use numeric handles; scalar failure returns 0 and sets jolt_get_last_error_code/message. Zero may also be valid: inspect the error state immediately.
jolt_world_createjolt_world_create(gravity_x, gravity_y, gravity_z)Explicit finite XYZ gravity in m/s² → world handle >0. Caller owns destruction; does not establish jolt_start managed registries. Low-level calls use numeric handles; scalar failure returns 0 and sets jolt_get_last_error_code/message. Zero may also be valid: inspect the error state immediately.
jolt_world_destroyjolt_world_destroy(world)Destroys the world and its native resources; 1 on success, synchronizes associated wrappers. Low-level calls use numeric handles; scalar failure returns 0 and sets jolt_get_last_error_code/message. Zero may also be valid: inspect the error state immediately.
jolt_world_distance_get_current_distancejolt_world_distance_get_current_distance(world, constraint)Current attachment distance / slider displacement in m. Low-level calls use numeric handles; scalar failure returns 0 and sets jolt_get_last_error_code/message. Zero may also be valid: inspect the error state immediately.
jolt_world_distance_get_impulsejolt_world_distance_get_impulse(world, constraint)Latest solver impulse N·s (Point returns vector magnitude); not force in N. Low-level calls use numeric handles; scalar failure returns 0 and sets jolt_get_last_error_code/message. Zero may also be valid: inspect the error state immediately.
jolt_world_distance_get_limitjolt_world_distance_get_limit(world, constraint, component)Component 0 minimum / 1 maximum; hinge rad, distance/slider m. Low-level calls use numeric handles; scalar failure returns 0 and sets jolt_get_last_error_code/message. Zero may also be valid: inspect the error state immediately.
jolt_world_distance_get_spring_dampingjolt_world_distance_get_spring_damping(world, constraint)Current dimensionless damping ratio. Low-level calls use numeric handles; scalar failure returns 0 and sets jolt_get_last_error_code/message. Zero may also be valid: inspect the error state immediately.
jolt_world_distance_get_spring_frequencyjolt_world_distance_get_spring_frequency(world, constraint)Current spring frequency in Hz. Low-level calls use numeric handles; scalar failure returns 0 and sets jolt_get_last_error_code/message. Zero may also be valid: inspect the error state immediately.
jolt_world_distance_set_springjolt_world_distance_set_spring(world, constraint, frequency, damping)Finite frequency >=0 Hz and damping ratio >=0; success 1. Low-level calls use numeric handles; scalar failure returns 0 and sets jolt_get_last_error_code/message. Zero may also be valid: inspect the error state immediately.
jolt_world_geometry_createjolt_world_geometry_create(world, payload)Encoded binary geometry transport, payload copied synchronously. Use managed shape/body factories rather than inventing an unversioned payload. Returns the created handle. Low-level calls use numeric handles; scalar failure returns 0 and sets jolt_get_last_error_code/message. Zero may also be valid: inspect the error state immediately.
jolt_world_get_physics_qualityjolt_world_get_physics_quality(world)Quality enum DEFAULT/HIGH per JOLT_PHYSICS_QUALITY_*; setter 1, getter enum. Changes the selected world quality, not debug rendering. Low-level calls use numeric handles; scalar failure returns 0 and sets jolt_get_last_error_code/message. Zero may also be valid: inspect the error state immediately.
jolt_world_hinge_get_anglejolt_world_hinge_get_angle(world, constraint)Current hinge angle in radians. Low-level calls use numeric handles; scalar failure returns 0 and sets jolt_get_last_error_code/message. Zero may also be valid: inspect the error state immediately.
jolt_world_hinge_get_debug_frame_componentjolt_world_hinge_get_debug_frame_component(world, constraint, component)One debug frame component: 0..2 anchor XYZ m; 3..5 axis XYZ; 6..8 reference XYZ. Anchor/axes are world-space, relative/target in constraint space. Low-level calls use numeric handles; scalar failure returns 0 and sets jolt_get_last_error_code/message. Zero may also be valid: inspect the error state immediately.
jolt_world_hinge_get_limitjolt_world_hinge_get_limit(world, constraint, component)Component 0 minimum / 1 maximum; hinge rad, distance/slider m. Low-level calls use numeric handles; scalar failure returns 0 and sets jolt_get_last_error_code/message. Zero may also be valid: inspect the error state immediately.
jolt_world_hinge_get_motor_impulsejolt_world_hinge_get_motor_impulse(world, constraint)Latest motor impulse N·m·s, not the configured torque limit. Low-level calls use numeric handles; scalar failure returns 0 and sets jolt_get_last_error_code/message. Zero may also be valid: inspect the error state immediately.
jolt_world_hinge_get_motor_max_torquejolt_world_hinge_get_motor_max_torque(world, constraint)Motor target in N·m; finite, nonnegative. Setter 1, getter number. Does not itself set motor state. Low-level calls use numeric handles; scalar failure returns 0 and sets jolt_get_last_error_code/message. Zero may also be valid: inspect the error state immediately.
jolt_world_hinge_get_motor_positionjolt_world_hinge_get_motor_position(world, constraint)Motor target in rad; finite. Setter 1, getter number. Does not itself set motor state. Low-level calls use numeric handles; scalar failure returns 0 and sets jolt_get_last_error_code/message. Zero may also be valid: inspect the error state immediately.
