Pulley joint definition. More...

#include <playrho/d2/PulleyJointConf.hpp>

Inheritance diagram for playrho::d2::PulleyJointConf:

Collaboration diagram for playrho::d2::PulleyJointConf:

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

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

using	value_type = PulleyJointConf
	Value type.

Public Member Functions
	PulleyJointConf () noexcept
	Default constructor.

	PulleyJointConf (BodyID bA, BodyID bB, const Length2 &gaA=DefaultGroundAnchorA, const Length2 &gaB=DefaultGroundAnchorB, const Length2 &laA=DefaultLocalAnchorA, const Length2 &laB=DefaultLocalAnchorB, Length lA=0_m, Length lB=0_m)

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

Public Member Functions inherited from playrho::d2::JointBuilder< PulleyJointConf >
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
Length2	groundAnchorA = DefaultGroundAnchorA
	The first ground anchor in world coordinates. This point never moves.

Length2	groundAnchorB = DefaultGroundAnchorB
	The second ground anchor in world coordinates. This point never moves.

Momentum	impulse = 0_Ns
	Impulse.

Length	lengthA = 0_m
	The a reference length for the segment attached to body-A.

Length	lengthB = 0_m
	The a reference length for the segment attached to body-B.

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

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

Mass	mass = 0_kg
	Mass.

Length2	rA {}
	Relative A.

Real	ratio = 1
	The pulley ratio, used to simulate a block-and-tackle.

Length2	rB {}
	Relative B.

UnitVec	uA
	Unit vector A.

UnitVec	uB
	Unit vector 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 Length2	DefaultGroundAnchorA = Length2{-1_m, +1_m}
	Default ground anchor A.

static constexpr Length2	DefaultGroundAnchorB = Length2{+1_m, +1_m}
	Default ground anchor B.

static constexpr Length2	DefaultLocalAnchorA = Length2{-1_m, 0_m}
	Default local anchor A.

static constexpr Length2	DefaultLocalAnchorB = Length2{+1_m, 0_m}
	Default local anchor B.

Related Functions
(Note that these are not member functions.)
constexpr AngularMomentum	GetAngularReaction (const PulleyJointConf &) noexcept
	Gets the current angular reaction of the given configuration.

constexpr auto	GetLengthA (const PulleyJointConf &object) noexcept
	Free function for getting the length A value of the given configuration.

constexpr auto	GetLengthB (const PulleyJointConf &object) noexcept
	Free function for getting the length B value of the given configuration.

constexpr Momentum2	GetLinearReaction (const PulleyJointConf &object) noexcept
	Gets the current linear reaction of the given configuration.

void	InitVelocity (PulleyJointConf &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 (PulleyJointConf &object, Real value) noexcept
	Free function for setting the ratio value of the given configuration.

bool	ShiftOrigin (PulleyJointConf &object, const Length2 &newOrigin) noexcept
	Shifts the origin notion of the given configuration.

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

bool	SolveVelocity (PulleyJointConf &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

Pulley joint definition.

The pulley joint is connected to two bodies and two fixed ground points. The pulley supports a ratio such that: length1 + ratio * length2 <= constant.

Note: The force transmitted is scaled by the ratio.

Warning: the pulley joint can get a bit squirrelly by itself. They often work better when combined with prismatic joints. You should also cover the the anchor points with static shapes to prevent one side from going to zero length.

See also: Joint, World::CreateJoint

Constructor & Destructor Documentation

◆ PulleyJointConf()

playrho::d2::PulleyJointConf::PulleyJointConf	(	BodyID	bA,
		BodyID	bB,
		const Length2 &	gaA = `DefaultGroundAnchorA`,
		const Length2 &	gaB = `DefaultGroundAnchorB`,
		const Length2 &	laA = `DefaultLocalAnchorA`,
		const Length2 &	laB = `DefaultLocalAnchorB`,
		Length	lA = `0_m`,
		Length	lB = `0_m`
	)

Initialize the bodies, anchors, lengths, max lengths, and ratio using the world anchors.

Postcondition: bodyA will have the value of bA.; bodyB will have the value of bB.; groundAnchorA will have the value of gaA.; groundAnchorB will have the value of gaB.; localAnchorA will have the value of laA.; localAnchorB will have the value of laB.; lengthA will have the value of lA.; lengthB will have the value of lB.

Friends And Related Function Documentation

◆ InitVelocity()

void InitVelocity	(	PulleyJointConf &	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 PulleyJointConf &	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	(	PulleyJointConf &	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/PulleyJointConf.hpp
Library/source/playrho/d2/PulleyJointConf.cpp

Public Types

Public Member Functions

Public Attributes

Static Public Attributes

Related Functions

Detailed Description

Constructor & Destructor Documentation

◆ PulleyJointConf()

Friends And Related Function Documentation

◆ InitVelocity()

◆ SolvePosition()

◆ SolveVelocity()