The per-contact velocity constraint data structure. More...

#include <playrho/d2/VelocityConstraint.hpp>

Classes
struct	Conf
	Configuration data for velocity constraints. More...

struct	Point
	Velocity constraint point. More...

Public Types
using	size_type = std::remove_const_t< decltype(MaxManifoldPoints)>
	Size type.

Public Member Functions
	VelocityConstraint ()=default
	Default constructor. More...

	VelocityConstraint (const VelocityConstraint &copy)=default
	Copy constructor.

	VelocityConstraint (Real friction, Real restitution, LinearVelocity tangentSpeed, const WorldManifold &worldManifold, BodyID bA, BodyID bB, const Span< const BodyConstraint > &bodies, const Conf &conf=GetDefaultConf())
	Initializing constructor.

BodyID	GetBodyA () const noexcept
	Gets identifier of body A.

BodyID	GetBodyB () const noexcept
	Gets identifier of body B.

Real	GetFriction () const noexcept
	Gets the combined friction of the associated contact.

InvMass22	GetK () const noexcept

UnitVec	GetNormal () const noexcept

Momentum	GetNormalImpulseAtPoint (size_type index) const noexcept

Mass22	GetNormalMass () const noexcept

Mass	GetNormalMassAtPoint (size_type index) const noexcept

const Point &	GetPointAt (size_type index) const
	Accesses the point identified by the given index. More...

size_type	GetPointCount () const noexcept

Length2	GetPointRelPosA (size_type index) const noexcept

Length2	GetPointRelPosB (size_type index) const noexcept

Real	GetRestitution () const noexcept
	Gets the combined restitution of the associated contact.

UnitVec	GetTangent () const noexcept
	Gets the tangent.

Momentum	GetTangentImpulseAtPoint (size_type index) const noexcept

Mass	GetTangentMassAtPoint (size_type index) const noexcept

LinearVelocity	GetTangentSpeed () const noexcept
	Gets the tangent speed of the associated contact.

LinearVelocity	GetVelocityBiasAtPoint (size_type index) const noexcept

VelocityConstraint &	operator= (const VelocityConstraint &copy)=default
	Assignment operator.

void	SetNormalImpulseAtPoint (size_type index, Momentum value)
	Sets the normal impulse at the given point.

void	SetTangentImpulseAtPoint (size_type index, Momentum value)
	Sets the tangent impulse at the given point.

Static Public Member Functions
static constexpr Conf	GetDefaultConf () noexcept
	Gets the default configuration for a `VelocityConstraint`.

Detailed Description

The per-contact velocity constraint data structure.

Note: A valid contact velocity constraint must have a point count of either 1 or 2.

Invariant: The "K" value cannot be changed independent of: the total inverse mass, the normal, and the point relative positions.; The normal mass cannot be changed independent of: the "K" value.; The velocity biases cannot be changed independent of: the normal, and the point relative positions.

Constructor & Destructor Documentation

◆ VelocityConstraint()

playrho::d2::VelocityConstraint::VelocityConstraint ( )

default

Default constructor.

Postcondition: GetNormal() and GetTangent() return a default constructed UnitVec .; GetPointCount(), GetFriction(), GetRestitution(), GetTangentSpeed(), GetK(), GetNormalMass() all return zero.

Member Function Documentation

◆ GetK()

InvMass22 playrho::d2::VelocityConstraint::GetK ( ) const

inlinenoexcept

Gets the "K" value.

Note: This value is only valid if previously set to a valid value.

Returns: "K" value previously set or the zero initialized value.

◆ GetNormal()

UnitVec playrho::d2::VelocityConstraint::GetNormal ( ) const

inlinenoexcept

Gets the normal of the contact in world coordinates.

Note: This value is set on construction.

Returns: The contact normal (in world coordinates) if previously set, an invalid value otherwise.

◆ GetNormalImpulseAtPoint()

Momentum playrho::d2::VelocityConstraint::GetNormalImpulseAtPoint ( VelocityConstraint::size_type index ) const

inlinenoexcept

Gets the normal impulse at the given point.

Note: Call the AddPoint or SetNormalImpulseAtPoint function to set this value.

Returns: Value previously set, or an invalid value.

See also: SetNormalImpulseAtPoint.

Referenced by playrho::d2::GetNormalImpulseAtPoint().