jolt_world_hinge_get_motor_spring_dampingjolt_world_hinge_get_motor_spring_damping(world, constraint)Current dimensionless damping ratio. Low-level calls use numeric handles; scalar failure returns 0 and sets jolt_get_last_error_code/message. Zero may also be valid: inspect the error state immediately.
jolt_world_hinge_get_motor_spring_frequencyjolt_world_hinge_get_motor_spring_frequency(world, constraint)Current spring frequency in Hz. Low-level calls use numeric handles; scalar failure returns 0 and sets jolt_get_last_error_code/message. Zero may also be valid: inspect the error state immediately.
jolt_world_hinge_get_motor_statejolt_world_hinge_get_motor_state(world, constraint)Motor state JOLT_MOTOR_OFF/VELOCITY/POSITION/POSITION_VELOCITY (0..3); setter returns 1, getter the enum. Low-level calls use numeric handles; scalar failure returns 0 and sets jolt_get_last_error_code/message. Zero may also be valid: inspect the error state immediately.
jolt_world_hinge_get_motor_velocityjolt_world_hinge_get_motor_velocity(world, constraint)Motor target in rad/s; finite. Setter 1, getter number. Does not itself set motor state. Low-level calls use numeric handles; scalar failure returns 0 and sets jolt_get_last_error_code/message. Zero may also be valid: inspect the error state immediately.
jolt_world_hinge_set_motor_max_torquejolt_world_hinge_set_motor_max_torque(world, constraint, torque)Motor target in N·m; finite, nonnegative. Setter 1, getter number. Does not itself set motor state. Low-level calls use numeric handles; scalar failure returns 0 and sets jolt_get_last_error_code/message. Zero may also be valid: inspect the error state immediately.
jolt_world_hinge_set_motor_positionjolt_world_hinge_set_motor_position(world, constraint, angle)Motor target in rad; finite. Setter 1, getter number. Does not itself set motor state. Low-level calls use numeric handles; scalar failure returns 0 and sets jolt_get_last_error_code/message. Zero may also be valid: inspect the error state immediately.
jolt_world_hinge_set_motor_springjolt_world_hinge_set_motor_spring(world, constraint, frequency, damping)Finite frequency >=0 Hz and damping ratio >=0; setter 1. Low-level calls use numeric handles; scalar failure returns 0 and sets jolt_get_last_error_code/message. Zero may also be valid: inspect the error state immediately.
jolt_world_hinge_set_motor_statejolt_world_hinge_set_motor_state(world, constraint, state)Motor state JOLT_MOTOR_OFF/VELOCITY/POSITION/POSITION_VELOCITY (0..3); setter returns 1, getter the enum. Low-level calls use numeric handles; scalar failure returns 0 and sets jolt_get_last_error_code/message. Zero may also be valid: inspect the error state immediately.
jolt_world_hinge_set_motor_velocityjolt_world_hinge_set_motor_velocity(world, constraint, velocity)Motor target in rad/s; finite. Setter 1, getter number. Does not itself set motor state. Low-level calls use numeric handles; scalar failure returns 0 and sets jolt_get_last_error_code/message. Zero may also be valid: inspect the error state immediately.
jolt_world_hinge_set_reference_rotationjolt_world_hinge_set_reference_rotation(world, constraint, angle)Finite radians changes the hinge reference rotation; does not teleport a body. Success 1. Low-level calls use numeric handles; scalar failure returns 0 and sets jolt_get_last_error_code/message. Zero may also be valid: inspect the error state immediately.
jolt_world_layer_createjolt_world_layer_create(world, name)String(name) → layer handle in the selected world. Layer lifetime is the world lifetime. Low-level calls use numeric handles; scalar failure returns 0 and sets jolt_get_last_error_code/message. Zero may also be valid: inspect the error state immediately.
jolt_world_layer_set_collisionjolt_world_layer_set_collision(world, layer_a, layer_b, enabled)Two layers in the same world, enabled 0/1 → 1; changes their symmetric collision rule. Low-level calls use numeric handles; scalar failure returns 0 and sets jolt_get_last_error_code/message. Zero may also be valid: inspect the error state immediately.
jolt_world_path_closestjolt_world_path_closest(world, path, x, y, z, component)XYZ query in path space; component 0..2 closest position, 3 query distance m, 4 normalized fraction, 5 path distance m, 6..8 tangent, 9 raw fraction. Low-level calls use numeric handles; scalar failure returns 0 and sets jolt_get_last_error_code/message. Zero may also be valid: inspect the error state immediately.
jolt_world_path_constraint_get_friction_forcejolt_world_path_constraint_get_friction_force(world, constraint)Finite nonnegative friction force in N; setter 1, getter current limit. Low-level calls use numeric handles; scalar failure returns 0 and sets jolt_get_last_error_code/message. Zero may also be valid: inspect the error state immediately.
jolt_world_path_constraint_get_motor_max_forcejolt_world_path_constraint_get_motor_max_force(world, constraint)Motor target in N; finite, nonnegative. Setter 1, getter number. Does not itself set motor state. Low-level calls use numeric handles; scalar failure returns 0 and sets jolt_get_last_error_code/message. Zero may also be valid: inspect the error state immediately.
jolt_world_path_constraint_get_motor_positionjolt_world_path_constraint_get_motor_position(world, constraint)Motor target in m podél cesty / along the path; finite. Setter 1, getter number. Does not itself set motor state. Low-level calls use numeric handles; scalar failure returns 0 and sets jolt_get_last_error_code/message. Zero may also be valid: inspect the error state immediately.
