Constraint solver configuration data. More...

#include <playrho/ConstraintSolverConf.hpp>

Public Member Functions
constexpr ConstraintSolverConf &	UseAngularSlop (Angle value) noexcept
	Uses the given angular slop.

constexpr ConstraintSolverConf &	UseLinearSlop (Length value) noexcept
	Uses the given linear slop.

constexpr ConstraintSolverConf &	UseMaxAngularCorrection (Angle value) noexcept
	Uses the given max angular correction.

constexpr ConstraintSolverConf &	UseMaxLinearCorrection (Length value) noexcept
	Uses the given max linear correction.

constexpr ConstraintSolverConf &	UseResolutionRate (Real value) noexcept
	Uses the given resolution rate.

Public Attributes
Angle	angularSlop = DefaultAngularSlop

Length	linearSlop = DefaultLinearSlop

Angle	maxAngularCorrection = DefaultMaxAngularCorrection

Length	maxLinearCorrection = DefaultMaxLinearCorrection

Real	resolutionRate = DefaultRegResolutionRate

Static Public Attributes
static constexpr auto	DefaultAngularSlop = ::playrho::DefaultAngularSlop
	Default angular slop.

static constexpr auto	DefaultLinearSlop = ::playrho::DefaultLinearSlop
	Default linear slop.

static constexpr auto	DefaultMaxAngularCorrection = DefaultAngularSlop * Real{4}
	Default max angular correction.

static constexpr auto	DefaultMaxLinearCorrection = DefaultLinearSlop * Real{20}
	Default max linear correction.

static constexpr auto	DefaultRegResolutionRate = Real(0.2)
	Default regular resolution rate.

static constexpr auto	DefaultToiResolutionRate = Real(0.75)
	Default time of impact (TOI) resolution rate.

Detailed Description

Constraint solver configuration data.

Defines how a constraint solver should resolve a given constraint.

See also: SolvePositionConstraint.

Member Data Documentation

◆ angularSlop

Angle playrho::ConstraintSolverConf::angularSlop = DefaultAngularSlop

Angular slop.

Note: Recommended value: DefaultAngularSlop.

Referenced by playrho::d2::RevoluteJointConf::InitVelocity(), playrho::d2::GearJointConf::SolvePosition(), playrho::d2::PrismaticJointConf::SolvePosition(), playrho::d2::RevoluteJointConf::SolvePosition(), playrho::d2::WeldJointConf::SolvePosition(), and UseAngularSlop().

◆ linearSlop

Length playrho::ConstraintSolverConf::linearSlop = DefaultLinearSlop

Linear slop.

Note: The negative of this amount is the maximum amount of separation to create.; Recommended value: DefaultLinearSlop.

◆ maxAngularCorrection

Angle playrho::ConstraintSolverConf::maxAngularCorrection = DefaultMaxAngularCorrection

Maximum angular correction.

Maximum angular position correction used when solving constraints. Helps to prevent overshoot.

Note: Recommended value: angularSlop * 4.

Referenced by playrho::d2::Position::Cap(), playrho::d2::RevoluteJointConf::SolvePosition(), and UseMaxAngularCorrection().

◆ maxLinearCorrection

Length playrho::ConstraintSolverConf::maxLinearCorrection = DefaultMaxLinearCorrection

Maximum linear correction.

Maximum amount of overlap to resolve in a single solver call. Helps prevent overshoot.

Note: Recommended value: linearSlop * 40.

Referenced by playrho::d2::Position::Cap(), playrho::d2::DistanceJointConf::SolvePosition(), playrho::d2::PrismaticJointConf::SolvePosition(), playrho::d2::RopeJointConf::SolvePosition(), playrho::GaussSeidel::SolvePositionConstraint(), and UseMaxLinearCorrection().

◆ resolutionRate

Real playrho::ConstraintSolverConf::resolutionRate = DefaultRegResolutionRate

Resolution rate.

Defines the percentage of the overlap that should get resolved in a single solver call. Value greater than zero and less than or equal to one. Ideally this would be 1 so that overlap is removed in one time step. However using values close to 1 often leads to overshoot.

Note: Recommended values are: 0.2 for solving regular constraints or 0.75 for solving TOI constraints.

Referenced by playrho::d2::GearJointConf::SolvePosition(), playrho::GaussSeidel::SolvePositionConstraint(), and UseResolutionRate().

The documentation for this struct was generated from the following file:

Library/include/playrho/ConstraintSolverConf.hpp

Public Member Functions

Public Attributes