Motor joint definition. More...

#include <playrho/d2/MotorJointConf.hpp>

Inheritance diagram for playrho::d2::MotorJointConf:

Collaboration diagram for playrho::d2::MotorJointConf:

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

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

using	value_type = MotorJointConf
	Value type.

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

	MotorJointConf (BodyID bA, BodyID bB, const Length2 &lo=Length2{}, Angle ao=0_deg) noexcept
	Initialize the bodies and offsets using the current transforms.

constexpr auto &	UseAngularOffset (Angle v) noexcept
	Uses the given angular offset value.

constexpr auto &	UseCorrectionFactor (Real v) noexcept
	Uses the given correction factor.

constexpr auto &	UseLinearOffset (const Length2 &v) noexcept
	Uses the given linear offset value.

constexpr auto &	UseMaxForce (NonNegative< Force > v) noexcept
	Uses the given maximum force value.

constexpr auto &	UseMaxTorque (NonNegative< Torque > v) noexcept
	Uses the given max torque value.

Public Member Functions inherited from playrho::d2::JointBuilder< MotorJointConf >
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
Angle	angularError = 0_deg
	Angular error.

AngularMomentum	angularImpulse {}
	Angular impulse.

RotInertia	angularMass = {}
	Angular mass.

Angle	angularOffset = 0_deg
	Angle of body-B minus angle of body-A.

Real	correctionFactor = DefaultCorrectionFactor
	Position correction factor in the range [0,1].

Length2	linearError {}
	Linear error.

Momentum2	linearImpulse {}
	Linear impulse.

Mass22	linearMass = {}
	2-by-2 linear mass matrix in kilograms.

Length2	linearOffset = Length2{}
	Position of body-B minus the position of body-A, in body-A's frame.

NonNegative< Force >	maxForce = DefaultMaxForce
	Maximum motor force.

NonNegative< Torque >	maxTorque = DefaultMaxTorque
	Maximum motor 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	DefaultCorrectionFactor = Real(0.3)
	Default correction factor.

static constexpr auto	DefaultMaxForce = NonNegativeFF<Force>(1_N)
	Default max force.

static constexpr auto	DefaultMaxTorque = NonNegativeFF<Torque>(1_Nm)
	Default max torque.

Related Functions
(Note that these are not member functions.)
constexpr auto	GetAngularError (const MotorJointConf &object) noexcept
	Free function for getting the angular error value of the given configuration.

constexpr auto	GetAngularOffset (const MotorJointConf &object) noexcept
	Free function for getting the angular offset value of the given configuration.

constexpr auto	GetCorrectionFactor (const MotorJointConf &object) noexcept
	Free function for getting the correction factor value of the given configuration.

constexpr auto	GetLinearError (const MotorJointConf &object) noexcept
	Free function for getting the linear error value of the given configuration.

constexpr auto	GetLinearOffset (const MotorJointConf &object) noexcept
	Free function for getting the linear offset value of the given configuration.

constexpr auto	GetLocalAnchorA (const MotorJointConf &) noexcept
	Gets the local anchor A.

constexpr auto	GetLocalAnchorB (const MotorJointConf &) noexcept
	Gets the local anchor B.

constexpr auto	GetMaxForce (const MotorJointConf &object) noexcept
	Free function for getting the maximum force value of the given configuration.

constexpr auto	GetMaxTorque (const MotorJointConf &object) noexcept
	Free function for getting the maximum torque value of the given configuration.

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

constexpr auto	SetAngularOffset (MotorJointConf &object, Angle value) noexcept
	Free function for setting the angular offset value of the given configuration.

constexpr auto	SetCorrectionFactor (MotorJointConf &object, Real value) noexcept
	Free function for setting the correction factor value of the given configuration.

constexpr auto	SetLinearOffset (MotorJointConf &object, const Length2 &value) noexcept
	Free function for setting the linear offset value of the given configuration.

constexpr auto	SetMaxForce (MotorJointConf &object, NonNegative< Force > value) noexcept
	Free function for setting the maximum force value of the given configuration.

constexpr auto	SetMaxTorque (MotorJointConf &object, NonNegative< Torque > value) noexcept
	Free function for setting the maximum torque value of the given configuration.

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

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

bool	SolveVelocity (MotorJointConf &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

Motor joint definition.

A motor joint is used to control the relative motion between two bodies. A typical usage is to control the movement of a dynamic body with respect to the ground.

See also: Joint, World::CreateJoint

Friends And Related Function Documentation

◆ InitVelocity()

void InitVelocity	(	MotorJointConf &	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 MotorJointConf &	object,
		const Span< BodyConstraint > &	bodies,
		const ConstraintSolverConf &	conf
	)

Note: This is a no-op and always returns true.

Returns: true.

◆ SolveVelocity()

bool SolveVelocity	(	MotorJointConf &	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.

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

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

Public Types

Public Member Functions

Public Attributes

Static Public Attributes

Related Functions

Detailed Description

Friends And Related Function Documentation

◆ InitVelocity()

◆ SolvePosition()

◆ SolveVelocity()