◆ GetNormalMass()

Mass22 playrho::d2::VelocityConstraint::GetNormalMass ( ) const

inlinenoexcept

Gets the normal mass.

Note: This value is only valid if previously set.

Returns: normal mass previously set or the zero initialized value.

◆ GetNormalMassAtPoint()

Mass playrho::d2::VelocityConstraint::GetNormalMassAtPoint ( VelocityConstraint::size_type index ) const

inlinenoexcept

Gets the normal mass at the given point.

Note: This value depends on the values of: the sum of the inverse-masses of the two bodies, the bodies' inverse-rotational-inertia, the point-relative A and B positions, and the normal.; The AddPoint function sets this value.

Referenced by playrho::d2::GetNormalMassAtPoint().

◆ GetPointAt()

const Point& playrho::d2::VelocityConstraint::GetPointAt ( size_type index ) const

inline

Accesses the point identified by the given index.

Parameters

index Index of the point to return. This should be a value less than returned by GetPointCount.

Precondition: index is less than MaxManifoldPoints.

Returns: velocity constraint point for the given index. This point's data will be invalid unless previously added and set.

See also: GetPointCount.

◆ GetPointCount()

size_type playrho::d2::VelocityConstraint::GetPointCount ( ) const

inlinenoexcept

Gets the count of points added to this object.

Returns: Value between 0 and MaxManifoldPoints.

See also: MaxManifoldPoints.; AddPoint.

Referenced by playrho::d2::GetContactImpulses().

◆ GetPointRelPosA()

Length2 playrho::d2::VelocityConstraint::GetPointRelPosA ( VelocityConstraint::size_type index ) const

inlinenoexcept

Gets the point relative position of A.

Note: The AddPoint function sets this value.

Returns: Previously set value or an invalid value.

Referenced by playrho::d2::GetPointRelPosA().

◆ GetPointRelPosB()

Length2 playrho::d2::VelocityConstraint::GetPointRelPosB ( VelocityConstraint::size_type index ) const

inlinenoexcept

Gets the point relative position of B.

Note: The AddPoint function sets this value.

Returns: Previously set value or an invalid value.

Referenced by playrho::d2::GetPointRelPosB().

◆ GetTangentImpulseAtPoint()

Momentum playrho::d2::VelocityConstraint::GetTangentImpulseAtPoint ( VelocityConstraint::size_type index ) const

inlinenoexcept

Gets the tangent impulse at the given point.

Note: Call the AddPoint or SetTangentImpulseAtPoint function to set this value.

Returns: Value previously set, or an invalid value.

See also: SetTangentImpulseAtPoint.

Referenced by playrho::d2::GetTangentImpulseAtPoint().

◆ GetTangentMassAtPoint()

Mass playrho::d2::VelocityConstraint::GetTangentMassAtPoint ( VelocityConstraint::size_type index ) const

inlinenoexcept

Gets the tangent mass at the given point.

Note: This value depends on the values of: the sum of the inverse-masses of the two bodies, the bodies' inverse-rotational-inertia, the point-relative A and B positions, and the tangent.; The AddPoint function sets this value.

Referenced by playrho::d2::GetTangentMassAtPoint().

◆ GetVelocityBiasAtPoint()

LinearVelocity playrho::d2::VelocityConstraint::GetVelocityBiasAtPoint ( size_type index ) const

inlinenoexcept

Gets the velocity bias at the given point.

Note: The AddPoint function sets this value.

Returns: Previously set value or an invalid value.

Referenced by playrho::d2::GetVelocityBiasAtPoint().

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

Library/include/playrho/d2/VelocityConstraint.hpp
Library/source/playrho/d2/VelocityConstraint.cpp

Classes

Public Types

Public Member Functions

Static Public Member Functions

Detailed Description

Constructor & Destructor Documentation

◆ VelocityConstraint()

Member Function Documentation

◆ GetK()

◆ GetNormal()

◆ GetNormalImpulseAtPoint()

◆ GetNormalMass()

◆ GetNormalMassAtPoint()

◆ GetPointAt()

◆ GetPointCount()

◆ GetPointRelPosA()

◆ GetPointRelPosB()

◆ GetTangentImpulseAtPoint()

◆ GetTangentMassAtPoint()

◆ GetVelocityBiasAtPoint()