jolt_world_path_constraint_get_motor_springjolt_world_path_constraint_get_motor_spring(world, constraint, component)Component 0 frequency Hz / 1 damping ratio. Low-level calls use numeric handles; scalar failure returns 0 and sets jolt_get_last_error_code/message. Zero may also be valid: inspect the error state immediately.
jolt_world_path_constraint_get_motor_statejolt_world_path_constraint_get_motor_state(world, constraint)Motor state JOLT_MOTOR_OFF/VELOCITY/POSITION/POSITION_VELOCITY (0..3); setter returns 1, getter the enum. Low-level calls use numeric handles; scalar failure returns 0 and sets jolt_get_last_error_code/message. Zero may also be valid: inspect the error state immediately.
jolt_world_path_constraint_get_motor_velocityjolt_world_path_constraint_get_motor_velocity(world, constraint)Motor target in m/s; finite. Setter 1, getter number. Does not itself set motor state. Low-level calls use numeric handles; scalar failure returns 0 and sets jolt_get_last_error_code/message. Zero may also be valid: inspect the error state immediately.
jolt_world_path_constraint_get_rotation_modejolt_world_path_constraint_get_rotation_mode(world, constraint)Rotation mode 0..5 per JOLT_PATH_ROTATION_*; setter 1, getter enum. Low-level calls use numeric handles; scalar failure returns 0 and sets jolt_get_last_error_code/message. Zero may also be valid: inspect the error state immediately.
jolt_world_path_constraint_get_runtimejolt_world_path_constraint_get_runtime(world, constraint, property)Property 0 normalized fraction, 1 path distance m, 2 relative tangent speed m/s, 3..5 world tangent XYZ, 6 motor impulse N·s, 7 raw fraction. Low-level calls use numeric handles; scalar failure returns 0 and sets jolt_get_last_error_code/message. Zero may also be valid: inspect the error state immediately.
jolt_world_path_constraint_set_friction_forcejolt_world_path_constraint_set_friction_force(world, constraint, force)Finite nonnegative friction force in N; setter 1, getter current limit. Low-level calls use numeric handles; scalar failure returns 0 and sets jolt_get_last_error_code/message. Zero may also be valid: inspect the error state immediately.
jolt_world_path_constraint_set_motor_max_forcejolt_world_path_constraint_set_motor_max_force(world, constraint, force)Motor target in N; finite, nonnegative. Setter 1, getter number. Does not itself set motor state. Low-level calls use numeric handles; scalar failure returns 0 and sets jolt_get_last_error_code/message. Zero may also be valid: inspect the error state immediately.
jolt_world_path_constraint_set_motor_positionjolt_world_path_constraint_set_motor_position(world, constraint, distance)Motor target in m podél cesty / along the path; finite. Setter 1, getter number. Does not itself set motor state. Low-level calls use numeric handles; scalar failure returns 0 and sets jolt_get_last_error_code/message. Zero may also be valid: inspect the error state immediately.
jolt_world_path_constraint_set_motor_springjolt_world_path_constraint_set_motor_spring(world, constraint, frequency, damping)Finite frequency >=0 Hz and damping ratio >=0; setter 1. Low-level calls use numeric handles; scalar failure returns 0 and sets jolt_get_last_error_code/message. Zero may also be valid: inspect the error state immediately.
jolt_world_path_constraint_set_motor_statejolt_world_path_constraint_set_motor_state(world, constraint, state)Motor state JOLT_MOTOR_OFF/VELOCITY/POSITION/POSITION_VELOCITY (0..3); setter returns 1, getter the enum. Low-level calls use numeric handles; scalar failure returns 0 and sets jolt_get_last_error_code/message. Zero may also be valid: inspect the error state immediately.
jolt_world_path_constraint_set_motor_velocityjolt_world_path_constraint_set_motor_velocity(world, constraint, velocity)Motor target in m/s; finite. Setter 1, getter number. Does not itself set motor state. Low-level calls use numeric handles; scalar failure returns 0 and sets jolt_get_last_error_code/message. Zero may also be valid: inspect the error state immediately.
jolt_world_path_constraint_set_rotation_modejolt_world_path_constraint_set_rotation_mode(world, constraint, mode)Rotation mode 0..5 per JOLT_PATH_ROTATION_*; setter 1, getter enum. Low-level calls use numeric handles; scalar failure returns 0 and sets jolt_get_last_error_code/message. Zero may also be valid: inspect the error state immediately.
jolt_world_path_createjolt_world_path_create(world, payload)Advanced versioned string/binary transport into the same shape_command dispatcher. Payload determines the result (new handle or scalar). Public factories pack validated headers, counts and units; this function name alone does not select an opcode. Not another options factory. Low-level calls use numeric handles; scalar failure returns 0 and sets jolt_get_last_error_code/message. Zero may also be valid: inspect the error state immediately.
jolt_world_path_destroyjolt_world_path_destroy(world, path)Releases a path resource handle; existing constraints retain shared data references. Success 1. Low-level calls use numeric handles; scalar failure returns 0 and sets jolt_get_last_error_code/message. Zero may also be valid: inspect the error state immediately.
jolt_world_path_get_infojolt_world_path_get_info(world, path, property)Property 0 point count, 1 loop, 2 length m, 3 max raw fraction, 4..6 bounds min XYZ, 7..9 max XYZ. Low-level calls use numeric handles; scalar failure returns 0 and sets jolt_get_last_error_code/message. Zero may also be valid: inspect the error state immediately.
