Base class for all constraints that involve 2 bodies. Body1 is usually considered the parent, Body2 the child. More...

#include <TwoBodyConstraint.h>

Inheritance diagram for TwoBodyConstraint:

Public Member Functions
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 (uint inN)
	Used only when the constraint is active. Override for the number of solver velocity iterations to run, 0 means use the default in PhysicsSettings::mNumVelocitySteps. The number of iterations to use is the max of all contacts and constraints in the island. More...

uint	GetNumVelocityStepsOverride () const

void	SetNumPositionStepsOverride (uint inN)
	Used only when the constraint is active. Override for the number of solver position iterations to run, 0 means use the default in PhysicsSettings::mNumPositionSteps. The number of iterations to use is the max of all contacts and constraints in the island. More...

uint	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	ResetWarmStart ()=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...

virtual void	SetupVelocityConstraint (float inDeltaTime)=0

virtual void	WarmStartVelocityConstraint (float inWarmStartImpulseRatio)=0

virtual bool	SolveVelocityConstraint (float inDeltaTime)=0

virtual bool	SolvePositionConstraint (float inDeltaTime, float inBaumgarte)=0

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

Protected Attributes
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...

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...

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

Base class for all constraints that involve 2 bodies. Body1 is usually considered the parent, Body2 the child.

Constructor & Destructor Documentation

◆ TwoBodyConstraint()

JPH_OVERRIDE_NEW_DELETE TwoBodyConstraint::TwoBodyConstraint	(	Body &	inBody1,
		Body &	inBody2,
		const TwoBodyConstraintSettings &	inSettings
	)

inline

Constructor.

Member Function Documentation

◆ BuildIslands()

void TwoBodyConstraint::BuildIslands	(	uint32	inConstraintIndex,
		IslandBuilder &	ioBuilder,
		BodyManager &	inBodyManager
	)

overridevirtual

Link bodies that are connected by this constraint in the island builder.

Implements Constraint.

◆ BuildIslandSplits()

uint TwoBodyConstraint::BuildIslandSplits ( LargeIslandSplitter & ioSplitter ) const

overridevirtual

Link bodies that are connected by this constraint in the same split. Returns the split index.

Implements Constraint.

◆ DrawConstraintReferenceFrame()

void TwoBodyConstraint::DrawConstraintReferenceFrame ( DebugRenderer * inRenderer ) const

overridevirtual

Reimplemented from Constraint.

◆ GetBody1()

Body * TwoBodyConstraint::GetBody1 ( ) const

inline

Access to the connected bodies.

◆ GetBody2()

Body * TwoBodyConstraint::GetBody2 ( ) const

inline

◆ GetConstraintToBody1Matrix()

virtual Mat44 TwoBodyConstraint::GetConstraintToBody1Matrix ( ) const

pure virtual

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.

Implemented in ConeConstraint, DistanceConstraint, FixedConstraint, GearConstraint, HingeConstraint, PathConstraint, PointConstraint, PulleyConstraint, RackAndPinionConstraint, SixDOFConstraint, SliderConstraint, and SwingTwistConstraint.

◆ GetConstraintToBody2Matrix()

virtual Mat44 TwoBodyConstraint::GetConstraintToBody2Matrix ( ) const

pure virtual

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.

Implemented in ConeConstraint, DistanceConstraint, FixedConstraint, GearConstraint, HingeConstraint, PathConstraint, PointConstraint, PulleyConstraint, RackAndPinionConstraint, SixDOFConstraint, SliderConstraint, and SwingTwistConstraint.

◆ GetType()

virtual EConstraintType TwoBodyConstraint::GetType ( ) const

inlineoverridevirtual

Get the type of a constraint.

Reimplemented from Constraint.

◆ IsActive()

virtual bool TwoBodyConstraint::IsActive ( ) const

inlineoverridevirtual

Solver interface.

Reimplemented from Constraint.

Reimplemented in PathConstraint.

Member Data Documentation

◆ mBody1

Body* TwoBodyConstraint::mBody1

protected

The two bodies involved.

◆ mBody2

Body* TwoBodyConstraint::mBody2

protected

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

Jolt/Physics/Constraints/TwoBodyConstraint.h
Jolt/Physics/Constraints/TwoBodyConstraint.cpp

Public Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ TwoBodyConstraint()

Member Function Documentation

◆ BuildIslands()

◆ BuildIslandSplits()

◆ DrawConstraintReferenceFrame()

◆ GetBody1()

◆ GetBody2()

◆ GetConstraintToBody1Matrix()

◆ GetConstraintToBody2Matrix()

◆ GetType()

◆ IsActive()

Member Data Documentation

◆ mBody1

◆ mBody2