PlayRho  1.1.0
An Interactive Real-Time-Oriented C++ Physics Engine & Library
Public Types | Public Member Functions | Public Attributes | Related Functions | List of all members
playrho::d2::DistanceJointConf Struct Reference
Library Defined Constraints » Joint Classes

Distance joint definition. More...

#include <DistanceJointConf.hpp>

Inheritance diagram for playrho::d2::DistanceJointConf:
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Collaboration diagram for playrho::d2::DistanceJointConf:
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Public Types

using super = JointBuilder< DistanceJointConf >
 Super type.
 
- Public Types inherited from playrho::d2::JointBuilder< DistanceJointConf >
using value_type = DistanceJointConf
 Value type.
 
using reference = value_type &
 Reference type.
 

Public Member Functions

constexpr DistanceJointConf ()=default
 Default constructor.
 
 DistanceJointConf (const DistanceJointConf &copy)=default
 Copy constructor.
 
 DistanceJointConf (BodyID bA, BodyID bB, Length2 laA=Length2{}, Length2 laB=Length2{}, Length l=1_m) noexcept
 Initializing constructor. More...
 
constexpr auto & UseLength (Length v) noexcept
 Uses the given length. More...
 
constexpr auto & UseFrequency (NonNegative< Frequency > v) noexcept
 Uses the given frequency.
 
constexpr auto & UseDampingRatio (Real v) noexcept
 Uses the given damping ratio.
 
- Public Member Functions inherited from playrho::d2::JointBuilder< DistanceJointConf >
constexpr reference UseBodyA (BodyID b) noexcept
 Use value for body A setting.
 
constexpr reference UseBodyB (BodyID b) noexcept
 Use value for body B setting.
 
constexpr reference UseCollideConnected (bool v) noexcept
 Use value for collide connected setting.
 

Public Attributes

Length2 localAnchorA = Length2{}
 Local anchor point relative to body A's origin. More...
 
Length2 localAnchorB = Length2{}
 Local anchor point relative to body B's origin. More...
 
Length length = 1_m
 Natural length between the anchor points. More...
 
NonNegative< Frequency > frequency {}
 Mass-spring-damper frequency. More...
 
Real dampingRatio = 0
 Damping ratio. More...
 
Momentum impulse = 0_Ns
 Impulse. 4-bytes (with 4-byte Real).
 
UnitVec u
 "u" directional. 8-bytes (with 4-byte Real).
 
Length2 rA = {}
 Relative A position. 8-bytes (with 4-byte Real).
 
Length2 rB = {}
 Relative B position. 8-bytes (with 4-byte Real).
 
InvMass invGamma = {}
 Inverse gamma. 4-bytes (with 4-byte Real).
 
LinearVelocity bias = {}
 Bias. 4-bytes (with 4-byte Real).
 
Mass mass = 0_kg
 Mass. 4-bytes (with 4-byte Real).
 
- Public Attributes inherited from playrho::d2::JointConf
BodyID bodyA = InvalidBodyID
 1st attached body.
 
BodyID bodyB = InvalidBodyID
 2nd attached body.
 
bool collideConnected = false
 Collide connected. More...
 

Related Functions

(Note that these are not member functions.)

constexpr Momentum2 GetLinearReaction (const DistanceJointConf &object) noexcept
 Gets the current linear reaction for the given configuration.
 
constexpr AngularMomentum GetAngularReaction (const DistanceJointConf &) noexcept
 Gets the current angular reaction for the given configuration.
 
constexpr bool ShiftOrigin (DistanceJointConf &, Length2) noexcept
 Shifts the origin notion of the given configuration.
 
void InitVelocity (DistanceJointConf &object, std::vector< BodyConstraint > &bodies, const StepConf &step, const ConstraintSolverConf &conf)
 Initializes velocity constraint data based on the given solver data. More...
 
bool SolveVelocity (DistanceJointConf &object, std::vector< BodyConstraint > &bodies, const StepConf &step)
 Solves velocity constraint. More...
 
bool SolvePosition (const DistanceJointConf &object, std::vector< BodyConstraint > &bodies, const ConstraintSolverConf &conf)
 Solves the position constraint. More...
 
constexpr void SetFrequency (DistanceJointConf &object, NonNegative< Frequency > value) noexcept
 Free function for setting the frequency value of the given configuration.
 
constexpr void SetDampingRatio (DistanceJointConf &object, Real value) noexcept
 Free function for setting the damping ratio value of the given configuration.
 
constexpr auto GetLength (const DistanceJointConf &object) noexcept
 Free function for getting the length value of the given configuration.
 
constexpr auto SetLength (DistanceJointConf &object, Length value) noexcept
 Free function for setting the length value of the given configuration.
 