jolt_world_path_is_validjolt_world_path_is_valid(world, path)Returns 1 only for a live resource of the correct type in the given world; 0 for invalid handles. Low-level calls use numeric handles; scalar failure returns 0 and sets jolt_get_last_error_code/message. Zero may also be valid: inspect the error state immediately.
jolt_world_path_samplejolt_world_path_sample(world, path, by_distance, value, component)By_distance 0: normalized fraction; 1: distance m. Component 0..2 position, 3..5 tangent, 6..8 normal, 9..11 binormal, 12..15 XYZW quaternion; in path coordinates. Low-level calls use numeric handles; scalar failure returns 0 and sets jolt_get_last_error_code/message. Zero may also be valid: inspect the error state immediately.
jolt_world_point_get_debug_frame_componentjolt_world_point_get_debug_frame_component(world,constraint,component)One debug frame component: 0..2 attachment A XYZ m; 3..5 attachment B XYZ m. Anchor/axes are world-space, relative/target in constraint space. Low-level calls use numeric handles; scalar failure returns 0 and sets jolt_get_last_error_code/message. Zero may also be valid: inspect the error state immediately.
jolt_world_point_get_impulsejolt_world_point_get_impulse(world, constraint)Latest solver impulse N·s (Point returns vector magnitude); not force in N. Low-level calls use numeric handles; scalar failure returns 0 and sets jolt_get_last_error_code/message. Zero may also be valid: inspect the error state immediately.
jolt_world_pulley_createjolt_world_pulley_create(world, payload)Advanced versioned string/binary transport into the same shape_command dispatcher. Payload determines the result (new handle or scalar). Public factories pack validated headers, counts and units; this function name alone does not select an opcode. Not another options factory. Low-level calls use numeric handles; scalar failure returns 0 and sets jolt_get_last_error_code/message. Zero may also be valid: inspect the error state immediately.
jolt_world_pulley_get_current_lengthjolt_world_pulley_get_current_length(world, constraint)Minimum/maximum/current effective pulley length in m, including the second segment ratio. Low-level calls use numeric handles; scalar failure returns 0 and sets jolt_get_last_error_code/message. Zero may also be valid: inspect the error state immediately.
jolt_world_pulley_get_debug_frame_componentjolt_world_pulley_get_debug_frame_component(world, constraint, component)One debug frame component: 0..2 body A XYZ m; 3..5 fixed A XYZ m; 6..8 fixed B XYZ m; 9..11 body B XYZ m. Anchor/axes are world-space, relative/target in constraint space. Low-level calls use numeric handles; scalar failure returns 0 and sets jolt_get_last_error_code/message. Zero may also be valid: inspect the error state immediately.
jolt_world_pulley_get_impulsejolt_world_pulley_get_impulse(world, constraint)Latest solver impulse N·s (Point returns vector magnitude); not force in N. Low-level calls use numeric handles; scalar failure returns 0 and sets jolt_get_last_error_code/message. Zero may also be valid: inspect the error state immediately.
jolt_world_pulley_get_max_lengthjolt_world_pulley_get_max_length(world, constraint)Minimum/maximum/current effective pulley length in m, including the second segment ratio. Low-level calls use numeric handles; scalar failure returns 0 and sets jolt_get_last_error_code/message. Zero may also be valid: inspect the error state immediately.
jolt_world_pulley_get_min_lengthjolt_world_pulley_get_min_length(world, constraint)Minimum/maximum/current effective pulley length in m, including the second segment ratio. Low-level calls use numeric handles; scalar failure returns 0 and sets jolt_get_last_error_code/message. Zero may also be valid: inspect the error state immediately.
jolt_world_pulley_set_lengthjolt_world_pulley_set_length(world, constraint, minimum, maximum)0<=min<=max effective lengths in m; success 1. Low-level calls use numeric handles; scalar failure returns 0 and sets jolt_get_last_error_code/message. Zero may also be valid: inspect the error state immediately.
jolt_world_scale_createjolt_world_scale_create(world,x,y,z,width,depth,height,mass,reference_gravity=9.81)World XYZ m, full width/depth/height>0 m, mass>0 kg, reference_gravity>0 default 9.81 m/s². Creates scale and platform → scale handle. Low-level calls use numeric handles; scalar failure returns 0 and sets jolt_get_last_error_code/message. Zero may also be valid: inspect the error state immediately.
jolt_world_scale_destroyjolt_world_scale_destroy(world,scale)Destroys scale, constraint and its platform; success 1. Low-level calls use numeric handles; scalar failure returns 0 and sets jolt_get_last_error_code/message. Zero may also be valid: inspect the error state immediately.
jolt_world_scale_getjolt_world_scale_get(world,scale,property)Property 0 platform body handle, 1 raw force N, 2 smoothed force N, 3 raw kg, 4 smoothed kg, 5 smoothing s, 6 enabled, 7..9 LOCAL direction XYZ. Low-level calls use numeric handles; scalar failure returns 0 and sets jolt_get_last_error_code/message. Zero may also be valid: inspect the error state immediately.
jolt_world_scale_is_validjolt_world_scale_is_valid(world,scale)Returns 1 only for a live resource of the correct type in the given world; 0 for invalid handles. Low-level calls use numeric handles; scalar failure returns 0 and sets jolt_get_last_error_code/message. Zero may also be valid: inspect the error state immediately.
