ConstraintManager Class Reference

#include <ConstraintManager.h>

Inheritance diagram for ConstraintManager:

Public Member Functions
JPH_OVERRIDE_NEW_DELETE void	Add (Constraint **inConstraints, int inNumber)
	Add a new constraint. This is thread safe.
void	Remove (Constraint **inConstraint, int inNumber)
	Remove a constraint. This is thread safe.
Constraints	GetConstraints () const
	Get a list of all constraints.
uint32	GetNumConstraints () const
	Get total number of constraints.
void	GetActiveConstraints (uint32 inStartConstraintIdx, uint32 inEndConstraintIdx, Constraint **outActiveConstraints, uint32 &outNumActiveConstraints) const
	Determine the active constraints of a subset of the constraints.
void	DrawConstraints (DebugRenderer *inRenderer) const
	Draw all constraints.
void	DrawConstraintLimits (DebugRenderer *inRenderer) const
	Draw all constraint limits.
void	DrawConstraintReferenceFrame (DebugRenderer *inRenderer) const
	Draw all constraint reference frames.
void	SaveState (StateRecorder &inStream, const StateRecorderFilter *inFilter) const
	Save state of constraints.
bool	RestoreState (StateRecorder &inStream)
	Restore the state of constraints. Returns false if failed.
void	LockAllConstraints ()
	Lock all constraints. This should only be done during PhysicsSystem::Update().
void	UnlockAllConstraints ()
Public Member Functions inherited from NonCopyable
	NonCopyable ()=default
	NonCopyable (const NonCopyable &)=delete
void	operator= (const NonCopyable &)=delete

Static Public Member Functions
static void	sBuildIslands (Constraint **inActiveConstraints, uint32 inNumActiveConstraints, IslandBuilder &ioBuilder, BodyManager &inBodyManager)
	Link bodies to form islands.
static void	sSortConstraints (Constraint **inActiveConstraints, uint32 *inConstraintIdxBegin, uint32 *inConstraintIdxEnd)
	In order to have a deterministic simulation, we need to sort the constraints of an island before solving them.
static void	sSetupVelocityConstraints (Constraint **inActiveConstraints, uint32 inNumActiveConstraints, float inDeltaTime)
	Prior to solving the velocity constraints, you must call SetupVelocityConstraints once to precalculate values that are independent of velocity.
template<class ConstraintCallback >
static void	sWarmStartVelocityConstraints (Constraint **inActiveConstraints, const uint32 *inConstraintIdxBegin, const uint32 *inConstraintIdxEnd, float inWarmStartImpulseRatio, ConstraintCallback &ioCallback)
	Apply last frame's impulses, must be called prior to SolveVelocityConstraints.
static bool	sSolveVelocityConstraints (Constraint **inActiveConstraints, const uint32 *inConstraintIdxBegin, const uint32 *inConstraintIdxEnd, float inDeltaTime)
	This function is called multiple times to iteratively come to a solution that meets all velocity constraints.
static bool	sSolvePositionConstraints (Constraint **inActiveConstraints, const uint32 *inConstraintIdxBegin, const uint32 *inConstraintIdxEnd, float inDeltaTime, float inBaumgarte)
	This function is called multiple times to iteratively come to a solution that meets all position constraints.

Detailed Description

A constraint manager manages all constraints of the same type

WARNING: This class is an internal part of PhysicsSystem, it has no functions that can be called by users of the library. Its functionality is exposed through PhysicsSystem and BodyInterface.

Member Function Documentation

Add()

JPH_NAMESPACE_BEGIN void ConstraintManager::Add	(	Constraint **	inConstraints,
		int	inNumber )

Add a new constraint. This is thread safe.

DrawConstraintLimits()

void ConstraintManager::DrawConstraintLimits

(

DebugRenderer *

inRenderer

)

const

Draw all constraint limits.

DrawConstraintReferenceFrame()

void ConstraintManager::DrawConstraintReferenceFrame

(

DebugRenderer *

inRenderer

)

const

Draw all constraint reference frames.

DrawConstraints()

void ConstraintManager::DrawConstraints

(

DebugRenderer *

inRenderer

)

const

Draw all constraints.

GetActiveConstraints()

void ConstraintManager::GetActiveConstraints	(	uint32	inStartConstraintIdx,
		uint32	inEndConstraintIdx,
		Constraint **	outActiveConstraints,
		uint32 &	outNumActiveConstraints ) const

Determine the active constraints of a subset of the constraints.

GetConstraints()

Constraints ConstraintManager::GetConstraints

(

)

const

Get a list of all constraints.

GetNumConstraints()

uint32 ConstraintManager::GetNumConstraints ( ) const

inline

Get total number of constraints.

LockAllConstraints()

void ConstraintManager::LockAllConstraints ( )

inline

Lock all constraints. This should only be done during PhysicsSystem::Update().

Remove()

void ConstraintManager::Remove	(	Constraint **	inConstraint,
		int	inNumber )

Remove a constraint. This is thread safe.

RestoreState()

bool ConstraintManager::RestoreState

(

StateRecorder &

inStream

)

Restore the state of constraints. Returns false if failed.

SaveState()

void ConstraintManager::SaveState	(	StateRecorder &	inStream,
		const StateRecorderFilter *	inFilter ) const

Save state of constraints.

sBuildIslands()

void ConstraintManager::sBuildIslands ( Constraint ** inActiveConstraints, uint32 inNumActiveConstraints, IslandBuilder & ioBuilder, BodyManager & inBodyManager )

static

Link bodies to form islands.

sSetupVelocityConstraints()

void ConstraintManager::sSetupVelocityConstraints ( Constraint ** inActiveConstraints, uint32 inNumActiveConstraints, float inDeltaTime )

static

Prior to solving the velocity constraints, you must call SetupVelocityConstraints once to precalculate values that are independent of velocity.

sSolvePositionConstraints()

bool ConstraintManager::sSolvePositionConstraints ( Constraint ** inActiveConstraints, const uint32 * inConstraintIdxBegin, const uint32 * inConstraintIdxEnd, float inDeltaTime, float inBaumgarte )

static

This function is called multiple times to iteratively come to a solution that meets all position constraints.

sSolveVelocityConstraints()

bool ConstraintManager::sSolveVelocityConstraints ( Constraint ** inActiveConstraints, const uint32 * inConstraintIdxBegin, const uint32 * inConstraintIdxEnd, float inDeltaTime )

static

This function is called multiple times to iteratively come to a solution that meets all velocity constraints.

sSortConstraints()

void ConstraintManager::sSortConstraints ( Constraint ** inActiveConstraints, uint32 * inConstraintIdxBegin, uint32 * inConstraintIdxEnd )

static

In order to have a deterministic simulation, we need to sort the constraints of an island before solving them.

sWarmStartVelocityConstraints()

template<class ConstraintCallback >

template void ConstraintManager::sWarmStartVelocityConstraints< DummyCalculateSolverSteps > ( Constraint ** inActiveConstraints, const uint32 * inConstraintIdxBegin, const uint32 * inConstraintIdxEnd, float inWarmStartImpulseRatio, ConstraintCallback & ioCallback )

static

Apply last frame's impulses, must be called prior to SolveVelocityConstraints.

UnlockAllConstraints()

void ConstraintManager::UnlockAllConstraints ( )

inline

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

• Jolt/Physics/Constraints/ConstraintManager.h
• Jolt/Physics/Constraints/ConstraintManager.cpp