ContactSolver.hpp File Reference

Declarations of the velocity and position constraint solver functions. More...

#include <playrho/Span.hpp>
#include <playrho/d2/Math.hpp>
#include <playrho/d2/PositionSolution.hpp>

Include dependency graph for ContactSolver.hpp:

Namespaces
	playrho
	playrho::d2

Functions
d2::PositionSolution	playrho::GaussSeidel::SolvePositionConstraint (const d2::PositionConstraint &pc, bool moveA, bool moveB, const Span< d2::BodyConstraint > &bodies, const ConstraintSolverConf &conf)
Momentum	playrho::GaussSeidel::SolveVelocityConstraint (d2::VelocityConstraint &vc, const Span< d2::BodyConstraint > &bodies)
	Solves the velocity constraint. More...

Detailed Description

Declarations of the velocity and position constraint solver functions.

Function Documentation

SolvePositionConstraint()

d2::PositionSolution playrho::GaussSeidel::SolvePositionConstraint	(	const d2::PositionConstraint &	pc,
		bool	moveA,
		bool	moveB,
		const Span< d2::BodyConstraint > &	bodies,
		const ConstraintSolverConf &	conf
	)

Solves the given position constraint.

This pushes apart the two given positions for every point in the contact position constraint and returns the minimum separation value from the position solver manifold for each point.

See also

http://allenchou.net/2013/12/game-physics-resolution-contact-constraints/

Returns

Minimum separation distance of the position constraint's manifold points (prior to "solving").

Referenced by playrho::GaussSeidel::SolvePositionConstraint().

SolveVelocityConstraint()

Momentum playrho::GaussSeidel::SolveVelocityConstraint	(	d2::VelocityConstraint &	vc,
		const Span< d2::BodyConstraint > &	bodies
	)

Solves the velocity constraint.

This updates the tangent and normal impulses of the velocity constraint points of the given velocity constraint and updates the given velocities.

Note

Linear velocity is only changed if the inverse mass of either body is non-zero.

Angular velocity is only changed if the inverse rotational inertia of either body is non-zero.

Parameters

vc	Velocity constraint to solve for.
bodies	Collection of bodies containing the two for the velocity constraint.

Precondition

vc must have a valid normal, a valid tangent, valid point relative positions, valid velocity biases, and 1 or 2 point counts.

Referenced by playrho::GaussSeidel::SolveVelocityConstraint().