Rope joint definition. More...

#include <RopeJointConf.hpp>

Inheritance diagram for playrho::d2::RopeJointConf:

Collaboration diagram for playrho::d2::RopeJointConf:

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

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

using	reference = value_type &
	Reference type.

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

constexpr	RopeJointConf (BodyID bodyA, BodyID bodyB) noexcept
	Initializing constructor.

constexpr auto &	UseMaxLength (Length v) noexcept
	Uses the given max length value.

Public Member Functions inherited from playrho::d2::JointBuilder< RopeJointConf >
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{-1_m, 0_m}
	The local anchor point relative to body A's origin.

Length2	localAnchorB = Length2{+1_m, 0_m}
	The local anchor point relative to body B's origin.

Length	maxLength = 0_m
	The maximum length of the rope.

Length	length = 0
	Length.

Momentum	impulse = 0_Ns
	Impulse.

UnitVec	u
	U direction.

Length2	rA = {}
	Relative A.

Length2	rB = {}
	Relative B.

Mass	mass = 0_kg
	Mass.

LimitState	limitState = LimitState::e_inactiveLimit
	Limit state.

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 RopeJointConf &object) noexcept
	Gets the current linear reaction of the given configuration.

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

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

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

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

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

constexpr auto	GetMaxLength (const RopeJointConf &object) noexcept
	Free function for getting the maximum length value of the given configuration.

constexpr auto	SetMaxLength (RopeJointConf &object, Length value) noexcept
	Free function for setting the maximum 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

Rope joint definition.

A rope joint enforces a maximum distance between two points on two bodies. It has no other effect. This requires two body anchor points and a maximum lengths.

Note: By default the connected objects will not collide.

Warning: If you attempt to change the maximum length during the simulation you will get some non-physical behavior. A model that would allow you to dynamically modify the length would have some sponginess, so it was decided not to implement it that way. See DistanceJoint if you want to dynamically control length.