jolt_world_scale_set_directionjolt_world_scale_set_direction(world,scale,x,y,z)Finite nonzero vector in platform LOCAL space; normalized, resets raw/smoothed output and enables automatic baseline. Success 1. Low-level calls use numeric handles; scalar failure returns 0 and sets jolt_get_last_error_code/message. Zero may also be valid: inspect the error state immediately.
jolt_world_scale_set_enabledjolt_world_scale_set_enabled(world,scale,enabled)Converts Boolean to 0/1; disabling zeros output, does not destroy the platform. Success 1. Low-level calls use numeric handles; scalar failure returns 0 and sets jolt_get_last_error_code/message. Zero may also be valid: inspect the error state immediately.
jolt_world_scale_set_smoothingjolt_world_scale_set_smoothing(world,scale,seconds)Finite duration >=0 s; 0 disables smoothing and immediately copies raw; success 1. Low-level calls use numeric handles; scalar failure returns 0 and sets jolt_get_last_error_code/message. Zero may also be valid: inspect the error state immediately.
jolt_world_scale_tarejolt_world_scale_tare(world,scale)Stores current total force as baseline, zeros raw/smoothed output, disables automatic baseline. Success 1. Low-level calls use numeric handles; scalar failure returns 0 and sets jolt_get_last_error_code/message. Zero may also be valid: inspect the error state immediately.
jolt_world_set_physics_qualityjolt_world_set_physics_quality(world, quality)Quality enum DEFAULT/HIGH per JOLT_PHYSICS_QUALITY_*; setter 1, getter enum. Changes the selected world quality, not debug rendering. Low-level calls use numeric handles; scalar failure returns 0 and sets jolt_get_last_error_code/message. Zero may also be valid: inspect the error state immediately.
jolt_world_shape_commandjolt_world_shape_command(world, payload)Advanced versioned string/binary transport into the same shape_command dispatcher. Payload determines the result (new handle or scalar). Public factories pack validated headers, counts and units; this function name alone does not select an opcode. Not another options factory. Low-level calls use numeric handles; scalar failure returns 0 and sets jolt_get_last_error_code/message. Zero may also be valid: inspect the error state immediately.
jolt_world_sixdof_createjolt_world_sixdof_create(world,payload)Advanced versioned string/binary transport into the same shape_command dispatcher. Payload determines the result (new handle or scalar). Public factories pack validated headers, counts and units; this function name alone does not select an opcode. Not another options factory. Low-level calls use numeric handles; scalar failure returns 0 and sets jolt_get_last_error_code/message. Zero may also be valid: inspect the error state immediately.
jolt_world_sixdof_get_axisjolt_world_sixdof_get_axis(world,constraint,axis,component)Axis 0..5; component 0 mode/1 minimum/2 maximum; translation m, rotation rad. Low-level calls use numeric handles; scalar failure returns 0 and sets jolt_get_last_error_code/message. Zero may also be valid: inspect the error state immediately.
jolt_world_sixdof_get_debug_framejolt_world_sixdof_get_debug_frame(world,constraint,component)One debug frame component: 0..2 anchor XYZ m; 3..5 axis X; 6..8 axis Y; 9..11 axis Z; 12..14 relative position m; 15..18 relative quaternion XYZW; 19..21 target position m; 22..25 target quaternion XYZW. Anchor/axes are world-space, relative/target in constraint space. Low-level calls use numeric handles; scalar failure returns 0 and sets jolt_get_last_error_code/message. Zero may also be valid: inspect the error state immediately.
jolt_world_sixdof_get_frictionjolt_world_sixdof_get_friction(world,constraint,axis)Axis 0..5; finite nonnegative limit, translation N / rotation N·m. Setter 1, getter number. Low-level calls use numeric handles; scalar failure returns 0 and sets jolt_get_last_error_code/message. Zero may also be valid: inspect the error state immediately.
jolt_world_sixdof_get_impulsejolt_world_sixdof_get_impulse(world,constraint,component)Component 0..2 position, 3..5 rotation, 6..8 motor translation, 9..11 motor rotation; XYZ latest solver impulse, N·s / N·m·s. Low-level calls use numeric handles; scalar failure returns 0 and sets jolt_get_last_error_code/message. Zero may also be valid: inspect the error state immediately.
jolt_world_sixdof_get_limit_springjolt_world_sixdof_get_limit_spring(world,constraint,axis,component)Motor axis 0..5, limit spring only 0..2; component 0 frequency Hz / 1 damping ratio. Low-level calls use numeric handles; scalar failure returns 0 and sets jolt_get_last_error_code/message. Zero may also be valid: inspect the error state immediately.
jolt_world_sixdof_get_motor_limitjolt_world_sixdof_get_motor_limit(world,constraint,axis)Axis 0..5; finite nonnegative limit, translation N / rotation N·m. Setter 1, getter number. Low-level calls use numeric handles; scalar failure returns 0 and sets jolt_get_last_error_code/message. Zero may also be valid: inspect the error state immediately.
jolt_world_sixdof_get_motor_springjolt_world_sixdof_get_motor_spring(world,constraint,axis,component)Motor axis 0..5, limit spring only 0..2; component 0 frequency Hz / 1 damping ratio. Low-level calls use numeric handles; scalar failure returns 0 and sets jolt_get_last_error_code/message. Zero may also be valid: inspect the error state immediately.
jolt_world_sixdof_get_motor_statejolt_world_sixdof_get_motor_state(world,constraint,axis)Axis 0..5; motor state 0..3 JOLT_MOTOR_*. Setter 1, getter enum. Low-level calls use numeric handles; scalar failure returns 0 and sets jolt_get_last_error_code/message. Zero may also be valid: inspect the error state immediately.
