Path constraint, used to constrain the degrees of freedom between two bodies to a path. More...

#include <PathConstraint.h>

Inheritance diagram for PathConstraint:

Public Member Functions
JPH_OVERRIDE_NEW_DELETE	PathConstraint (Body &inBody1, Body &inBody2, const PathConstraintSettings &inSettings)
	Construct point constraint. More...

virtual EConstraintSubType	GetSubType () const override
	Get the sub type of a constraint. More...

virtual void	NotifyShapeChanged (const BodyID &inBodyID, Vec3Arg inDeltaCOM) override

virtual void	SetupVelocityConstraint (float inDeltaTime) override

virtual void	WarmStartVelocityConstraint (float inWarmStartImpulseRatio) override

virtual bool	SolveVelocityConstraint (float inDeltaTime) override

virtual bool	SolvePositionConstraint (float inDeltaTime, float inBaumgarte) override

virtual void	DrawConstraint (DebugRenderer *inRenderer) const override

virtual void	SaveState (StateRecorder &inStream) const override
	Saving state for replay. More...

virtual void	RestoreState (StateRecorder &inStream) override
	Restoring state for replay. More...

virtual bool	IsActive () const override
	Solver interface. More...

virtual Ref< ConstraintSettings >	GetConstraintSettings () const override
	Debug function to convert a constraint to its settings, note that this will not save to which bodies the constraint is connected to. More...

virtual Mat44	GetConstraintToBody1Matrix () const override
	Calculates the transform that transforms from constraint space to body 1 space. The first column of the matrix is the primary constraint axis (e.g. the hinge axis / slider direction), second column the secondary etc. More...

virtual Mat44	GetConstraintToBody2Matrix () const override
	Calculates the transform that transforms from constraint space to body 2 space. The first column of the matrix is the primary constraint axis (e.g. the hinge axis / slider direction), second column the secondary etc. More...

void	SetPath (const PathConstraintPath *inPath, float inPathFraction)
	Update the path for this constraint. More...

const PathConstraintPath *	GetPath () const
	Access to the current path. More...

float	GetPathFraction () const
	Access to the current fraction along the path e [0, GetPath()->GetMaxPathFraction()]. More...

void	SetMaxFrictionForce (float inFrictionForce)
	Friction control. More...

float	GetMaxFrictionForce () const

MotorSettings &	GetPositionMotorSettings ()
	Position motor settings. More...

const MotorSettings &	GetPositionMotorSettings () const

void	SetPositionMotorState (EMotorState inState)

EMotorState	GetPositionMotorState () const

void	SetTargetVelocity (float inVelocity)

float	GetTargetVelocity () const

void	SetTargetPathFraction (float inFraction)

float	GetTargetPathFraction () const

Public Member Functions inherited from TwoBodyConstraint
JPH_OVERRIDE_NEW_DELETE	TwoBodyConstraint (Body &inBody1, Body &inBody2, const TwoBodyConstraintSettings &inSettings)
	Constructor. More...

virtual EConstraintType	GetType () const override
	Get the type of a constraint. More...

virtual bool	IsActive () const override
	Solver interface. More...

virtual void	DrawConstraintReferenceFrame (DebugRenderer *inRenderer) const override

Body *	GetBody1 () const
	Access to the connected bodies. More...

Body *	GetBody2 () const

virtual Mat44	GetConstraintToBody1Matrix () const =0
	Calculates the transform that transforms from constraint space to body 1 space. The first column of the matrix is the primary constraint axis (e.g. the hinge axis / slider direction), second column the secondary etc. More...

virtual Mat44	GetConstraintToBody2Matrix () const =0
	Calculates the transform that transforms from constraint space to body 2 space. The first column of the matrix is the primary constraint axis (e.g. the hinge axis / slider direction), second column the secondary etc. More...

virtual void	BuildIslands (uint32 inConstraintIndex, IslandBuilder &ioBuilder, BodyManager &inBodyManager) override
	Link bodies that are connected by this constraint in the island builder. More...

virtual uint	BuildIslandSplits (LargeIslandSplitter &ioSplitter) const override
	Link bodies that are connected by this constraint in the same split. Returns the split index. More...

