#include <VelocityConstraint.hpp>

Classes
struct	Conf
	Configuration data for velocity constraints. More...

struct	Point
	Velocity constraint point. More...

Public Types
using	size_type = std::remove_const< decltype(MaxManifoldPoints)>::type
	Size type. More...

Public Member Functions
	VelocityConstraint ()=default

	VelocityConstraint (const VelocityConstraint &copy)=default
	Copy constructor. More...

VelocityConstraint &	operator= (const VelocityConstraint &copy)=default
	Assignment operator. More...

	VelocityConstraint (Real friction, Real restitution, LinearVelocity tangentSpeed, const WorldManifold &worldManifold, BodyConstraint &bA, BodyConstraint &bB, Conf conf=GetDefaultConf())
	Initializing constructor. More...

UnitVec	GetNormal () const noexcept

UnitVec	GetTangent () const noexcept
	Gets the tangent. More...

size_type	GetPointCount () const noexcept

InvMass22	GetK () const noexcept

Mass22	GetNormalMass () const noexcept

Real	GetFriction () const noexcept
	Gets the combined friction of the associated contact. More...

Real	GetRestitution () const noexcept
	Gets the combined restitution of the associated contact. More...

LinearVelocity	GetTangentSpeed () const noexcept
	Gets the tangent speed of the associated contact. More...

BodyConstraint *	GetBodyA () const noexcept
	Gets body A. More...

BodyConstraint *	GetBodyB () const noexcept
	Gets body B. More...

Momentum	GetNormalImpulseAtPoint (size_type index) const noexcept

Momentum	GetTangentImpulseAtPoint (size_type index) const noexcept

LinearVelocity	GetVelocityBiasAtPoint (size_type index) const noexcept

Mass	GetNormalMassAtPoint (size_type index) const noexcept

Mass	GetTangentMassAtPoint (size_type index) const noexcept

Length2	GetPointRelPosA (size_type index) const noexcept

Length2	GetPointRelPosB (size_type index) const noexcept

void	SetNormalImpulseAtPoint (size_type index, Momentum value)
	Sets the normal impulse at the given point. More...

void	SetTangentImpulseAtPoint (size_type index, Momentum value)
	Sets the tangent impulse at the given point. More...

const Point &	GetPointAt (size_type index) const
	Accesses the point identified by the given index. More...

Static Public Member Functions
static PLAYRHO_CONSTEXPR Conf	GetDefaultConf () noexcept
	Gets the default configuration for a `VelocityConstraint`. More...

Detailed Description

Contact velocity constraint.

Note: A valid contact velocity constraint must have a point count of either 1 or 2.; This data structure is 136-bytes large (on at least one 64-bit platform).

Invariant: The "K" value cannot be changed independent of: the total inverse mass, the normal, and the point relative positions.; The normal mass cannot be changed independent of: the "K" value.; The velocity biases cannot be changed independent of: the normal, and the point relative positions.

Definition at line 45 of file VelocityConstraint.hpp.

Member Typedef Documentation

◆ size_type

using playrho::d2::VelocityConstraint::size_type = std::remove_const<decltype(MaxManifoldPoints)>::type

Size type.

Definition at line 50 of file VelocityConstraint.hpp.

Constructor & Destructor Documentation

◆ VelocityConstraint() [1/3]

playrho::d2::VelocityConstraint::VelocityConstraint ( )

default

Default constructor.

Initializes object with: a zero point count, an invalid K, an invalid normal mass, an invalid normal, invalid friction, invalid restitution, an invalid tangent speed.

◆ VelocityConstraint() [2/3]

playrho::d2::VelocityConstraint::VelocityConstraint ( const VelocityConstraint & copy )

default

Copy constructor.

◆ VelocityConstraint() [3/3]

playrho::d2::VelocityConstraint::VelocityConstraint	(	Real	friction,
		Real	restitution,
		LinearVelocity	tangentSpeed,
		const WorldManifold &	worldManifold,
		BodyConstraint &	bA,
		BodyConstraint &	bB,
		Conf	conf = `GetDefaultConf()`
	)

Initializing constructor.

Definition at line 75 of file VelocityConstraint.cpp.

