Wheel joint definition. More...

#include <playrho/d2/WheelJointConf.hpp>

Inheritance diagram for playrho::d2::WheelJointConf:

Collaboration diagram for playrho::d2::WheelJointConf:

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

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

using	value_type = WheelJointConf
	Value type.

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

	WheelJointConf (BodyID bA, BodyID bB, const Length2 &laA=Length2{}, const Length2 &laB=Length2{}, const UnitVec &axis=UnitVec::GetRight()) noexcept

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

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

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

constexpr auto &	UseMaxMotorTorque (Torque v) noexcept
	Uses the given max motor toque value.

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

Public Member Functions inherited from playrho::d2::JointBuilder< WheelJointConf >
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
AngularMomentum	angularImpulse = {}
	Angular impulse.

RotInertia	angularMass = RotInertia{}
	Motor mass.

UnitVec	ax
	Solver A X directional.

UnitVec	ay
	Solver A Y directional.

LinearVelocity	bias = 0_mps
	Bias.

Real	dampingRatio = DefaultDampingRatio
	Suspension damping ratio, one indicates critical damping.

bool	enableMotor = false
	Enable/disable the joint motor.

NonNegative< Frequency >	frequency = DefaultFrequency
	Suspension frequency, zero indicates no suspension.

InvMass	gamma = InvMass{}
	Gamma.

Momentum	impulse = 0_Ns
	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.

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

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

Mass	mass = 0_kg
	Mass.

Torque	maxMotorTorque = Torque{}
	The maximum motor torque.

AngularVelocity	motorSpeed = 0_rpm
	The desired angular motor speed.

Length	sAx = 0_m
	Solver A x location.

Length	sAy = 0_m
	Solver A y location.

Length	sBx = 0_m
	Solver B x location.

Length	sBy = 0_m
	Solver B y location.

Momentum	springImpulse = 0_Ns
	Spring impulse.

Mass	springMass = 0_kg
	Spring mass.

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 = Real(0.7f)
	Default damping ratio.

static constexpr auto	DefaultFrequency = NonNegative<Frequency>{2_Hz}
	Default frequency.

Related Functions
(Note that these are not member functions.)
constexpr Momentum2	GetLinearReaction (const WheelJointConf &object)
	Gets the current linear reaction for the given configuration.

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

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

constexpr void	SetMaxMotorTorque (WheelJointConf &object, Torque value) noexcept
	Sets the maximum motor torque for the given configuration.

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

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

bool	SolveVelocity (WheelJointConf &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

Wheel joint definition.

This joint provides two degrees of freedom: translation along an axis fixed in body A and rotation in the plane. In other words, it is a point to line constraint with a rotational motor and a linear spring/damper. 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: This joint is designed for vehicle suspensions.

See also: Joint, World::CreateJoint

Constructor & Destructor Documentation

◆ WheelJointConf()

playrho::d2::WheelJointConf::WheelJointConf	(	BodyID	bA,
		BodyID	bB,
		const Length2 &	laA = `Length2{}`,
		const Length2 &	laB = `Length2{}`,
		const UnitVec &	axis = `UnitVec::GetRight()`
	)

noexcept

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

Friends And Related Function Documentation

◆ InitVelocity()

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

Public Types

Public Member Functions

Public Attributes

Static Public Attributes

Related Functions

Detailed Description

Constructor & Destructor Documentation

◆ WheelJointConf()

Friends And Related Function Documentation

◆ InitVelocity()

◆ SolvePosition()

◆ SolveVelocity()