Prismatic joint definition. More...

#include <playrho/d2/PrismaticJointConf.hpp>

Inheritance diagram for playrho::d2::PrismaticJointConf:

Collaboration diagram for playrho::d2::PrismaticJointConf:

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

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

using	value_type = PrismaticJointConf
	Value type.

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

	PrismaticJointConf (BodyID bA, BodyID bB, const Length2 &laA=Length2{}, const Length2 &laB=Length2{}, const UnitVec &axisA=UnitVec::GetRight(), Angle angle=0_deg) noexcept
	Initializing constructor. More...

constexpr auto &	UseEnableLimit (bool v) noexcept
	Uses the given enable limit state value.

constexpr auto &	UseEnableMotor (bool v) noexcept
	Uses the given enable motor state value.

constexpr auto &	UseLowerLength (Length v) noexcept
	Uses the given lower translation value.

constexpr auto &	UseMaxMotorForce (Force v) noexcept
	Uses the given max motor force value.

constexpr auto &	UseMotorSpeed (AngularVelocity v) noexcept
	Uses the given motor speed value.

constexpr auto &	UseUpperLength (Length v) noexcept
	Uses the given upper translation value.

Public Member Functions inherited from playrho::d2::JointBuilder< PrismaticJointConf >
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
Length	a1 = 0_m
	Location A-1.

Length	a2 = 0_m
	Location A-2.

UnitVec	axis = UnitVec::GetZero()
	Axis.

bool	enableLimit = false
	Enable/disable the joint limit.

bool	enableMotor = false
	Enable/disable the joint motor.

Vec3	impulse = Vec3{}
	Impulse.

Mat33	K = {}
	K matrix.

LimitState	limitState = LimitState::e_inactiveLimit
	Limit state.

Length2	localAnchorA = Length2{}
	The local anchor point relative to body A's origin.

Length2	localAnchorB = Length2{}
	The local anchor point relative to body B's origin.

UnitVec	localXAxisA = UnitVec::GetRight()
	The local X translation unit axis in body A.

UnitVec	localYAxisA = GetRevPerpendicular(UnitVec::GetRight())
	The local Y translation unit axis in body A.

Length	lowerTranslation = 0_m
	The lower translation limit.

Force	maxMotorForce = 0_N
	The maximum motor force.

Momentum	motorImpulse = 0_Ns
	Motor impulse.

Mass	motorMass = 0_kg
	Motor mass.

AngularVelocity	motorSpeed = 0_rpm
	The desired angular motor speed.

UnitVec	perp = UnitVec::GetZero()
	Perpendicular.

Angle	referenceAngle = 0_deg
	The constrained angle between the bodies: body B's angle minus body A's angle.

Length	s1 = 0_m
	Location S-1.

Length	s2 = 0_m
	Location S-2.

Length	upperTranslation = 0_m
	The upper translation limit.

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.)
AngularMomentum	GetAngularReaction (const PrismaticJointConf &conf)
	Gets the current angular reaction of the given configuration.

constexpr auto	GetLinearLowerLimit (const PrismaticJointConf &conf) noexcept
	Free function for getting the linear lower limit value of the given configuration.

Momentum2	GetLinearReaction (const PrismaticJointConf &conf)
	Gets the current linear reaction of the given configuration.

constexpr auto	GetLinearUpperLimit (const PrismaticJointConf &conf) noexcept
	Free function for getting the linear upper limit value of the given configuration.

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

constexpr void	SetLinearLimits (PrismaticJointConf &conf, Length lower, Length upper) noexcept
	Free function for setting the linear limits of the given configuration.

constexpr void	SetMaxMotorForce (PrismaticJointConf &object, Force value)
	Free function for setting the maximum motor torque value of the given configuration.

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

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

bool	SolveVelocity (PrismaticJointConf &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

Prismatic joint definition.

This joint provides one degree of freedom: translation along an axis fixed in body-A. Relative rotation is prevented. This requires defining a line of motion using an axis and an anchor point. The definition uses local anchor points and a local axis so that the initial configuration can violate the constraint slightly. The joint translation is zero when the local anchor points coincide in world space. Using local anchors and a local axis helps when saving and loading a game.

Note: You can use a joint limit to restrict the range of motion and a joint motor to drive the motion or to model joint friction.

See also: https://en.wikipedia.org/wiki/Prismatic_joint; Joint, World::CreateJoint

Constructor & Destructor Documentation

◆ PrismaticJointConf()

playrho::d2::PrismaticJointConf::PrismaticJointConf	(	BodyID	bA,
		BodyID	bB,
		const Length2 &	laA = `Length2{}`,
		const Length2 &	laB = `Length2{}`,
		const UnitVec &	axisA = `UnitVec::GetRight()`,
		Angle	angle = `0_deg`
	)

noexcept

Initializing constructor.

Initializes the bodies, anchors, axis, and reference angle using the world anchor and unit world axis.

Friends And Related Function Documentation

◆ InitVelocity()

void InitVelocity	(	PrismaticJointConf &	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: SolveVelocityConstraints.

◆ SolvePosition()

bool SolvePosition	(	const PrismaticJointConf &	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	(	PrismaticJointConf &	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/PrismaticJointConf.hpp
Library/source/playrho/d2/PrismaticJointConf.cpp

Public Types

Public Member Functions

Public Attributes

Related Functions

Detailed Description

Constructor & Destructor Documentation

◆ PrismaticJointConf()

Friends And Related Function Documentation

◆ InitVelocity()

◆ SolvePosition()

◆ SolveVelocity()