Public Member Functions inherited from Constraint
JPH_OVERRIDE_NEW_DELETE	Constraint (const ConstraintSettings &inSettings)
	Constructor. More...

virtual	~Constraint ()=default
	Virtual destructor. More...

virtual EConstraintType	GetType () const
	Get the type of a constraint. More...

virtual EConstraintSubType	GetSubType () const =0
	Get the sub type of a constraint. More...

uint32	GetConstraintPriority () const

void	SetConstraintPriority (uint32 inPriority)

void	SetNumVelocityStepsOverride (int inN)
	Override for the number of solver velocity iterations to run, the total amount of iterations is the max of PhysicsSettings::mNumVelocitySteps and this for all constraints in the island. More...

int	GetNumVelocityStepsOverride () const

void	SetNumPositionStepsOverride (int inN)
	Override for the number of position velocity iterations to run, the total amount of iterations is the max of PhysicsSettings::mNumPositionSteps and this for all constraints in the island. More...

int	GetNumPositionStepsOverride () const

void	SetEnabled (bool inEnabled)

bool	GetEnabled () const
	Test if a constraint is enabled. More...

uint64	GetUserData () const
	Access to the user data, can be used for anything by the application. More...

void	SetUserData (uint64 inUserData)

virtual void	NotifyShapeChanged (const BodyID &inBodyID, Vec3Arg inDeltaCOM)=0

virtual void	BuildIslands (uint32 inConstraintIndex, IslandBuilder &ioBuilder, BodyManager &inBodyManager)=0
	Link bodies that are connected by this constraint in the island builder. More...

virtual uint	BuildIslandSplits (LargeIslandSplitter &ioSplitter) const =0
	Link bodies that are connected by this constraint in the same split. Returns the split index. More...

virtual void	DrawConstraint (DebugRenderer *inRenderer) const =0

virtual void	DrawConstraintLimits (DebugRenderer *inRenderer) const

virtual void	DrawConstraintReferenceFrame (DebugRenderer *inRenderer) const

float	GetDrawConstraintSize () const
	Size of constraint when drawing it through the debug renderer. More...

void	SetDrawConstraintSize (float inSize)

virtual void	SaveState (StateRecorder &inStream) const
	Saving state for replay. More...

virtual void	RestoreState (StateRecorder &inStream)
	Restoring state for replay. More...

virtual Ref< ConstraintSettings >	GetConstraintSettings () const =0
	Debug function to convert a constraint to its settings, note that this will not save to which bodies the constraint is connected to. More...

Public Member Functions inherited from RefTarget< Constraint >
	RefTarget ()=default
	Constructor. More...

	RefTarget (const RefTarget &)

	~RefTarget ()
	assert no one is referencing us More...

void	SetEmbedded () const

RefTarget &	operator= (const RefTarget &)
	Assignment operator. More...

uint32	GetRefCount () const
	Get current refcount of this object. More...

void	AddRef () const
	Add or release a reference to this object. More...

void	Release () const

Public Member Functions inherited from NonCopyable
	NonCopyable ()=default

	NonCopyable (const NonCopyable &)=delete

void	operator= (const NonCopyable &)=delete

Get Lagrange multiplier from last physics update (the linear/angular impulse applied to satisfy the constraint)
Vector< 2 >	GetTotalLambdaPosition () const

float	GetTotalLambdaPositionLimits () const

float	GetTotalLambdaMotor () const

Vector< 2 >	GetTotalLambdaRotationHinge () const

Vec3	GetTotalLambdaRotation () const

Additional Inherited Members
Static Public Member Functions inherited from RefTarget< Constraint >
static int	sInternalGetRefCountOffset ()
	INTERNAL HELPER FUNCTION USED BY SERIALIZATION. More...

