playrho::ConstraintSolverConf Struct Reference

Constraint solver configuration data. More...

#include <ConstraintSolverConf.hpp>

Collaboration diagram for playrho::ConstraintSolverConf:

Public Member Functions
constexpr ConstraintSolverConf &	UseResolutionRate (Real value) noexcept
	Uses the given resolution rate.
constexpr ConstraintSolverConf &	UseLinearSlop (Length value) noexcept
	Uses the given linear slop.
constexpr ConstraintSolverConf &	UseAngularSlop (Angle value) noexcept
	Uses the given angular slop.
constexpr ConstraintSolverConf &	UseMaxLinearCorrection (Length value) noexcept
	Uses the given max linear correction.
constexpr ConstraintSolverConf &	UseMaxAngularCorrection (Angle value) noexcept
	Uses the given max angular correction.

Public Attributes
Real	resolutionRate = Real(0.2)
	Resolution rate. More...
Length	linearSlop = DefaultLinearSlop
	Linear slop. More...
Angle	angularSlop = DefaultAngularSlop
	Angular slop. More...
Length	maxLinearCorrection = DefaultLinearSlop * Real{20}
	Maximum linear correction. More...
Angle	maxAngularCorrection = DefaultAngularSlop * Real{4}
	Maximum angular correction. More...

Detailed Description

Constraint solver configuration data.

Defines how a constraint solver should resolve a given constraint.

See also

SolvePositionConstraint.

Examples

PulleyJoint.cpp, and TargetJoint.cpp.

Member Data Documentation

angularSlop

Angle playrho::ConstraintSolverConf::angularSlop = DefaultAngularSlop

Angular slop.

Note

Recommended value: DefaultAngularSlop.

Referenced by playrho::d2::InitVelocity(), playrho::d2::SolvePosition(), and UseAngularSlop().

linearSlop

Length playrho::ConstraintSolverConf::linearSlop = DefaultLinearSlop

Linear slop.

Note

The negative of this amount is the maximum amount of separation to create.

Recommended value: DefaultLinearSlop.

Referenced by playrho::d2::InitVelocity(), playrho::d2::SolvePosition(), and UseLinearSlop().

maxAngularCorrection

Angle playrho::ConstraintSolverConf::maxAngularCorrection = DefaultAngularSlop * Real{4}

Maximum angular correction.

Maximum angular position correction used when solving constraints. Helps to prevent overshoot.

Note

Recommended value: angularSlop * 4.

Referenced by playrho::d2::SolvePosition(), and UseMaxAngularCorrection().

maxLinearCorrection

Length playrho::ConstraintSolverConf::maxLinearCorrection = DefaultLinearSlop * Real{20}

Maximum linear correction.

Maximum amount of overlap to resolve in a single solver call. Helps prevent overshoot.

Note

Recommended value: linearSlop * 40.

Referenced by playrho::d2::SolvePosition(), and UseMaxLinearCorrection().

resolutionRate

Real playrho::ConstraintSolverConf::resolutionRate = Real(0.2)

Resolution rate.

Defines the percentage of the overlap that should get resolved in a single solver call. Value greater than zero and less than or equal to one. Ideally this would be 1 so that overlap is removed in one time step. However using values close to 1 often leads to overshoot.

Note

Recommended values are: 0.2 for solving regular constraints or 0.75 for solving TOI constraints.

Referenced by UseResolutionRate().

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The documentation for this struct was generated from the following file:

• ConstraintSolverConf.hpp