Contact velocity constraint. More...

#include <VelocityConstraint.hpp>

Classes
struct	Conf

struct	Point
	Velocity constraint point. More...

Public Types
using	size_type = std::remove_const< decltype(MaxManifoldPoints)>::type

using	index_type = size_t

Public Member Functions
	VelocityConstraint ()=default
	Default constructor. More...

	VelocityConstraint (const VelocityConstraint &copy)=default

VelocityConstraint &	operator= (const VelocityConstraint &copy)=default

	VelocityConstraint (index_type contactIndex, RealNum friction, RealNum restitution, LinearVelocity tangentSpeed, const Manifold &manifold, BodyConstraint &bA, Length rA, BodyConstraint &bB, Length rB, Conf conf)

UnitVec2	GetNormal () const noexcept
	Gets the normal of the contact in world coordinates. More...

UnitVec2	GetTangent () const noexcept

InvMass	GetInvMass () const noexcept

size_type	GetPointCount () const noexcept
	Gets the count of points added to this object. More...

Mat22	GetK () const noexcept
	Gets the "K" value. More...

Mat22	GetNormalMass () const noexcept
	Gets the normal mass. More...

index_type	GetContactIndex () const noexcept
	Gets the contact index. More...

RealNum	GetFriction () const noexcept
	Gets the combined friction of the associated contact. More...

RealNum	GetRestitution () const noexcept
	Gets the combined restitution of the associated contact. More...

LinearVelocity	GetTangentSpeed () const noexcept
	Gets the tangent speed of the associated contact. More...

Momentum	GetNormalImpulseAtPoint (size_type index) const noexcept
	Gets the normal impulse at the given point. More...

Momentum	GetTangentImpulseAtPoint (size_type index) const noexcept
	Gets the tangent impulse at the given point. More...

LinearVelocity	GetVelocityBiasAtPoint (size_type index) const noexcept
	Gets the velocity bias at the given point. More...

Mass	GetNormalMassAtPoint (size_type index) const noexcept
	Gets the normal mass at the given point. More...

Mass	GetTangentMassAtPoint (size_type index) const noexcept
	Gets the tangent mass at the given point. More...

Length2D	GetPointRelPosA (size_type index) const noexcept
	Gets the point relative position of A. More...

Length2D	GetPointRelPosB (size_type index) const noexcept
	Gets the point relative position of B. More...

void	SetNormalImpulseAtPoint (size_type index, Momentum value)

void	SetTangentImpulseAtPoint (size_type index, Momentum value)

const Point &	GetPointAt (size_type index) const
	Accesses the point identified by the given index. More...

Public Attributes
BodyConstraint &	bodyA
	Body A contact velocity constraint data. More...

BodyConstraint &	bodyB
	Body B contact velocity constraint data. More...

Detailed Description

Contact velocity constraint.

Note: A valid contact velocity constraint must have a point count of either 1 or 2.; This data structure is 168-bytes large (on at least one 64-bit platform).

Invariant: The "K" value cannot be changed independent of: the total inverse mass, the normal, and the point relative positions.; The normal mass cannot be changed independent of: the "K" value.; The velocity biasses cannot be changed independent of: the normal, and the point relative positions.

Member Typedef Documentation

◆ index_type

using box2d::VelocityConstraint::index_type = size_t

◆ size_type

using box2d::VelocityConstraint::size_type = std::remove_const<decltype(MaxManifoldPoints)>::type

Constructor & Destructor Documentation

◆ VelocityConstraint() [1/3]

box2d::VelocityConstraint::VelocityConstraint ( )

default

Default constructor.

Initializes object with: a zero point count, an invalid K, an invalid normal mass, an invalid normal, invalid friction, invalid restitution, an invalid tangent speed.

◆ VelocityConstraint() [2/3]

box2d::VelocityConstraint::VelocityConstraint ( const VelocityConstraint & copy )

default

◆ VelocityConstraint() [3/3]

VelocityConstraint::VelocityConstraint	(	index_type	contactIndex,
		RealNum	friction,
		RealNum	restitution,
		LinearVelocity	tangentSpeed,
		const Manifold &	manifold,
		BodyConstraint &	bA,
		Length	rA,
		BodyConstraint &	bB,
		Length	rB,
		Conf	conf
	)

Member Function Documentation

◆ GetContactIndex()

index_type box2d::VelocityConstraint::GetContactIndex ( ) const

inlinenoexcept

Gets the contact index.

Note: This value can only be set via the initializing constructor.

Returns: Index of the associated contact (the index of the contact that this constraint is for).

◆ GetFriction()

RealNum box2d::VelocityConstraint::GetFriction ( ) const

inlinenoexcept

Gets the combined friction of the associated contact.

◆ GetInvMass()

InvMass box2d::VelocityConstraint::GetInvMass ( ) const

inlinenoexcept

◆ GetK()

Mat22 box2d::VelocityConstraint::GetK ( ) const

inlinenoexcept

Gets the "K" value.

Note: This value is only valid if previously set.; Call the SetK method to set this value.

Returns: "K" value previously set or an invalid value.; "K" value or an invalid Mat22 if no other value has been set.

See also: SetK.

◆ GetNormal()

UnitVec2 box2d::VelocityConstraint::GetNormal ( ) const

inlinenoexcept

Gets the normal of the contact in world coordinates.

Note: This value is set on construction.

Returns: Contact normal (in world coordinates) if previously set, an invalid value otherwise.

◆ GetNormalImpulseAtPoint()

Momentum box2d::VelocityConstraint::GetNormalImpulseAtPoint ( VelocityConstraint::size_type index ) const

inlinenoexcept

Gets the normal impulse at the given point.