Protected Member Functions inherited from Constraint
void	ToConstraintSettings (ConstraintSettings &outSettings) const
	Helper function to copy settings back to constraint settings for this base class. More...

Protected Attributes inherited from TwoBodyConstraint
Body *	mBody1
	The two bodies involved. More...

Body *	mBody2

Protected Attributes inherited from Constraint
float	mDrawConstraintSize
	Size of constraint when drawing it through the debug renderer. More...

Protected Attributes inherited from RefTarget< Constraint >
atomic< uint32 >	mRefCount
	Current reference count. More...

Static Protected Attributes inherited from RefTarget< Constraint >
static constexpr uint32	cEmbedded
	A large value that gets added to the refcount to mark the object as embedded. More...

Detailed Description

Path constraint, used to constrain the degrees of freedom between two bodies to a path.

Constructor & Destructor Documentation

◆ PathConstraint()

PathConstraint::PathConstraint	(	Body &	inBody1,
		Body &	inBody2,
		const PathConstraintSettings &	inSettings
	)

Construct point constraint.

Member Function Documentation

◆ DrawConstraint()

void PathConstraint::DrawConstraint ( DebugRenderer * inRenderer ) const

overridevirtual

Implements Constraint.

◆ GetConstraintSettings()

Ref< ConstraintSettings > PathConstraint::GetConstraintSettings ( ) const

overridevirtual

Debug function to convert a constraint to its settings, note that this will not save to which bodies the constraint is connected to.

Implements Constraint.

◆ GetConstraintToBody1Matrix()

virtual Mat44 PathConstraint::GetConstraintToBody1Matrix ( ) const

inlineoverridevirtual

Calculates the transform that transforms from constraint space to body 1 space. The first column of the matrix is the primary constraint axis (e.g. the hinge axis / slider direction), second column the secondary etc.

Implements TwoBodyConstraint.

◆ GetConstraintToBody2Matrix()

virtual Mat44 PathConstraint::GetConstraintToBody2Matrix ( ) const

inlineoverridevirtual

Calculates the transform that transforms from constraint space to body 2 space. The first column of the matrix is the primary constraint axis (e.g. the hinge axis / slider direction), second column the secondary etc.

Implements TwoBodyConstraint.

◆ GetMaxFrictionForce()

float PathConstraint::GetMaxFrictionForce ( ) const

inline

◆ GetPath()

const PathConstraintPath * PathConstraint::GetPath ( ) const

inline

Access to the current path.

◆ GetPathFraction()

float PathConstraint::GetPathFraction ( ) const

inline

Access to the current fraction along the path e [0, GetPath()->GetMaxPathFraction()].

◆ GetPositionMotorSettings() [1/2]

MotorSettings & PathConstraint::GetPositionMotorSettings ( )

inline

Position motor settings.

◆ GetPositionMotorSettings() [2/2]

const MotorSettings & PathConstraint::GetPositionMotorSettings ( ) const

inline

◆ GetPositionMotorState()

EMotorState PathConstraint::GetPositionMotorState ( ) const

inline

◆ GetSubType()

virtual EConstraintSubType PathConstraint::GetSubType ( ) const

inlineoverridevirtual

Get the sub type of a constraint.

Implements Constraint.

◆ GetTargetPathFraction()

float PathConstraint::GetTargetPathFraction ( ) const

inline

◆ GetTargetVelocity()

float PathConstraint::GetTargetVelocity ( ) const

inline

◆ GetTotalLambdaMotor()

float PathConstraint::GetTotalLambdaMotor ( ) const

inline

◆ GetTotalLambdaPosition()

Vector< 2 > PathConstraint::GetTotalLambdaPosition ( ) const

inline

◆ GetTotalLambdaPositionLimits()

float PathConstraint::GetTotalLambdaPositionLimits ( ) const

inline

◆ GetTotalLambdaRotation()

Vec3 PathConstraint::GetTotalLambdaRotation ( ) const

inline

◆ GetTotalLambdaRotationHinge()

Vector< 2 > PathConstraint::GetTotalLambdaRotationHinge ( ) const

inline

◆ IsActive()

virtual bool PathConstraint::IsActive ( ) const

inlineoverridevirtual

Solver interface.