jolt_world_sixdof_get_orientationjolt_world_sixdof_get_orientation(world,constraint,current,component)Current 0 target / 1 current; component 0..3 XYZW in constraint space. Low-level calls use numeric handles; scalar failure returns 0 and sets jolt_get_last_error_code/message. Zero may also be valid: inspect the error state immediately.
jolt_world_sixdof_get_target_vectorjolt_world_sixdof_get_target_vector(world,constraint,target,component)Target 0 position m, 1 linear velocity m/s, 2 angular velocity rad/s; XYZ in constraint space. Getter component 0..2, setter 1. Low-level calls use numeric handles; scalar failure returns 0 and sets jolt_get_last_error_code/message. Zero may also be valid: inspect the error state immediately.
jolt_world_sixdof_set_axisjolt_world_sixdof_set_axis(world,constraint,axis,mode,minimum,maximum)Axis 0..2 translation XYZ m, 3..5 rotation XYZ rad; mode 0 fixed/1 free/2 limited; limited requires min<=max, rotation -pi..pi. Success 1. Low-level calls use numeric handles; scalar failure returns 0 and sets jolt_get_last_error_code/message. Zero may also be valid: inspect the error state immediately.
jolt_world_sixdof_set_frictionjolt_world_sixdof_set_friction(world,constraint,axis,value)Axis 0..5; finite nonnegative limit, translation N / rotation N·m. Setter 1, getter number. Low-level calls use numeric handles; scalar failure returns 0 and sets jolt_get_last_error_code/message. Zero may also be valid: inspect the error state immediately.
jolt_world_sixdof_set_limit_springjolt_world_sixdof_set_limit_spring(world,constraint,axis,frequency,damping)Finite frequency>=0 Hz and damping>=0; motor axis 0..5, limit spring translation 0..2 only. Success 1. Low-level calls use numeric handles; scalar failure returns 0 and sets jolt_get_last_error_code/message. Zero may also be valid: inspect the error state immediately.
jolt_world_sixdof_set_motor_limitjolt_world_sixdof_set_motor_limit(world,constraint,axis,value)Axis 0..5; finite nonnegative limit, translation N / rotation N·m. Setter 1, getter number. Low-level calls use numeric handles; scalar failure returns 0 and sets jolt_get_last_error_code/message. Zero may also be valid: inspect the error state immediately.
jolt_world_sixdof_set_motor_springjolt_world_sixdof_set_motor_spring(world,constraint,axis,frequency,damping)Finite frequency>=0 Hz and damping>=0; motor axis 0..5, limit spring translation 0..2 only. Success 1. Low-level calls use numeric handles; scalar failure returns 0 and sets jolt_get_last_error_code/message. Zero may also be valid: inspect the error state immediately.
jolt_world_sixdof_set_motor_statejolt_world_sixdof_set_motor_state(world,constraint,axis,state)Axis 0..5; motor state 0..3 JOLT_MOTOR_*. Setter 1, getter enum. Low-level calls use numeric handles; scalar failure returns 0 and sets jolt_get_last_error_code/message. Zero may also be valid: inspect the error state immediately.
jolt_world_sixdof_set_target_orientationjolt_world_sixdof_set_target_orientation(world,constraint,x,y,z,w)Finite nonzero XYZW quaternion in constraint space, normalized; success 1. Low-level calls use numeric handles; scalar failure returns 0 and sets jolt_get_last_error_code/message. Zero may also be valid: inspect the error state immediately.
jolt_world_sixdof_set_target_vectorjolt_world_sixdof_set_target_vector(world,constraint,target,x,y,z)Target 0 position m, 1 linear velocity m/s, 2 angular velocity rad/s; XYZ in constraint space. Getter component 0..2, setter 1. Low-level calls use numeric handles; scalar failure returns 0 and sets jolt_get_last_error_code/message. Zero may also be valid: inspect the error state immediately.
jolt_world_slider_get_debug_frame_componentjolt_world_slider_get_debug_frame_component(world,constraint,component)One debug frame component: 0..2 anchor XYZ m; 3..5 axis XYZ; 6..8 Body2 point XYZ m. Anchor/axes are world-space, relative/target in constraint space. Low-level calls use numeric handles; scalar failure returns 0 and sets jolt_get_last_error_code/message. Zero may also be valid: inspect the error state immediately.
jolt_world_slider_get_limitjolt_world_slider_get_limit(world, constraint, component)Component 0 minimum / 1 maximum; hinge rad, distance/slider m. Low-level calls use numeric handles; scalar failure returns 0 and sets jolt_get_last_error_code/message. Zero may also be valid: inspect the error state immediately.
jolt_world_slider_get_motor_impulsejolt_world_slider_get_motor_impulse(world, constraint)Latest solver impulse N·s (Point returns vector magnitude); not force in N. Low-level calls use numeric handles; scalar failure returns 0 and sets jolt_get_last_error_code/message. Zero may also be valid: inspect the error state immediately.
jolt_world_slider_get_motor_max_forcejolt_world_slider_get_motor_max_force(world, constraint)Motor target in N; finite, nonnegative. Setter 1, getter number. Does not itself set motor state. Low-level calls use numeric handles; scalar failure returns 0 and sets jolt_get_last_error_code/message. Zero may also be valid: inspect the error state immediately.
