Target joint definition. More...

#include <playrho/d2/TargetJointConf.hpp>

Inheritance diagram for playrho::d2::TargetJointConf:

Collaboration diagram for playrho::d2::TargetJointConf:

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

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

using	value_type = TargetJointConf
	Value type.

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

constexpr	TargetJointConf (BodyID b) noexcept
	Initializing constructor.

constexpr auto &	UseAnchor (const Length2 &v) noexcept
	Use value for the "anchor" (in coordinates local to "body B"). More...

constexpr auto &	UseDampingRatio (NonNegative< Real > v) noexcept
	Use value for damping ratio.

constexpr auto &	UseFrequency (NonNegative< Frequency > v) noexcept
	Use value for frequency.

constexpr auto &	UseMaxForce (NonNegative< Force > v) noexcept
	Use value for max force.

constexpr auto &	UseTarget (const Length2 &v) noexcept
	Use value for target.

Public Member Functions inherited from playrho::d2::JointBuilder< TargetJointConf >
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
LinearVelocity2	C = {}
	Velocity constant.

NonNegative< Real >	dampingRatio = DefaultDampingRatio
	The damping ratio. 0 = no damping, 1 = critical damping.

NonNegative< Frequency >	frequency = DefaultFrequency

InvMass	gamma = InvMass{}
	Gamma.

Momentum2	impulse = Momentum2{}
	Impulse.

Length2	localAnchorB = Length2{}
	Anchor point.

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

NonNegative< Force >	maxForce = DefaultMaxForce

Length2	rB = {}
	Relative B.

Length2	target = Length2{}

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	DefaultDampingRatio = NonNegativeFF<Real>(static_cast<Real>(0.7f))
	Default damping ratio.

static constexpr auto	DefaultFrequency = NonNegativeFF<Frequency>(5_Hz)
	Default frequency.

static constexpr auto	DefaultMaxForce = NonNegativeFF<Force>(0_N)
	Default max force.

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

Mass22	GetEffectiveMassMatrix (const TargetJointConf &object, const BodyConstraint &body) noexcept
	Gets the effective mass matrix for the given configuration and body information.

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

constexpr auto	GetLocalAnchorA (const TargetJointConf &) noexcept
	Gets the local anchar A for the given configuration.

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

constexpr auto	GetTarget (const TargetJointConf &object) noexcept
	Free function for getting the target value of the given configuration.

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

constexpr void	SetDampingRatio (TargetJointConf &object, Real value) noexcept
	Free function for setting the damping ratio value of the given configuration.

constexpr void	SetFrequency (TargetJointConf &object, NonNegative< Frequency > value) noexcept
	Free function for setting the frequency value of the given configuration.

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

constexpr void	SetTarget (TargetJointConf &object, const Length2 &value) noexcept
	Free function for setting the target value of the given configuration.

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

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

bool	SolveVelocity (TargetJointConf &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

Target joint definition.

A target joint is used to make a point on a body track a specified world point. This a soft constraint with a maximum force. This allows the constraint to stretch and without applying huge forces.

See also: Joint, World::CreateJoint

Member Function Documentation

◆ UseAnchor()

constexpr auto& playrho::d2::TargetJointConf::UseAnchor ( const Length2 & v )

inlineconstexprnoexcept

Use value for the "anchor" (in coordinates local to "body B").

Note: Typically this would be the value of: bodyB != InvalidBodyID ? GetLocalPoint(GetBody(world, bodyB), target) : Length2().

Friends And Related Function Documentation

◆ InitVelocity()

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

Note: This MUST be called prior to calling SolveVelocity.

Parameters

object	Configuration object. `bodyB` must index a body 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 bodyB value is not InvalidBodyID and does not index within range of the given bodies container.

See also: SolveVelocity.

◆ SolvePosition()

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

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

Returns: true.

◆ SolveVelocity()

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

Precondition: InitVelocity has been called.

Parameters

object	Configuration object. `bodyB` must index a body 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 bodyB value is not InvalidBodyID and does not index within range of the given bodies container.

See also: InitVelocity.

Returns: true if velocity is "solved", false otherwise.

Member Data Documentation

◆ frequency

NonNegative<Frequency> playrho::d2::TargetJointConf::frequency = DefaultFrequency

Frequency.

The has to do with the response speed.

Note: This value may not be negative.

Referenced by UseFrequency().

◆ maxForce

NonNegative<Force> playrho::d2::TargetJointConf::maxForce = DefaultMaxForce

Max force.

The maximum constraint force that can be exerted to move the candidate body. Usually you will express as some multiple of the weight (multiplier * mass * gravity).

Note: This may not be negative.

Referenced by UseMaxForce().

◆ target

Length2 playrho::d2::TargetJointConf::target = Length2{}

The initial world target point. This is assumed to coincide with the body anchor initially.

Referenced by UseTarget().

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

Library/include/playrho/d2/TargetJointConf.hpp

Public Types

Public Member Functions

Public Attributes

Static Public Attributes

Related Functions