Member Function Documentation

◆ GetDefaultConf()

static PLAYRHO_CONSTEXPR Conf playrho::d2::VelocityConstraint::GetDefaultConf ( )

inlinestaticnoexcept

Gets the default configuration for a VelocityConstraint.

Definition at line 61 of file VelocityConstraint.hpp.

◆ operator=()

VelocityConstraint& playrho::d2::VelocityConstraint::operator= ( const VelocityConstraint & copy )

default

Assignment operator.

◆ GetNormal()

UnitVec playrho::d2::VelocityConstraint::GetNormal ( ) const

inlinenoexcept

Gets the normal of the contact in world coordinates.

Note: This value is set on construction.

Returns: Contact normal (in world coordinates) if previously set, an invalid value otherwise.

Definition at line 89 of file VelocityConstraint.hpp.

◆ GetTangent()

UnitVec playrho::d2::VelocityConstraint::GetTangent ( ) const

inlinenoexcept

Gets the tangent.

Definition at line 92 of file VelocityConstraint.hpp.

◆ GetPointCount()

size_type playrho::d2::VelocityConstraint::GetPointCount ( ) const

inlinenoexcept

Gets the count of points added to this object.

Returns: Value between 0 and MaxManifoldPoints.

See also: MaxManifoldPoints.; AddPoint.

Definition at line 98 of file VelocityConstraint.hpp.

◆ GetK()

InvMass22 playrho::d2::VelocityConstraint::GetK ( ) const

inlinenoexcept

Gets the "K" value.

Note: This value is only valid if previously set to a valid value.

Returns: "K" value previously set or the zero initialized value.

Definition at line 301 of file VelocityConstraint.hpp.

◆ GetNormalMass()

Mass22 playrho::d2::VelocityConstraint::GetNormalMass ( ) const

inlinenoexcept

Gets the normal mass.

Note: This value is only valid if previously set.

Returns: normal mass previously set or the zero initialized value.

Definition at line 309 of file VelocityConstraint.hpp.

◆ GetFriction()

Real playrho::d2::VelocityConstraint::GetFriction ( ) const

inlinenoexcept

Gets the combined friction of the associated contact.

Definition at line 111 of file VelocityConstraint.hpp.

◆ GetRestitution()

Real playrho::d2::VelocityConstraint::GetRestitution ( ) const

inlinenoexcept

Gets the combined restitution of the associated contact.

Definition at line 114 of file VelocityConstraint.hpp.

◆ GetTangentSpeed()

LinearVelocity playrho::d2::VelocityConstraint::GetTangentSpeed ( ) const

inlinenoexcept

Gets the tangent speed of the associated contact.

Definition at line 117 of file VelocityConstraint.hpp.

◆ GetBodyA()

BodyConstraint* playrho::d2::VelocityConstraint::GetBodyA ( ) const

inlinenoexcept

Gets body A.

Definition at line 120 of file VelocityConstraint.hpp.

◆ GetBodyB()

BodyConstraint* playrho::d2::VelocityConstraint::GetBodyB ( ) const

inlinenoexcept

Gets body B.

Definition at line 123 of file VelocityConstraint.hpp.

◆ GetNormalImpulseAtPoint()

Momentum playrho::d2::VelocityConstraint::GetNormalImpulseAtPoint ( VelocityConstraint::size_type index ) const

inlinenoexcept

Gets the normal impulse at the given point.

Note: Call the AddPoint or SetNormalImpulseAtPoint method to set this value.

Returns: Value previously set, or an invalid value.

See also: SetNormalImpulseAtPoint.

Definition at line 342 of file VelocityConstraint.hpp.

◆ GetTangentImpulseAtPoint()

Momentum playrho::d2::VelocityConstraint::GetTangentImpulseAtPoint ( VelocityConstraint::size_type index ) const

inlinenoexcept

Gets the tangent impulse at the given point.

Note: Call the AddPoint or SetTangentImpulseAtPoint method to set this value.

Returns: Value previously set, or an invalid value.

See also: SetTangentImpulseAtPoint.

Definition at line 347 of file VelocityConstraint.hpp.

◆ GetVelocityBiasAtPoint()

LinearVelocity playrho::d2::VelocityConstraint::GetVelocityBiasAtPoint ( size_type index ) const

inlinenoexcept

Gets the velocity bias at the given point.