- Related Functions inherited from playrho::d2::JointConf
void Set (JointConf &def, const Joint &joint) noexcept
 Sets the joint definition data for the given joint.
 

Detailed Description

Distance joint definition.

This requires defining an anchor point on both bodies and the non-zero length of the distance joint. The definition uses local anchor points so that the initial configuration can violate the constraint slightly. This helps when saving and loading a game.

Warning
Do not use a zero or short length.
See also
Joint, World::CreateJoint
Examples
DistanceJoint.cpp, GearJoint.cpp, and World.cpp.

Constructor & Destructor Documentation

◆ DistanceJointConf()

playrho::d2::DistanceJointConf::DistanceJointConf ( BodyID  bA,
BodyID  bB,
Length2  laA = Length2{},
Length2  laB = Length2{},
Length  l = 1_m 
)
noexcept

Initializing constructor.

Initialize the bodies, anchors, and length using the world anchors.

Member Function Documentation

◆ UseLength()

constexpr auto& playrho::d2::DistanceJointConf::UseLength ( Length  v)
inlineconstexprnoexcept

Uses the given length.

Note
Manipulating the length when the frequency is zero can lead to non-physical behavior.
Examples
DistanceJoint.cpp.

Friends And Related Function Documentation

◆ InitVelocity()

void InitVelocity ( DistanceJointConf &  object,
std::vector< BodyConstraint > &  bodies,
const StepConf &  step,
const ConstraintSolverConf &  conf 
)
related

Initializes velocity constraint data based on the given solver data.

Note
This MUST be called prior to calling SolveVelocity.
See also
SolveVelocity.

◆ SolvePosition()

bool SolvePosition ( const DistanceJointConf &  object,
std::vector< BodyConstraint > &  bodies,
const ConstraintSolverConf &  conf 
)
related

Solves the position constraint.

Returns
true if the position errors are within tolerance.

◆ SolveVelocity()

bool SolveVelocity ( DistanceJointConf &  object,
std::vector< BodyConstraint > &  bodies,
const StepConf &  step 
)
related

Solves velocity constraint.

Precondition
InitVelocity has been called.
See also
InitVelocity.
Returns
true if velocity is "solved", false otherwise.

Member Data Documentation

◆ dampingRatio

Real playrho::d2::DistanceJointConf::dampingRatio = 0

Damping ratio.

Note
0 = no damping, 1 = critical damping.
4-bytes (with 4-byte Real).
Examples
DistanceJoint.cpp.

Referenced by UseDampingRatio().

◆ frequency

NonNegative<Frequency> playrho::d2::DistanceJointConf::frequency {}

Mass-spring-damper frequency.

Note
0 disables softness.
4-bytes (with 4-byte Real).
Examples
DistanceJoint.cpp.

Referenced by UseFrequency().

◆ length

Length playrho::d2::DistanceJointConf::length = 1_m

Natural length between the anchor points.

Note
4-bytes (with 4-byte Real).
Examples
DistanceJoint.cpp.

Referenced by UseLength().

◆ localAnchorA

Length2 playrho::d2::DistanceJointConf::localAnchorA = Length2{}

Local anchor point relative to body A's origin.

Note
8-bytes (with 4-byte Real).
Examples
DistanceJoint.cpp.

◆ localAnchorB

Length2 playrho::d2::DistanceJointConf::localAnchorB = Length2{}

Local anchor point relative to body B's origin.

Note
8-bytes (with 4-byte Real).
Examples
DistanceJoint.cpp.
The documentation for this struct was generated from the following files: