Weld joint definition. More...

#include <playrho/d2/WeldJointConf.hpp>

Inheritance diagram for playrho::d2::WeldJointConf:

Collaboration diagram for playrho::d2::WeldJointConf:

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

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

using	value_type = WeldJointConf
	Value type.

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

	WeldJointConf (BodyID bA, BodyID bB, const Length2 &laA=Length2{}, const Length2 &laB=Length2{}, Angle ra=0_deg) noexcept
	Initializing constructor. More...

constexpr auto &	UseDampingRatio (Real v) noexcept
	Uses the given damping ratio.

constexpr auto &	UseFrequency (NonNegative< Frequency > v) noexcept
	Uses the given frequency value.

Public Member Functions inherited from playrho::d2::JointBuilder< WeldJointConf >
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
AngularVelocity	bias = {}
	Bias.

Real	dampingRatio = 0
	Damping ratio. More...

NonNegative< Frequency >	frequency = DefaultFrequency
	Mass-spring-damper frequency. More...

InvRotInertia	gamma = {}
	Gamma.

Vec3	impulse = Vec3{}
	Impulse.

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.

Mat33	mass = {}
	Mass.

Length2	rA = {}
	Relative A.

Length2	rB = {}
	Relative B.

Angle	referenceAngle = 0_deg
	The body-B angle minus body-A angle in the reference state (radians).

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	DefaultFrequency = NonNegativeFF<Frequency>(0_Hz)
	Default frequency.

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

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

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

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

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

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

bool	SolveVelocity (WeldJointConf &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

Weld joint definition.

Note: A weld joint essentially glues two bodies together. A weld joint may distort somewhat because the island constraint solver is approximate.; You need to specify local anchor points where they are attached and the relative body angle.; The position of the anchor points is important for computing the reaction torque.

See also: Joint, World::CreateJoint

Constructor & Destructor Documentation

◆ WeldJointConf()

playrho::d2::WeldJointConf::WeldJointConf	(	BodyID	bA,
		BodyID	bB,
		const Length2 &	laA = `Length2{}`,
		const Length2 &	laB = `Length2{}`,
		Angle	ra = `0_deg`
	)

noexcept

Initializing constructor.

Initializes the bodies, anchors, and reference angle using a world anchor point.

Parameters

bA	Identifier of body A.
bB	Identifier of body B.
laA	Local anchor A location in world coordinates.
laB	Local anchor B location in world coordinates.
ra	Reference angle.

Postcondition: bodyA will have the value of bA.; bodyB will have the value of bB.; localAnchorA will have the value of laA.; localAnchorB will have the value of laB.; referenceAngle will have the value of ra.

Friends And Related Function Documentation

◆ InitVelocity()

void InitVelocity	(	WeldJointConf &	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 WeldJointConf &	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	(	WeldJointConf &	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

◆ dampingRatio

Real playrho::d2::WeldJointConf::dampingRatio = 0

Damping ratio.

Note: 0 = no damping, 1 = critical damping.

Referenced by UseDampingRatio().

◆ frequency

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

Mass-spring-damper frequency.

Note: Rotation only.; Disable softness with a value of 0.

Referenced by UseFrequency().

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

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

Public Types

Public Member Functions

Public Attributes

Static Public Attributes

Related Functions

Detailed Description

Constructor & Destructor Documentation

◆ WeldJointConf()

Friends And Related Function Documentation

◆ InitVelocity()

◆ SolvePosition()

◆ SolveVelocity()

Member Data Documentation

◆ dampingRatio

◆ frequency