playrho::ToiConf Struct Reference

Time of impact configuration. More...

#include <TimeOfImpact.hpp>

Collaboration diagram for playrho::ToiConf:

Public Types
using	root_iter_type = std::remove_const< decltype(DefaultMaxToiRootIters)>::type
	Root iteration type.
using	toi_iter_type = std::remove_const< decltype(DefaultMaxToiIters)>::type
	TOI iteration type.
using	dist_iter_type = std::remove_const< decltype(DefaultMaxDistanceIters)>::type
	Distance iteration type.

Public Member Functions
constexpr ToiConf &	UseTimeMax (Real value) noexcept
	Uses the given time max value.
constexpr ToiConf &	UseTargetDepth (Length value) noexcept
	Uses the given target depth value.
constexpr ToiConf &	UseTolerance (NonNegative< Length > value) noexcept
	Uses the given tolerance value.
constexpr ToiConf &	UseMaxRootIters (root_iter_type value) noexcept
	Uses the given max root iterations value.
constexpr ToiConf &	UseMaxToiIters (toi_iter_type value) noexcept
	Uses the given max TOI iterations value.
constexpr ToiConf &	UseMaxDistIters (dist_iter_type value) noexcept
	Uses the given max distance iterations value.

Public Attributes
Real	tMax = 1
	T-Max.
Length	targetDepth = DefaultLinearSlop * Real{3}
	Targeted depth of impact. More...
NonNegative< Length >	tolerance = NonNegative<Length>{DefaultLinearSlop / Real{4}}
	Tolerance. More...
root_iter_type	maxRootIters = DefaultMaxToiRootIters
	Maximum number of root finder iterations. More...
toi_iter_type	maxToiIters = DefaultMaxToiIters
	Max time of impact iterations.
dist_iter_type	maxDistIters = DefaultMaxDistanceIters
	Max distance iterations.

Related Functions
(Note that these are not member functions.)
constexpr auto	GetDefaultToiConf ()
	Gets the default time of impact configuration.

Detailed Description

Time of impact configuration.

These parameters effect time of impact calculations by limiting the definitions of time and impact. If total radius is expressed as TR, and target depth as TD, then: the max target distance is (TR - TD) + tolerance; and the min target distance is (TR - TD) - tolerance.

Note

Max target distance must be less than or equal to the total radius as the target range has to be chosen such that the contact manifold will have a greater than zero contact point count.

A max target of totalRadius - DefaultLinearSlop * x where x is <= 1 is increasingly slower as x goes below 1.

Min target distance needs to be significantly less than the max target distance and significantly more than 0.

See also

SolvePositionConstraints

SolveTOIPositionConstraints

Member Data Documentation

maxRootIters

root_iter_type playrho::ToiConf::maxRootIters = DefaultMaxToiRootIters

Maximum number of root finder iterations.

This is the maximum number of iterations for calculating the 1-dimensional root of f(t) - (totalRadius - targetDepth) < tolerance where f(t) is the distance between the shapes at time t, and totalRadius is the sum of the vertex radiuses of 2 distance proxies.

Note

This value never needs to be more than the number of iterations needed to achieve full machine precision.

Referenced by playrho::d2::GetToiViaSat().

targetDepth

Length playrho::ToiConf::targetDepth = DefaultLinearSlop * Real{3}

Targeted depth of impact.

Note

Value must be less than twice the minimum vertex radius of any shape.

Referenced by playrho::d2::GetToiViaSat().

tolerance

NonNegative<Length> playrho::ToiConf::tolerance = NonNegative<Length>{DefaultLinearSlop / Real{4}}

Tolerance.

Provides a +/- range from the target depth that defines a minimum and maximum target depth within which inclusively, time of impact calculating code is expected to return a "touching" status.

Note

Use the default value unless you really know what you're doing.

Use 0 to require a TOI at exactly the target depth. This is ill-advised.

Referenced by playrho::d2::GetToiViaSat().

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

• TimeOfImpact.hpp