jolt_world_slider_get_motor_positionjolt_world_slider_get_motor_position(world, constraint)Motor target in m; finite. Setter 1, getter number. Does not itself set motor state. Low-level calls use numeric handles; scalar failure returns 0 and sets jolt_get_last_error_code/message. Zero may also be valid: inspect the error state immediately.
jolt_world_slider_get_motor_spring_dampingjolt_world_slider_get_motor_spring_damping(world, constraint)Current dimensionless damping ratio. Low-level calls use numeric handles; scalar failure returns 0 and sets jolt_get_last_error_code/message. Zero may also be valid: inspect the error state immediately.
jolt_world_slider_get_motor_spring_frequencyjolt_world_slider_get_motor_spring_frequency(world, constraint)Current spring frequency in Hz. Low-level calls use numeric handles; scalar failure returns 0 and sets jolt_get_last_error_code/message. Zero may also be valid: inspect the error state immediately.
jolt_world_slider_get_motor_statejolt_world_slider_get_motor_state(world, constraint)Motor state JOLT_MOTOR_OFF/VELOCITY/POSITION/POSITION_VELOCITY (0..3); setter returns 1, getter the enum. Low-level calls use numeric handles; scalar failure returns 0 and sets jolt_get_last_error_code/message. Zero may also be valid: inspect the error state immediately.
jolt_world_slider_get_motor_velocityjolt_world_slider_get_motor_velocity(world, constraint)Motor target in m/s; finite. Setter 1, getter number. Does not itself set motor state. Low-level calls use numeric handles; scalar failure returns 0 and sets jolt_get_last_error_code/message. Zero may also be valid: inspect the error state immediately.
jolt_world_slider_get_positionjolt_world_slider_get_position(world, constraint)Current attachment distance / slider displacement in m. Low-level calls use numeric handles; scalar failure returns 0 and sets jolt_get_last_error_code/message. Zero may also be valid: inspect the error state immediately.
jolt_world_slider_set_motor_max_forcejolt_world_slider_set_motor_max_force(world, constraint, force)Motor target in N; finite, nonnegative. Setter 1, getter number. Does not itself set motor state. Low-level calls use numeric handles; scalar failure returns 0 and sets jolt_get_last_error_code/message. Zero may also be valid: inspect the error state immediately.
jolt_world_slider_set_motor_positionjolt_world_slider_set_motor_position(world, constraint, position)Motor target in m; finite. Setter 1, getter number. Does not itself set motor state. Low-level calls use numeric handles; scalar failure returns 0 and sets jolt_get_last_error_code/message. Zero may also be valid: inspect the error state immediately.
jolt_world_slider_set_motor_springjolt_world_slider_set_motor_spring(world, constraint, frequency, damping)Finite frequency >=0 Hz and damping ratio >=0; setter 1. Low-level calls use numeric handles; scalar failure returns 0 and sets jolt_get_last_error_code/message. Zero may also be valid: inspect the error state immediately.
jolt_world_slider_set_motor_statejolt_world_slider_set_motor_state(world, constraint, state)Motor state JOLT_MOTOR_OFF/VELOCITY/POSITION/POSITION_VELOCITY (0..3); setter returns 1, getter the enum. Low-level calls use numeric handles; scalar failure returns 0 and sets jolt_get_last_error_code/message. Zero may also be valid: inspect the error state immediately.
jolt_world_slider_set_motor_velocityjolt_world_slider_set_motor_velocity(world, constraint, velocity)Motor target in m/s; finite. Setter 1, getter number. Does not itself set motor state. Low-level calls use numeric handles; scalar failure returns 0 and sets jolt_get_last_error_code/message. Zero may also be valid: inspect the error state immediately.
jolt_world_stepjolt_world_step(world, delta_time, collision_steps = 1)Delta time >0 seconds, integer collision_steps 1..64 (default 1); one native step, result 1. Does not run the managed accumulator and all jolt_update helper hooks. Low-level calls use numeric handles; scalar failure returns 0 and sets jolt_get_last_error_code/message. Zero may also be valid: inspect the error state immediately.
jolt_world_swing_twist_createjolt_world_swing_twist_create(world, payload)Advanced versioned string/binary transport into the same shape_command dispatcher. Payload determines the result (new handle or scalar). Public factories pack validated headers, counts and units; this function name alone does not select an opcode. Not another options factory. Low-level calls use numeric handles; scalar failure returns 0 and sets jolt_get_last_error_code/message. Zero may also be valid: inspect the error state immediately.
jolt_world_swing_twist_get_debug_frame_componentjolt_world_swing_twist_get_debug_frame_component(world,constraint,component)One debug frame component: 0..2 anchor XYZ m; 3..5 twist axis; 6..8 plane axis; 9..11 normal axis; 12..14 current twist reference; 15..17 current swing axis. Anchor/axes are world-space, relative/target in constraint space. Low-level calls use numeric handles; scalar failure returns 0 and sets jolt_get_last_error_code/message. Zero may also be valid: inspect the error state immediately.
jolt_world_swing_twist_get_friction_torquejolt_world_swing_twist_get_friction_torque(world,constraint)Finite nonnegative torque N·m; setter 1, getter current limit. Low-level calls use numeric handles; scalar failure returns 0 and sets jolt_get_last_error_code/message. Zero may also be valid: inspect the error state immediately.
