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

#include <ConstraintManager.h>

Inheritance diagram for ConstraintManager:

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.

uint32	GetNumConstraints () const
	Get total number of constraints.

void	GetActiveConstraints (uint32 inStartConstraintIdx, uint32 inEndConstraintIdx, Constraint **outActiveConstraints, uint32 &outNumActiveConstraints) const
	Determine the active constraints of a subset of the constraints.

void	DrawConstraints (DebugRenderer *inRenderer) const
	Draw all constraints.

void	DrawConstraintLimits (DebugRenderer *inRenderer) const
	Draw all constraint limits.

void	DrawConstraintReferenceFrame (DebugRenderer *inRenderer) const
	Draw all constraint reference frames.

void	SaveState (StateRecorder &inStream, const StateRecorderFilter *inFilter) const
	Save state of constraints.

bool	RestoreState (StateRecorder &inStream)
	Restore the state of constraints. Returns false if failed.

void	LockAllConstraints ()
	Lock all constraints. This should only be done during PhysicsSystem::Update().

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.

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.

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.

static void	sWarmStartVelocityConstraints (Constraint *inActiveConstraints, const uint32 inConstraintIdxBegin, const uint32 *inConstraintIdxEnd, float inWarmStartImpulseRatio)
	Apply last frame's impulses, must be called prior to SolveVelocityConstraints.

static void	sWarmStartVelocityConstraints (Constraint *inActiveConstraints, const uint32 inConstraintIdxBegin, const uint32 *inConstraintIdxEnd, float inWarmStartImpulseRatio, int &ioNumVelocitySteps)
	Same as above but also calculates the number of velocity steps.

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.

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.

static bool	sSolvePositionConstraints (Constraint *inActiveConstraints, const uint32 inConstraintIdxBegin, const uint32 *inConstraintIdxEnd, float inDeltaTime, float inBaumgarte, int &ioNumPositionSteps)
	Same as above but also calculates the number of position steps.

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() [1/2]

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.

◆ sSolvePositionConstraints() [2/2]

bool ConstraintManager::sSolvePositionConstraints	(	Constraint **	inActiveConstraints,
		const uint32 *	inConstraintIdxBegin,
		const uint32 *	inConstraintIdxEnd,
		float	inDeltaTime,
		float	inBaumgarte,
		int &	ioNumPositionSteps )

static

Same as above but also calculates the number of position steps.

◆ 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() [1/2]

void ConstraintManager::sWarmStartVelocityConstraints	(	Constraint **	inActiveConstraints,
		const uint32 *	inConstraintIdxBegin,
		const uint32 *	inConstraintIdxEnd,
		float	inWarmStartImpulseRatio )

static

Apply last frame's impulses, must be called prior to SolveVelocityConstraints.

◆ sWarmStartVelocityConstraints() [2/2]

void ConstraintManager::sWarmStartVelocityConstraints	(	Constraint **	inActiveConstraints,
		const uint32 *	inConstraintIdxBegin,
		const uint32 *	inConstraintIdxEnd,
		float	inWarmStartImpulseRatio,
		int &	ioNumVelocitySteps )

static

Same as above but also calculates the number of velocity steps.

◆ UnlockAllConstraints()

void ConstraintManager::UnlockAllConstraints ( )

inline

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

Jolt/Physics/Constraints/ConstraintManager.h
Jolt/Physics/Constraints/ConstraintManager.cpp

Public Member Functions

Static Public Member Functions

Detailed Description

Member Function Documentation

◆ Add()

◆ DrawConstraintLimits()

◆ DrawConstraintReferenceFrame()

◆ DrawConstraints()

◆ GetActiveConstraints()

◆ GetConstraints()

◆ GetNumConstraints()

◆ LockAllConstraints()

◆ Remove()

◆ RestoreState()

◆ SaveState()

◆ sBuildIslands()

◆ sSetupVelocityConstraints()

◆ sSolvePositionConstraints() [1/2]

◆ sSolvePositionConstraints() [2/2]

◆ sSolveVelocityConstraints()

◆ sSortConstraints()

◆ sWarmStartVelocityConstraints() [1/2]

◆ sWarmStartVelocityConstraints() [2/2]

◆ UnlockAllConstraints()