#include <ConeConstraint.h>

Inheritance diagram for ConeConstraint:

Public Member Functions
JPH_OVERRIDE_NEW_DELETE	ConeConstraint (Body &inBody1, Body &inBody2, const ConeConstraintSettings &inSettings)
	Construct cone constraint.

virtual EConstraintSubType	GetSubType () const override
	Get the sub type of a constraint.

virtual void	NotifyShapeChanged (const BodyID &inBodyID, Vec3Arg inDeltaCOM) override

virtual void	SetupVelocityConstraint (float inDeltaTime) override

virtual void	ResetWarmStart () override

virtual void	WarmStartVelocityConstraint (float inWarmStartImpulseRatio) override

virtual bool	SolveVelocityConstraint (float inDeltaTime) override

virtual bool	SolvePositionConstraint (float inDeltaTime, float inBaumgarte) override

virtual void	DrawConstraint (DebugRenderer *inRenderer) const override

virtual void	DrawConstraintLimits (DebugRenderer *inRenderer) const override

virtual void	SaveState (StateRecorder &inStream) const override
	Saving state for replay.

virtual void	RestoreState (StateRecorder &inStream) override
	Restoring state for replay.

virtual Ref< ConstraintSettings >	GetConstraintSettings () const override
	Debug function to convert a constraint to its settings, note that this will not save to which bodies the constraint is connected to.

virtual Mat44	GetConstraintToBody1Matrix () const override
	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.

virtual Mat44	GetConstraintToBody2Matrix () const override
	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.

void	SetHalfConeAngle (float inHalfConeAngle)
	Update maximum angle between body 1 and 2 (see ConeConstraintSettings)

float	GetCosHalfConeAngle () const

Public Member Functions inherited from TwoBodyConstraint
JPH_OVERRIDE_NEW_DELETE	TwoBodyConstraint (Body &inBody1, Body &inBody2, const TwoBodyConstraintSettings &inSettings)
	Constructor.

virtual EConstraintType	GetType () const override
	Get the type of a constraint.

virtual bool	IsActive () const override
	Solver interface.

virtual void	DrawConstraintReferenceFrame (DebugRenderer *inRenderer) const override

Body *	GetBody1 () const
	Access to the connected bodies.

Body *	GetBody2 () const

virtual void	BuildIslands (uint32 inConstraintIndex, IslandBuilder &ioBuilder, BodyManager &inBodyManager) override
	Link bodies that are connected by this constraint in the island builder.

virtual uint	BuildIslandSplits (LargeIslandSplitter &ioSplitter) const override
	Link bodies that are connected by this constraint in the same split. Returns the split index.

Public Member Functions inherited from Constraint
JPH_OVERRIDE_NEW_DELETE	Constraint (const ConstraintSettings &inSettings)
	Constructor.

virtual	~Constraint ()=default
	Virtual destructor.

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.

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.

uint	GetNumPositionStepsOverride () const

void	SetEnabled (bool inEnabled)

bool	GetEnabled () const
	Test if a constraint is enabled.

uint64	GetUserData () const
	Access to the user data, can be used for anything by the application.

void	SetUserData (uint64 inUserData)

float	GetDrawConstraintSize () const
	Size of constraint when drawing it through the debug renderer.

void	SetDrawConstraintSize (float inSize)

Public Member Functions inherited from RefTarget< Constraint >
	RefTarget ()=default
	Constructor.

	RefTarget (const RefTarget &)

	~RefTarget ()
	assert no one is referencing us

void	SetEmbedded () const

RefTarget &	operator= (const RefTarget &)
	Assignment operator.

uint32	GetRefCount () const
	Get current refcount of this object.

void	AddRef () const
	Add or release a reference to this object.

void	Release () const

Public Member Functions inherited from NonCopyable
	NonCopyable ()=default

	NonCopyable (const NonCopyable &)=delete

void	operator= (const NonCopyable &)=delete

Get Lagrange multiplier from last physics update (the linear/angular impulse applied to satisfy the constraint)
Vec3	GetTotalLambdaPosition () const

float	GetTotalLambdaRotation () const

Additional Inherited Members
Static Public Member Functions inherited from RefTarget< Constraint >
static int	sInternalGetRefCountOffset ()
	INTERNAL HELPER FUNCTION USED BY SERIALIZATION.

Protected Member Functions inherited from Constraint
void	ToConstraintSettings (ConstraintSettings &outSettings) const
	Helper function to copy settings back to constraint settings for this base class.

Protected Attributes inherited from TwoBodyConstraint
Body *	mBody1
	The two bodies involved.

Body *	mBody2

Protected Attributes inherited from Constraint
float	mDrawConstraintSize
	Size of constraint when drawing it through the debug renderer.

Protected Attributes inherited from RefTarget< Constraint >
atomic< uint32 >	mRefCount
	Current reference count.

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.

Detailed Description

A cone constraint constraints 2 bodies to a single point and limits the swing between the twist axis within a cone:

t1 . t2 <= cos(theta)

Where:

t1 = twist axis of body 1. t2 = twist axis of body 2. theta = half cone angle (angle from the principal axis of the cone to the edge).

Calculating the Jacobian:

Constraint equation:

C = t1 . t2 - cos(theta)

Derivative:

d/dt C = d/dt (t1 . t2) = (d/dt t1) . t2 + t1 . (d/dt t2) = (w1 x t1) . t2 + t1 . (w2 x t2) = (t1 x t2) . w1 + (t2 x t1) . w2

d/dt C = J v = [0, -t2 x t1, 0, t2 x t1] [v1, w1, v2, w2]

Where J is the Jacobian.

Note that this is the exact same equation as used in AngleConstraintPart if we use t2 x t1 as the world space axis

Constructor & Destructor Documentation

◆ ConeConstraint()

ConeConstraint::ConeConstraint	(	Body &	inBody1,
		Body &	inBody2,
		const ConeConstraintSettings &	inSettings )

Construct cone constraint.

Member Function Documentation

◆ DrawConstraint()

void ConeConstraint::DrawConstraint ( DebugRenderer * inRenderer ) const

overridevirtual

Implements Constraint.

◆ DrawConstraintLimits()

void ConeConstraint::DrawConstraintLimits ( DebugRenderer * inRenderer ) const

overridevirtual

Reimplemented from Constraint.

◆ GetConstraintSettings()

Ref< ConstraintSettings > ConeConstraint::GetConstraintSettings ( ) const

overridevirtual

Debug function to convert a constraint to its settings, note that this will not save to which bodies the constraint is connected to.

Implements Constraint.

◆ GetConstraintToBody1Matrix()

Mat44 ConeConstraint::GetConstraintToBody1Matrix ( ) const

overridevirtual

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.

Implements TwoBodyConstraint.

◆ GetConstraintToBody2Matrix()

Mat44 ConeConstraint::GetConstraintToBody2Matrix ( ) const

overridevirtual

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.

Implements TwoBodyConstraint.

◆ GetCosHalfConeAngle()

float ConeConstraint::GetCosHalfConeAngle ( ) const

inline

◆ GetSubType()

virtual EConstraintSubType ConeConstraint::GetSubType ( ) const

inlineoverridevirtual

Get the sub type of a constraint.

Implements Constraint.

◆ GetTotalLambdaPosition()

Vec3 ConeConstraint::GetTotalLambdaPosition ( ) const

inline

◆ GetTotalLambdaRotation()

float ConeConstraint::GetTotalLambdaRotation ( ) const

inline

◆ NotifyShapeChanged()

void ConeConstraint::NotifyShapeChanged	(	const BodyID &	inBodyID,
		Vec3Arg	inDeltaCOM )

overridevirtual

Notify the constraint that the shape of a body has changed and that its center of mass has moved by inDeltaCOM. Bodies don't know which constraints are connected to them so the user is responsible for notifying the relevant constraints when a body changes.

Parameters

inBodyID	ID of the body that has changed
inDeltaCOM	The delta of the center of mass of the body (shape->GetCenterOfMass() - shape_before_change->GetCenterOfMass())

Implements Constraint.

◆ ResetWarmStart()

void ConeConstraint::ResetWarmStart ( )

overridevirtual

Notify the system that the configuration of the bodies and/or constraint has changed enough so that the warm start impulses should not be applied the next frame. You can use this function for example when repositioning a ragdoll through Ragdoll::SetPose in such a way that the orientation of the bodies completely changes so that the previous frame impulses are no longer a good approximation of what the impulses will be in the next frame. Calling this function when there are no big changes will result in the constraints being much 'softer' than usual so they are more easily violated (e.g. a long chain of bodies might sag a bit if you call this every frame).

Implements Constraint.

◆ RestoreState()

void ConeConstraint::RestoreState ( StateRecorder & inStream )

overridevirtual

Restoring state for replay.

Reimplemented from Constraint.

◆ SaveState()

void ConeConstraint::SaveState ( StateRecorder & inStream ) const

overridevirtual

Saving state for replay.

Reimplemented from Constraint.

◆ SetHalfConeAngle()

void ConeConstraint::SetHalfConeAngle ( float inHalfConeAngle )

inline

Update maximum angle between body 1 and 2 (see ConeConstraintSettings)

◆ SetupVelocityConstraint()

void ConeConstraint::SetupVelocityConstraint ( float inDeltaTime )

overridevirtual

Implements Constraint.

◆ SolvePositionConstraint()

bool ConeConstraint::SolvePositionConstraint	(	float	inDeltaTime,
		float	inBaumgarte )

overridevirtual

Implements Constraint.

◆ SolveVelocityConstraint()

bool ConeConstraint::SolveVelocityConstraint ( float inDeltaTime )

overridevirtual

Implements Constraint.

◆ WarmStartVelocityConstraint()

void ConeConstraint::WarmStartVelocityConstraint ( float inWarmStartImpulseRatio )

overridevirtual

Implements Constraint.

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

Jolt/Physics/Constraints/ConeConstraint.h
Jolt/Physics/Constraints/ConeConstraint.cpp

Public Member Functions

Get Lagrange multiplier from last physics update (the linear/angular impulse applied to satisfy the constraint)

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ ConeConstraint()

Member Function Documentation

◆ DrawConstraint()

◆ DrawConstraintLimits()

◆ GetConstraintSettings()

◆ GetConstraintToBody1Matrix()

◆ GetConstraintToBody2Matrix()

◆ GetCosHalfConeAngle()

◆ GetSubType()

◆ GetTotalLambdaPosition()

◆ GetTotalLambdaRotation()

◆ NotifyShapeChanged()

◆ ResetWarmStart()

◆ RestoreState()

◆ SaveState()

◆ SetHalfConeAngle()

◆ SetupVelocityConstraint()

◆ SolvePositionConstraint()

◆ SolveVelocityConstraint()

◆ WarmStartVelocityConstraint()