Reimplemented from TwoBodyConstraint.

◆ NotifyShapeChanged()

void PathConstraint::NotifyShapeChanged	(	const BodyID &	inBodyID,
		Vec3Arg	inDeltaCOM
	)

overridevirtual

Notify the constraint that the shape of a body has changed and that its center of mass has moved by inDeltaCOM. Bodies don't know which constraints are connected to them so the user is responsible for notifying the relevant constraints when a body changes.

Parameters

inBodyID	ID of the body that has changed
inDeltaCOM	The delta of the center of mass of the body (shape->GetCenterOfMass() - shape_before_change->GetCenterOfMass())

Implements Constraint.

◆ RestoreState()

void PathConstraint::RestoreState ( StateRecorder & inStream )

overridevirtual

Restoring state for replay.

Reimplemented from Constraint.

◆ SaveState()

void PathConstraint::SaveState ( StateRecorder & inStream ) const

overridevirtual

Saving state for replay.

Reimplemented from Constraint.

◆ SetMaxFrictionForce()

void PathConstraint::SetMaxFrictionForce ( float inFrictionForce )

inline

Friction control.

◆ SetPath()

void PathConstraint::SetPath	(	const PathConstraintPath *	inPath,
		float	inPathFraction
	)

Update the path for this constraint.

◆ SetPositionMotorState()

void PathConstraint::SetPositionMotorState ( EMotorState inState )

inline

◆ SetTargetPathFraction()

void PathConstraint::SetTargetPathFraction ( float inFraction )

inline

◆ SetTargetVelocity()

void PathConstraint::SetTargetVelocity ( float inVelocity )

inline

◆ SetupVelocityConstraint()

void PathConstraint::SetupVelocityConstraint ( float inDeltaTime )

overridevirtual

Implements Constraint.

◆ SolvePositionConstraint()

bool PathConstraint::SolvePositionConstraint	(	float	inDeltaTime,
		float	inBaumgarte
	)

overridevirtual

Implements Constraint.

◆ SolveVelocityConstraint()

bool PathConstraint::SolveVelocityConstraint ( float inDeltaTime )

overridevirtual

Implements Constraint.

◆ WarmStartVelocityConstraint()

void PathConstraint::WarmStartVelocityConstraint ( float inWarmStartImpulseRatio )

overridevirtual

Implements Constraint.

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

Jolt/Physics/Constraints/PathConstraint.h
Jolt/Physics/Constraints/PathConstraint.cpp

Public Member Functions

Get Lagrange multiplier from last physics update (the linear/angular impulse applied to satisfy the constraint)

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ PathConstraint()

Member Function Documentation

◆ DrawConstraint()

◆ GetConstraintSettings()

◆ GetConstraintToBody1Matrix()

◆ GetConstraintToBody2Matrix()

◆ GetMaxFrictionForce()

◆ GetPath()

◆ GetPathFraction()

◆ GetPositionMotorSettings() [1/2]

◆ GetPositionMotorSettings() [2/2]

◆ GetPositionMotorState()

◆ GetSubType()

◆ GetTargetPathFraction()

◆ GetTargetVelocity()

◆ GetTotalLambdaMotor()

◆ GetTotalLambdaPosition()

◆ GetTotalLambdaPositionLimits()

◆ GetTotalLambdaRotation()

◆ GetTotalLambdaRotationHinge()

◆ IsActive()

◆ NotifyShapeChanged()

◆ RestoreState()

◆ SaveState()

◆ SetMaxFrictionForce()

◆ SetPath()

◆ SetPositionMotorState()

◆ SetTargetPathFraction()

◆ SetTargetVelocity()

◆ SetupVelocityConstraint()

◆ SolvePositionConstraint()

◆ SolveVelocityConstraint()

◆ WarmStartVelocityConstraint()