Jolt Physics
A multi core friendly Game Physics Engine
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ConstraintManager Class Reference

A constraint manager manages all constraints of the same type. More...

#include <ConstraintManager.h>

Inheritance diagram for ConstraintManager:
NonCopyable

Public Member Functions

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

Detailed Description

A constraint manager manages all constraints of the same type.

Member Function Documentation

◆ Add()

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

Add a new constraint. This is thread safe. Note that the inConstraints array is allowed to have nullptrs, these will be ignored.

◆ 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. Note that the inConstraints array is allowed to have nullptrs, these will be ignored.

◆ 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

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