playrho::d2::FrictionJointConf Struct Reference

Friction joint definition. More...

#include <playrho/d2/FrictionJointConf.hpp>

Inheritance diagram for playrho::d2::FrictionJointConf:

Collaboration diagram for playrho::d2::FrictionJointConf:

Public Types
using	super = JointBuilder< FrictionJointConf >
	Super type.
Public Types inherited from playrho::d2::JointBuilder< FrictionJointConf >
using	reference = value_type &
	Reference type.
using	value_type = FrictionJointConf
	Value type.

Public Member Functions
constexpr	FrictionJointConf () noexcept=default
	Default constructor.
	FrictionJointConf (BodyID bA, BodyID bB, const Length2 &laA=Length2{}, const Length2 &laB=Length2{}) noexcept
	Initializing constructor. More...
constexpr auto &	UseMaxForce (NonNegative< Force > v) noexcept
	Uses the given maximum force value.
constexpr auto &	UseMaxTorque (NonNegative< Torque > v) noexcept
	Uses the given maximum torque value.
Public Member Functions inherited from playrho::d2::JointBuilder< FrictionJointConf >
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
AngularMomentum	angularImpulse = AngularMomentum{}
	Angular impulse.
RotInertia	angularMass = {}
	Angular mass.
Momentum2	linearImpulse = Momentum2{}
	Linear impulse.
Mass22	linearMass = {}
	2-by-2 linear mass matrix in kilograms.
Length2	localAnchorA = Length2{}
	Local anchor point relative to body A's origin.
Length2	localAnchorB = Length2{}
	Local anchor point relative to body B's origin.
NonNegative< Force >	maxForce = DefaultMaxForce
	Maximum friction force.
NonNegative< Torque >	maxTorque = DefaultMaxTorque
	Maximum friction torque.
Length2	rA = {}
	Relative A.
Length2	rB = {}
	Relative B.
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 auto	DefaultMaxForce = NonNegativeFF<Force>(0_N)
	Default max force.
static constexpr auto	DefaultMaxTorque = NonNegativeFF<Torque>(0_Nm)
	Default max torque.

Related Functions
(Note that these are not member functions.)
constexpr AngularMomentum	GetAngularReaction (const FrictionJointConf &object) noexcept
	Gets the current angular reaction for the given configuration.
constexpr Momentum2	GetLinearReaction (const FrictionJointConf &object) noexcept
	Gets the current linear reaction for the given configuration.
constexpr auto	GetMaxForce (const FrictionJointConf &object) noexcept
	Free function for getting the max force value of the given configuration.
constexpr auto	GetMaxTorque (const FrictionJointConf &object) noexcept
	Free function for getting the max torque value of the given configuration.
void	InitVelocity (FrictionJointConf &object, const Span< BodyConstraint > &bodies, const StepConf &step, const ConstraintSolverConf &conf)
	Initializes velocity constraint data based on the given solver data. More...
constexpr void	SetMaxForce (FrictionJointConf &object, NonNegative< Force > value) noexcept
	Free function for setting the max force value of the given configuration.
constexpr auto	SetMaxTorque (FrictionJointConf &object, NonNegative< Torque > value) noexcept
	Free function for setting the max force value of the given configuration.
constexpr bool	ShiftOrigin (FrictionJointConf &, Length2) noexcept
	Shifts the origin notion of the given configuration.
bool	SolvePosition (const FrictionJointConf &object, const Span< BodyConstraint > &bodies, const ConstraintSolverConf &conf)
	Solves the position constraint. More...
bool	SolveVelocity (FrictionJointConf &object, const Span< BodyConstraint > &bodies, const StepConf &step)
	Solves velocity constraint. More...
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

Friction joint definition.

This is used for top-down friction. It provides 2-D translational friction and angular friction.

See also

Joint, World::CreateJoint

Constructor & Destructor Documentation

FrictionJointConf()

playrho::d2::FrictionJointConf::FrictionJointConf ( BodyID  bA, BodyID  bB, const Length2 &  laA = Length2{}, const Length2 &  laB = Length2{}  )

noexcept

Initializing constructor.

Initialize the bodies and local anchors.

Postcondition

bodyA will hold the value of bA.

bodyB will hold the value of bB.

localAnchorA will hold the value of laA.

localAnchorB will hold the value of laB.

All other member variables will be zero initialized.

Friends And Related Function Documentation

InitVelocity()

void InitVelocity ( FrictionJointConf &  object, const Span< BodyConstraint > &  bodies, const StepConf &  step, const ConstraintSolverConf &  conf  )

related

Initializes velocity constraint data based on the given solver data.

Note

This MUST be called prior to calling SolveVelocity.

Parameters

object	Configuration object. bodyA and bodyB must index bodies within the given bodies container or be the special body ID value of InvalidBodyID.
bodies	Container of body constraints.
step	Configuration for the step.
conf	Constraint solver configuration.

Exceptions

std::out_of_range

If the given object's bodyA or bodyB values are not InvalidBodyID and are not indices within range of the given bodies container.

See also

SolveVelocity.

SolvePosition()

bool SolvePosition ( const FrictionJointConf &  object, const Span< BodyConstraint > &  bodies, const ConstraintSolverConf &  conf  )

related

Solves the position constraint.

Note

This is a no-op and always returns true.

Returns

true.

SolveVelocity()

bool SolveVelocity ( FrictionJointConf &  object, const Span< BodyConstraint > &  bodies, const StepConf &  step  )

related

Solves velocity constraint.

Precondition

InitVelocity has been called.

Parameters

object	Configuration object. bodyA and bodyB must index bodies within the given bodies container or be the special body ID value of InvalidBodyID.
bodies	Container of body constraints.
step	Configuration for the step.

Exceptions

std::out_of_range

If the given object's bodyA or bodyB values are not InvalidBodyID and are not indices within range of the given bodies container.

See also

InitVelocity.

Returns

true if velocity is "solved", false otherwise.

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

• Library/include/playrho/d2/FrictionJointConf.hpp
• Library/source/playrho/d2/FrictionJointConf.cpp