Public Member Functions | Public Attributes | List of all members
playrho::ConstraintSolverConf Struct Reference

#include <ContactSolver.hpp>

Public Member Functions

ConstraintSolverConf & UseResolutionRate (Real value) noexcept
 Uses the given resolution rate. More...
 
ConstraintSolverConf & UseLinearSlop (Length value) noexcept
 Uses the given linear slop. More...
 
ConstraintSolverConf & UseAngularSlop (Angle value) noexcept
 Uses the given angular slop. More...
 
ConstraintSolverConf & UseMaxLinearCorrection (Length value) noexcept
 Uses the given max linear correction. More...
 
ConstraintSolverConf & UseMaxAngularCorrection (Angle value) noexcept
 Uses the given max angular correction. More...
 

Public Attributes

Real resolutionRate = Real(0.2)
 
Length linearSlop = DefaultLinearSlop
 
Angle angularSlop = DefaultAngularSlop
 
Length maxLinearCorrection = DefaultLinearSlop * Real{20}
 
Angle maxAngularCorrection = DefaultAngularSlop * Real{4}
 

Detailed Description

Constraint solver configuration data.

Defines how a constraint solver should resolve a given constraint.

See also
SolvePositionConstraint.

Definition at line 69 of file ContactSolver.hpp.

Member Function Documentation

◆ UseResolutionRate()

ConstraintSolverConf & playrho::ConstraintSolverConf::UseResolutionRate ( Real  value)
inlinenoexcept

Uses the given resolution rate.

Definition at line 118 of file ContactSolver.hpp.

◆ UseLinearSlop()

ConstraintSolverConf & playrho::ConstraintSolverConf::UseLinearSlop ( Length  value)
inlinenoexcept

Uses the given linear slop.

Definition at line 124 of file ContactSolver.hpp.

◆ UseAngularSlop()

ConstraintSolverConf & playrho::ConstraintSolverConf::UseAngularSlop ( Angle  value)
inlinenoexcept

Uses the given angular slop.

Definition at line 130 of file ContactSolver.hpp.

◆ UseMaxLinearCorrection()

ConstraintSolverConf & playrho::ConstraintSolverConf::UseMaxLinearCorrection ( Length  value)
inlinenoexcept

Uses the given max linear correction.

Definition at line 136 of file ContactSolver.hpp.

◆ UseMaxAngularCorrection()

ConstraintSolverConf & playrho::ConstraintSolverConf::UseMaxAngularCorrection ( Angle  value)
inlinenoexcept

Uses the given max angular correction.

Definition at line 142 of file ContactSolver.hpp.

Member Data Documentation

◆ resolutionRate

Real playrho::ConstraintSolverConf::resolutionRate = Real(0.2)

Resolution rate.

Defines the percentage of the overlap that should get resolved in a single solver call. Value greater than zero and less than or equal to one. Ideally this would be 1 so that overlap is removed in one time step. However using values close to 1 often leads to overshoot.

Note
Recommended values are: 0.2 for solving regular constraints or 0.75 for solving TOI constraints.

Definition at line 94 of file ContactSolver.hpp.

◆ linearSlop

Length playrho::ConstraintSolverConf::linearSlop = DefaultLinearSlop

Linear slop.

Note
The negative of this amount is the maximum amount of separation to create.
Recommended value: DefaultLinearSlop.

Definition at line 99 of file ContactSolver.hpp.

◆ angularSlop

Angle playrho::ConstraintSolverConf::angularSlop = DefaultAngularSlop

Angular slop.

Note
Recommended value: DefaultAngularSlop.

Definition at line 103 of file ContactSolver.hpp.

◆ maxLinearCorrection

Length playrho::ConstraintSolverConf::maxLinearCorrection = DefaultLinearSlop * Real{20}

Maximum linear correction.

Maximum amount of overlap to resolve in a single solver call. Helps prevent overshoot.

Note
Recommended value: linearSlop * 40.

Definition at line 109 of file ContactSolver.hpp.

◆ maxAngularCorrection

Angle playrho::ConstraintSolverConf::maxAngularCorrection = DefaultAngularSlop * Real{4}

Maximum angular correction.

Maximum angular position correction used when solving constraints. Helps to prevent overshoot.

Note
Recommended value: angularSlop * 4.

Definition at line 115 of file ContactSolver.hpp.

The documentation for this struct was generated from the following file: