Friction joint definition. More...

#include <FrictionJointConf.hpp>

Inheritance diagram for playrho::d2::FrictionJointConf:

Collaboration diagram for playrho::d2::FrictionJointConf:

Public Types
using	super = JointBuilder< FrictionJointConf >
	Super type.

Public Types inherited from playrho::d2::JointBuilder< FrictionJointConf >
using	value_type = FrictionJointConf
	Value type.

using	reference = value_type &
	Reference type.

Public Member Functions
constexpr	FrictionJointConf ()=default
	Default constructor.

	FrictionJointConf (BodyID bodyA, BodyID bodyB, Length2 laA=Length2{}, Length2 laB=Length2{}) noexcept
	Initializing constructor. More...

constexpr auto &	UseMaxForce (NonNegative< Force > v) noexcept
	Uses the given maximum force value.

constexpr auto &	UseMaxTorque (NonNegative< Torque > v) noexcept
	Uses the given maximum torque value.

Public Member Functions inherited from playrho::d2::JointBuilder< FrictionJointConf >
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.

Length2	localAnchorB = Length2{}
	Local anchor point relative to body B's origin.

NonNegative< Force >	maxForce {}
	Maximum friction force.

NonNegative< Torque >	maxTorque {}
	Maximum friction torque.

Momentum2	linearImpulse = Momentum2{}
	Linear impulse.

AngularMomentum	angularImpulse = AngularMomentum{0}
	Angular impulse.

Length2	rA = {}
	Relative A.

Length2	rB = {}
	Relative B.

Mass22	linearMass = {}
	2-by-2 linear mass matrix in kilograms.

RotInertia	angularMass = {}
	Angular mass.

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 FrictionJointConf &object) noexcept
	Gets the current linear reaction for the given configuration.

constexpr AngularMomentum	GetAngularReaction (const FrictionJointConf &object) noexcept
	Gets the current angular reaction for the given configuration.

constexpr bool	ShiftOrigin (FrictionJointConf &, Length2) noexcept
	Shifts the origin notion of the given configuration.

void	InitVelocity (FrictionJointConf &object, std::vector< BodyConstraint > &bodies, const StepConf &step, const ConstraintSolverConf &conf)
	Initializes velocity constraint data based on the given solver data. More...

bool	SolveVelocity (FrictionJointConf &object, std::vector< BodyConstraint > &bodies, const StepConf &step)
	Solves velocity constraint. More...

bool	SolvePosition (const FrictionJointConf &object, std::vector< BodyConstraint > &bodies, const ConstraintSolverConf &conf)
	Solves the position constraint. More...

constexpr auto	GetMaxForce (const FrictionJointConf &object) noexcept
	Free function for getting the max force value of the given configuration.

constexpr void	SetMaxForce (FrictionJointConf &object, NonNegative< Force > value) noexcept
	Free function for setting the max force value of the given configuration.

constexpr auto	GetMaxTorque (const FrictionJointConf &object) noexcept
	Free function for getting the max torque value of the given configuration.

constexpr auto	SetMaxTorque (FrictionJointConf &object, NonNegative< Torque > value) noexcept
	Free function for setting the max force 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

Friction joint definition.

This is used for top-down friction. It provides 2-D translational friction and angular friction.

See also: Joint, World::CreateJoint

Examples: FrictionJoint.cpp, and World.cpp.

Constructor & Destructor Documentation

◆ FrictionJointConf()

playrho::d2::FrictionJointConf::FrictionJointConf	(	BodyID	bodyA,
		BodyID	bodyB,
		Length2	laA = `Length2{}`,
		Length2	laB = `Length2{}`
	)

noexcept

Initializing constructor.

Initialize the bodies, anchors, axis, and reference angle using the world anchor and world axis.

Friends And Related Function Documentation

◆ InitVelocity()

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

Note: This MUST be called prior to calling SolveVelocity.

See also: SolveVelocity.

◆ SolvePosition()

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

Returns: true if the position errors are within tolerance.

◆ SolveVelocity()

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

Precondition: InitVelocity has been called.

See also: InitVelocity.

Returns: true if velocity is "solved", false otherwise.

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

FrictionJointConf.hpp
FrictionJointConf.cpp

Public Types

Public Member Functions

Public Attributes