jolt_world_swing_twist_get_impulse_componentjolt_world_swing_twist_get_impulse_component(world,constraint,component)Component 0..2 positional XYZ N·s, 3 twist, 4 swingY, 5 swingZ, 6..8 motor XYZ N·m·s. Latest solver values. Low-level calls use numeric handles; scalar failure returns 0 and sets jolt_get_last_error_code/message. Zero may also be valid: inspect the error state immediately.
jolt_world_swing_twist_get_limitjolt_world_swing_twist_get_limit(world,constraint,component)Component 0 normal half, 1 plane half, 2 twist min, 3 twist max; rad. Low-level calls use numeric handles; scalar failure returns 0 and sets jolt_get_last_error_code/message. Zero may also be valid: inspect the error state immediately.
jolt_world_swing_twist_get_motor_max_torquejolt_world_swing_twist_get_motor_max_torque(world,constraint,swing)Swing 0 twist / 1 swing; finite nonnegative limit N·m. Setter 1, getter number. Low-level calls use numeric handles; scalar failure returns 0 and sets jolt_get_last_error_code/message. Zero may also be valid: inspect the error state immediately.
jolt_world_swing_twist_get_motor_springjolt_world_swing_twist_get_motor_spring(world,constraint,swing,component)Swing 0 twist / 1 swing, component 0 Hz / 1 damping ratio. Low-level calls use numeric handles; scalar failure returns 0 and sets jolt_get_last_error_code/message. Zero may also be valid: inspect the error state immediately.
jolt_world_swing_twist_get_motor_statejolt_world_swing_twist_get_motor_state(world,constraint,swing)Swing selector 0 twist / 1 swing; state 0..3 JOLT_MOTOR_*; setter 1, getter state. Low-level calls use numeric handles; scalar failure returns 0 and sets jolt_get_last_error_code/message. Zero may also be valid: inspect the error state immediately.
jolt_world_swing_twist_get_motor_velocityjolt_world_swing_twist_get_motor_velocity(world,constraint,component)Component 0..2 = target angular velocity XYZ in constraint space, rad/s. Low-level calls use numeric handles; scalar failure returns 0 and sets jolt_get_last_error_code/message. Zero may also be valid: inspect the error state immediately.
jolt_world_swing_twist_get_orientation_componentjolt_world_swing_twist_get_orientation_component(world,constraint,component)Current relative quaternion in constraint space; component 0..3 = XYZW. Low-level calls use numeric handles; scalar failure returns 0 and sets jolt_get_last_error_code/message. Zero may also be valid: inspect the error state immediately.
jolt_world_swing_twist_get_twist_anglejolt_world_swing_twist_get_twist_angle(world,constraint)Current twist angle in rad in constraint space. Low-level calls use numeric handles; scalar failure returns 0 and sets jolt_get_last_error_code/message. Zero may also be valid: inspect the error state immediately.
jolt_world_swing_twist_set_friction_torquejolt_world_swing_twist_set_friction_torque(world,constraint,torque)Finite nonnegative torque N·m; setter 1, getter current limit. Low-level calls use numeric handles; scalar failure returns 0 and sets jolt_get_last_error_code/message. Zero may also be valid: inspect the error state immediately.
jolt_world_swing_twist_set_limitsjolt_world_swing_twist_set_limits(world,constraint,normal,plane,twist_min,twist_max)Normal/plane half angles 0..pi and -pi<=twist_min<=twist_max<=pi, all rad; success 1. Low-level calls use numeric handles; scalar failure returns 0 and sets jolt_get_last_error_code/message. Zero may also be valid: inspect the error state immediately.
jolt_world_swing_twist_set_motor_max_torquejolt_world_swing_twist_set_motor_max_torque(world,constraint,swing,torque)Swing 0 twist / 1 swing; finite nonnegative limit N·m. Setter 1, getter number. Low-level calls use numeric handles; scalar failure returns 0 and sets jolt_get_last_error_code/message. Zero may also be valid: inspect the error state immediately.
jolt_world_swing_twist_set_motor_positionjolt_world_swing_twist_set_motor_position(world,constraint,swing,angle,axis_y,axis_z)Swing 0: twist angle rad; 1: angle rad around normalized nonzero (0, axis_y, axis_z). Preserves the other orientation component, success 1. Low-level calls use numeric handles; scalar failure returns 0 and sets jolt_get_last_error_code/message. Zero may also be valid: inspect the error state immediately.
jolt_world_swing_twist_set_motor_springjolt_world_swing_twist_set_motor_spring(world,constraint,swing,frequency,damping)Swing 0 twist / 1 swing; frequency >=0 Hz, damping >=0; success 1. Low-level calls use numeric handles; scalar failure returns 0 and sets jolt_get_last_error_code/message. Zero may also be valid: inspect the error state immediately.
jolt_world_swing_twist_set_motor_statejolt_world_swing_twist_set_motor_state(world,constraint,swing,state)Swing selector 0 twist / 1 swing; state 0..3 JOLT_MOTOR_*; setter 1, getter state. Low-level calls use numeric handles; scalar failure returns 0 and sets jolt_get_last_error_code/message. Zero may also be valid: inspect the error state immediately.
jolt_world_swing_twist_set_motor_velocityjolt_world_swing_twist_set_motor_velocity(world,constraint,swing,x,y,z)Swing 0 changes twist X, 1 changes swing YZ; finite XYZ rad/s in constraint space. Preserves other components. Success 1. Low-level calls use numeric handles; scalar failure returns 0 and sets jolt_get_last_error_code/message. Zero may also be valid: inspect the error state immediately.