Note: Call the AddPoint or SetNormalImpulseAtPoint method to set this value.

Returns: Value previously set, or an invalid value.

See also: SetNormalImpulseAtPoint.

◆ GetNormalMass()

Mat22 box2d::VelocityConstraint::GetNormalMass ( ) const

inlinenoexcept

Gets the normal mass.

Gets the "normal mass" value.

Note: This value is only valid if previously set.

Returns: normal mass previously set or an invalid value.; "normal mass" value or the invalid Mat22 if no other value has been set.

See also: SetK.

◆ GetNormalMassAtPoint()

Mass box2d::VelocityConstraint::GetNormalMassAtPoint ( VelocityConstraint::size_type index ) const

inlinenoexcept

Gets the normal mass at the given point.

Note: This value depends on the values of: the sum of the inverse-masses of the two bodies, the bodies' inverse-rotational-inertia, the point-relative A and B positions, and the normal.; The AddPoint method sets this value.

◆ GetPointAt()

const Point& box2d::VelocityConstraint::GetPointAt ( size_type index ) const

inline

Accesses the point identified by the given index.

Note: Behavior is undefined if given index is not less than MaxManifoldPoints.

Parameters

index Index of the point to return. This should be a value less than returned by GetPointCount().

Returns: velocity constraint point for the given index. This point's data will be invalid unless previously added and set.

See also: GetPointCount.

◆ GetPointCount()

size_type box2d::VelocityConstraint::GetPointCount ( ) const

inlinenoexcept

Gets the count of points added to this object.

Returns: Value between 0 and MaxManifoldPoints

See also: MaxManifoldPoints.; AddPoint.

◆ GetPointRelPosA()

Length2D box2d::VelocityConstraint::GetPointRelPosA ( VelocityConstraint::size_type index ) const

inlinenoexcept

Gets the point relative position of A.

Note: The AddPoint method sets this value.

Returns: Previously set value or an invalid value.

◆ GetPointRelPosB()

Length2D box2d::VelocityConstraint::GetPointRelPosB ( VelocityConstraint::size_type index ) const

inlinenoexcept

Gets the point relative position of B.

Note: The AddPoint method sets this value.

Returns: Previously set value or an invalid value.

◆ GetRestitution()

RealNum box2d::VelocityConstraint::GetRestitution ( ) const

inlinenoexcept

Gets the combined restitution of the associated contact.

◆ GetTangent()

UnitVec2 box2d::VelocityConstraint::GetTangent ( ) const

inlinenoexcept

◆ GetTangentImpulseAtPoint()

Momentum box2d::VelocityConstraint::GetTangentImpulseAtPoint ( VelocityConstraint::size_type index ) const

inlinenoexcept

Gets the tangent impulse at the given point.

Note: Call the AddPoint or SetTangentImpulseAtPoint method to set this value.

Returns: Value previously set, or an invalid value.

See also: SetTangentImpulseAtPoint.

◆ GetTangentMassAtPoint()

Mass box2d::VelocityConstraint::GetTangentMassAtPoint ( VelocityConstraint::size_type index ) const

inlinenoexcept

Gets the tangent mass at the given point.

Note: This value depends on the values of: the sum of the inverse-masses of the two bodies, the bodies' inverse-rotational-inertia, the point-relative A and B positions, and the tangent.; The AddPoint method sets this value.

◆ GetTangentSpeed()

LinearVelocity box2d::VelocityConstraint::GetTangentSpeed ( ) const

inlinenoexcept

Gets the tangent speed of the associated contact.

◆ GetVelocityBiasAtPoint()

LinearVelocity box2d::VelocityConstraint::GetVelocityBiasAtPoint ( size_type index ) const

inlinenoexcept

Gets the velocity bias at the given point.

Note: The AddPoint method sets this value.

Returns: Previously set value or an invalid value.

◆ operator=()

VelocityConstraint& box2d::VelocityConstraint::operator= ( const VelocityConstraint & copy )

default

◆ SetNormalImpulseAtPoint()

void box2d::VelocityConstraint::SetNormalImpulseAtPoint	(	VelocityConstraint::size_type	index,
		Momentum	value
	)

inline

◆ SetTangentImpulseAtPoint()

void box2d::VelocityConstraint::SetTangentImpulseAtPoint	(	VelocityConstraint::size_type	index,
		Momentum	value
	)

inline

Member Data Documentation

◆ bodyA

BodyConstraint& box2d::VelocityConstraint::bodyA

Body A contact velocity constraint data.

◆ bodyB

BodyConstraint& box2d::VelocityConstraint::bodyB

Body B contact velocity constraint data.

The documentation for this class was generated from the following files:

Classes

Public Types

Public Member Functions

Public Attributes

Detailed Description

Member Typedef Documentation

◆ index_type

◆ size_type

Constructor & Destructor Documentation

◆ VelocityConstraint() [1/3]

◆ VelocityConstraint() [2/3]

◆ VelocityConstraint() [3/3]

Member Function Documentation

◆ GetContactIndex()

◆ GetFriction()

◆ GetInvMass()

◆ GetK()

◆ GetNormal()

◆ GetNormalImpulseAtPoint()

◆ GetNormalMass()

◆ GetNormalMassAtPoint()

◆ GetPointAt()

◆ GetPointCount()

◆ GetPointRelPosA()

◆ GetPointRelPosB()

◆ GetRestitution()

◆ GetTangent()

◆ GetTangentImpulseAtPoint()

◆ GetTangentMassAtPoint()

◆ GetTangentSpeed()

◆ GetVelocityBiasAtPoint()

◆ operator=()

◆ SetNormalImpulseAtPoint()

◆ SetTangentImpulseAtPoint()

Member Data Documentation

◆ bodyA

◆ bodyB