Gear joint definition. More...

#include <playrho/d2/GearJointConf.hpp>

Inheritance diagram for playrho::d2::GearJointConf:

Collaboration diagram for playrho::d2::GearJointConf:

Classes
struct	PrismaticData
	Prismatic specific data. More...

struct	RevoluteData
	Revolute specific data. More...

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

using	TypeData = std::variant< std::monostate, PrismaticData, RevoluteData >
	Type specific data type alias.

Public Types inherited from playrho::d2::JointBuilder< GearJointConf >
using	reference = value_type &
	Reference type.

using	value_type = GearJointConf
	Value type.

Public Member Functions
constexpr	GearJointConf () noexcept=default
	Default constructor.

	GearJointConf (BodyID bA, BodyID bB, BodyID bC, BodyID bD) noexcept
	Initializing constructor.

constexpr auto &	UseRatio (Real v) noexcept
	Uses the given ratio value.

Public Member Functions inherited from playrho::d2::JointBuilder< GearJointConf >
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
BodyID	bodyC = InvalidBodyID
	Identifier of body C.

BodyID	bodyD = InvalidBodyID
	Identifier of body D.

Real	constant = Real{0}
	Constant applied with the ratio. More...

Momentum	impulse = 0_Ns
	Impulse.

Vec2	JvAC = {}
	A-C directional data.

Vec2	JvBD = {}
	B-D directional data.

Length	JwA = 0_m
	Data for calculating Body A velocity.

Length	JwB = 0_m
	Data for calculating Body B velocity.

Length	JwC = 0_m
	Data for calculating Body C velocity.

Length	JwD = 0_m
	Data for calculating Body D velocity.

Real	mass = 0
	Either linear mass or angular mass.

Real	ratio = Real{1}

TypeData	typeDataAC
	Data for a revolute or prismatic joint between body A & C.

TypeData	typeDataBD
	Data for a revolute or prismatic joint between body B & D.

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 AngularMomentum	GetAngularReaction (const GearJointConf &object)
	Gets the current angular reaction for the given configuration.

constexpr auto	GetConstant (const GearJointConf &object) noexcept
	Free function for getting the constant value of the given configuration.

constexpr Momentum2	GetLinearReaction (const GearJointConf &object)
	Gets the current linear reaction for the given configuration.

constexpr auto	GetRatio (const GearJointConf &object) noexcept
	Free function for getting the ratio value of the given configuration.

TypeID	GetTypeAC (const GearJointConf &object) noexcept
	Free function for getting joint 1 type value of the given configuration.

TypeID	GetTypeBD (const GearJointConf &object) noexcept
	Free function for getting joint 2 type value of the given configuration.

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

constexpr auto	SetRatio (GearJointConf &object, Real value) noexcept
	Free function for setting the ratio value of the given configuration.

constexpr bool	ShiftOrigin (GearJointConf &, const Length2 &) noexcept
	Shifts the origin notion of the given configuration.

bool	SolvePosition (const GearJointConf &object, const Span< BodyConstraint > &bodies, const ConstraintSolverConf &conf)
	Solves the position constraint. More...

bool	SolveVelocity (GearJointConf &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

Gear joint definition.

A gear joint is used to connect two joints together. Either joint can be a revolute or prismatic joint. You specify a gear ratio to bind the motions together: coordinate1 + ratio * coordinate2 = constant. The ratio can be negative or positive. If one joint is a revolute joint and the other joint is a prismatic joint, then the ratio will have units of length or units of 1/length.

Warning: You have to manually destroy the gear joint if joint-1 or joint-2 is destroyed.

See also: Joint, World::CreateJoint

Friends And Related Function Documentation

◆ InitVelocity()

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

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 GearJointConf &	object,
		const Span< BodyConstraint > &	bodies,
		const ConstraintSolverConf &	conf
	)

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.
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.

Returns: true if the position errors are within tolerance.

◆ SolveVelocity()

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

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.

Member Data Documentation

◆ constant

Real playrho::d2::GearJointConf::constant = Real{0}

Constant applied with the ratio.

Note: If this value is not finite, then position constraint solving will be skipped.

See also: ratio.

◆ ratio

Real playrho::d2::GearJointConf::ratio = Real{1}

The gear ratio.

See also: constant, GearJoint.

Referenced by UseRatio().

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

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

Classes

Public Types

Public Member Functions

Public Attributes

Related Functions

Detailed Description

Friends And Related Function Documentation

◆ InitVelocity()

◆ SolvePosition()

◆ SolveVelocity()

Member Data Documentation

◆ constant

◆ ratio