ConstraintManager Class Reference

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

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()

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.

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()

template<class ConstraintCallback >

template void ConstraintManager::sWarmStartVelocityConstraints< DummyCalculateSolverSteps > ( Constraint ** inActiveConstraints, const uint32 * inConstraintIdxBegin, const uint32 * inConstraintIdxEnd, float inWarmStartImpulseRatio, ConstraintCallback & ioCallback )

static

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

UnlockAllConstraints()

void ConstraintManager::UnlockAllConstraints ( )

inline

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

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