Pulley joint definition. More...

#include <PulleyJointConf.hpp>

Inheritance diagram for playrho::d2::PulleyJointConf:

Collaboration diagram for playrho::d2::PulleyJointConf:

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

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

using	reference = value_type &
	Reference type.

Public Member Functions
	PulleyJointConf () noexcept
	Default constructor.

	PulleyJointConf (BodyID bodyA, BodyID bodyB, Length2 groundAnchorA=DefaultGroundAnchorA, Length2 groundAnchorB=DefaultGroundAnchorB, Length2 anchorA=DefaultLocalAnchorA, Length2 anchorB=DefaultLocalAnchorB, Length lA=0_m, Length lB=0_m)
	Initialize the bodies, anchors, lengths, max lengths, and ratio using the world anchors.

constexpr auto &	UseRatio (Real v) noexcept
	Uses the given ratio value.

Public Member Functions inherited from playrho::d2::JointBuilder< PulleyJointConf >
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	groundAnchorA = DefaultGroundAnchorA
	The first ground anchor in world coordinates. This point never moves.

Length2	groundAnchorB = DefaultGroundAnchorB
	The second ground anchor in world coordinates. This point never moves.

Length2	localAnchorA = DefaultLocalAnchorA
	The local anchor point relative to body A's origin.

Length2	localAnchorB = DefaultLocalAnchorB
	The local anchor point relative to body B's origin.

Length	lengthA = 0_m
	The a reference length for the segment attached to body-A.

Length	lengthB = 0_m
	The a reference length for the segment attached to body-B.

Real	ratio = 1
	The pulley ratio, used to simulate a block-and-tackle.

Momentum	impulse = 0_Ns
	Impulse.

UnitVec	uA
	Unit vector A.

UnitVec	uB
	Unit vector B.

Length2	rA {}
	Relative A.

Length2	rB {}
	Relative B.

Mass	mass = 0_kg
	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...

Static Public Attributes
static constexpr Length2	DefaultGroundAnchorA = Length2{-1_m, +1_m}
	Default ground anchor A.

static constexpr Length2	DefaultGroundAnchorB = Length2{+1_m, +1_m}
	Default ground anchor B.

static constexpr Length2	DefaultLocalAnchorA = Length2{-1_m, 0_m}
	Default local anchor A.

static constexpr Length2	DefaultLocalAnchorB = Length2{+1_m, 0_m}
	Default local anchor B.

Related Functions
(Note that these are not member functions.)
constexpr Momentum2	GetLinearReaction (const PulleyJointConf &object) noexcept
	Gets the current linear reaction of the given configuration.

constexpr AngularMomentum	GetAngularReaction (const PulleyJointConf &) noexcept
	Gets the current angular reaction of the given configuration.

bool	ShiftOrigin (PulleyJointConf &object, Length2 newOrigin) noexcept
	Shifts the origin notion of the given configuration.

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

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

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

constexpr auto	GetLengthA (const PulleyJointConf &object) noexcept
	Free function for getting the length A value of the given configuration.

constexpr auto	GetLengthB (const PulleyJointConf &object) noexcept
	Free function for getting the length B value of the given configuration.

constexpr auto	SetRatio (PulleyJointConf &object, Real value) noexcept
	Free function for setting the ratio 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

Pulley joint definition.

The pulley joint is connected to two bodies and two fixed ground points. The pulley supports a ratio such that: length1 + ratio * length2 <= constant.

Note: The force transmitted is scaled by the ratio.

Warning: the pulley joint can get a bit squirrelly by itself. They often work better when combined with prismatic joints. You should also cover the the anchor points with static shapes to prevent one side from going to zero length.