Note: The AddPoint method sets this value.

Returns: Previously set value or an invalid value.

Definition at line 327 of file VelocityConstraint.hpp.

◆ GetNormalMassAtPoint()

Mass playrho::d2::VelocityConstraint::GetNormalMassAtPoint ( VelocityConstraint::size_type index ) const

inlinenoexcept

Gets the normal mass at the given point.

Note: This value depends on the values of: the sum of the inverse-masses of the two bodies, the bodies' inverse-rotational-inertia, the point-relative A and B positions, and the normal.; The AddPoint method sets this value.

Definition at line 332 of file VelocityConstraint.hpp.

◆ GetTangentMassAtPoint()

Mass playrho::d2::VelocityConstraint::GetTangentMassAtPoint ( VelocityConstraint::size_type index ) const

inlinenoexcept

Gets the tangent mass at the given point.

Note: This value depends on the values of: the sum of the inverse-masses of the two bodies, the bodies' inverse-rotational-inertia, the point-relative A and B positions, and the tangent.; The AddPoint method sets this value.

Definition at line 337 of file VelocityConstraint.hpp.

◆ GetPointRelPosA()

Length2 playrho::d2::VelocityConstraint::GetPointRelPosA ( VelocityConstraint::size_type index ) const

inlinenoexcept

Gets the point relative position of A.

Note: The AddPoint method sets this value.

Returns: Previously set value or an invalid value.

Definition at line 317 of file VelocityConstraint.hpp.

◆ GetPointRelPosB()

Length2 playrho::d2::VelocityConstraint::GetPointRelPosB ( VelocityConstraint::size_type index ) const

inlinenoexcept

Gets the point relative position of B.

Note: The AddPoint method sets this value.

Returns: Previously set value or an invalid value.

Definition at line 322 of file VelocityConstraint.hpp.

◆ SetNormalImpulseAtPoint()

void playrho::d2::VelocityConstraint::SetNormalImpulseAtPoint	(	VelocityConstraint::size_type	index,
		Momentum	value
	)

inline

Sets the normal impulse at the given point.

Definition at line 352 of file VelocityConstraint.hpp.

◆ SetTangentImpulseAtPoint()

void playrho::d2::VelocityConstraint::SetTangentImpulseAtPoint	(	VelocityConstraint::size_type	index,
		Momentum	value
	)

inline

Sets the tangent impulse at the given point.

Definition at line 357 of file VelocityConstraint.hpp.

◆ GetPointAt()

const Point& playrho::d2::VelocityConstraint::GetPointAt ( size_type index ) const

inline

Accesses the point identified by the given index.

Warning: Behavior is undefined if given index is not less than MaxManifoldPoints.

Parameters

index Index of the point to return. This should be a value less than returned by GetPointCount.

Returns: velocity constraint point for the given index. This point's data will be invalid unless previously added and set.

See also: GetPointCount.

Definition at line 224 of file VelocityConstraint.hpp.

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

Dynamics/Contacts/VelocityConstraint.hpp
Dynamics/Contacts/VelocityConstraint.cpp

Classes

Public Types

Public Member Functions

Static Public Member Functions

Detailed Description

Member Typedef Documentation

◆ size_type

Constructor & Destructor Documentation

◆ VelocityConstraint() [1/3]

◆ VelocityConstraint() [2/3]

◆ VelocityConstraint() [3/3]

Member Function Documentation

◆ GetDefaultConf()

◆ operator=()

◆ GetNormal()

◆ GetTangent()

◆ GetPointCount()

◆ GetK()

◆ GetNormalMass()

◆ GetFriction()

◆ GetRestitution()

◆ GetTangentSpeed()

◆ GetBodyA()

◆ GetBodyB()

◆ GetNormalImpulseAtPoint()

◆ GetTangentImpulseAtPoint()

◆ GetVelocityBiasAtPoint()

◆ GetNormalMassAtPoint()

◆ GetTangentMassAtPoint()

◆ GetPointRelPosA()

◆ GetPointRelPosB()

◆ SetNormalImpulseAtPoint()

◆ SetTangentImpulseAtPoint()

◆ GetPointAt()