Motor joint definition. More...

#include <MotorJointConf.hpp>

Inheritance diagram for playrho::d2::MotorJointConf:

Collaboration diagram for playrho::d2::MotorJointConf:

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

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

using	reference = value_type &
	Reference type.

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

	MotorJointConf (BodyID bA, BodyID bB, Length2 lo=Length2{}, Angle ao=0_deg) noexcept
	Initialize the bodies and offsets using the current transforms.

constexpr auto &	UseLinearOffset (Length2 v) noexcept
	Uses the given linear offset value.

constexpr auto &	UseAngularOffset (Angle v) noexcept
	Uses the given angular offset value.

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

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

constexpr auto &	UseCorrectionFactor (Real v) noexcept
	Uses the given correction factor.

Public Member Functions inherited from playrho::d2::JointBuilder< MotorJointConf >
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	linearOffset = Length2{}
	Position of body-B minus the position of body-A, in body-A's frame.

Angle	angularOffset = 0_deg
	Angle of body-B minus angle of body-A.

Momentum2	linearImpulse {}
	Linear impulse.

AngularMomentum	angularImpulse {}
	Angular impulse.

NonNegative< Force >	maxForce = NonNegative<Force>(1_N)
	Maximum motor force.

NonNegative< Torque >	maxTorque = NonNegative<Torque>(1_Nm)
	Maximum motor torque.

Real	correctionFactor = Real(0.3)
	Position correction factor in the range [0,1].

Length2	rA = {}
	Relative A.

Length2	rB = {}
	Relative B.

Length2	linearError {}
	Linear error.

Angle	angularError = 0_deg
	Angular error.

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 auto	GetLocalAnchorA (const MotorJointConf &) noexcept
	Gets the local anchor A.

constexpr auto	GetLocalAnchorB (const MotorJointConf &) noexcept
	Gets the local anchor B.

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

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

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

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

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

constexpr auto	SetMaxForce (MotorJointConf &object, NonNegative< Force > value) noexcept
	Free function for setting the maximum force value of the given configuration.

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

constexpr auto	SetMaxTorque (MotorJointConf &object, NonNegative< Torque > value) noexcept
	Free function for setting the maximum torque value of the given configuration.

constexpr auto	GetLinearError (const MotorJointConf &object) noexcept
	Free function for getting the linear error value of the given configuration.

constexpr auto	GetAngularError (const MotorJointConf &object) noexcept
	Free function for getting the angular error value of the given configuration.

constexpr auto	GetLinearOffset (const MotorJointConf &object) noexcept
	Free function for getting the linear offset value of the given configuration.

constexpr auto	SetLinearOffset (MotorJointConf &object, Length2 value) noexcept
	Free function for setting the linear offset value of the given configuration.

constexpr auto	GetAngularOffset (const MotorJointConf &object) noexcept
	Free function for getting the angular offset value of the given configuration.

constexpr auto	SetAngularOffset (MotorJointConf &object, Angle value) noexcept
	Free function for setting the angular offset value of the given configuration.

constexpr auto	GetCorrectionFactor (const MotorJointConf &object) noexcept
	Free function for getting the correction factor value of the given configuration.

constexpr auto	SetCorrectionFactor (MotorJointConf &object, Real value) noexcept
	Free function for setting the correction factor 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

Motor joint definition.

A motor joint is used to control the relative motion between two bodies. A typical usage is to control the movement of a dynamic body with respect to the ground.