ToyMaker::BaseConstraint Class Reference

Base class for constraints. More...

#include <types.hpp>

Inheritance diagram for ToyMaker::BaseConstraint:

Public Types
using	ParticipantID = std::size_t
using	ParticipantTable

Public Member Functions
float	getCompliance () const
	Gets the current compliance value for this constraint.
virtual void	applyConstraintPosition (const ParticipantTable &states, float substepSeconds)
	Applies positional constraint to current set of bounds and physics states.
virtual void	applyConstraintVelocity (const ParticipantTable &states, float substepSeconds)
	Applies velocity-based constraint to current set of bounds and physics states.
virtual void	resetLagrange ()
	Resets all lagrange multipliers, preparing them for a new sequence of constraint solve substeps.
void	setCompliance (float newCompliance)
	Sets the compliance value for this constraint.

Protected Member Functions
	BaseConstraint (float compliance)
	Initializes this constraint.

Private Attributes
float	mCompliance { 0.f }
	Value greater than equal to zero, inverse of the physical stiffness of this constraint.

Detailed Description

Base class for constraints.

Ensures that each constraint provides a method for preprocessing constraint data, and one for applying the constraint.

Also contains a table of entities that are participating in the constraint.

Member Typedef Documentation

ParticipantTable

using ToyMaker::BaseConstraint::ParticipantTable

Initial value:

std::unordered_map<
           ParticipantID,
           std::pair<
               std::reference_wrapper<ObjectBounds>,
               std::reference_wrapper<PhysicsState>
           >
       >

Member Function Documentation

applyConstraintPosition()

virtual void ToyMaker::BaseConstraint::applyConstraintPosition ( const ParticipantTable & states, float substepSeconds )

inlinevirtual

Applies positional constraint to current set of bounds and physics states.

Will update values stored in ObjectBounds and PhysicsLocal to maintain the constraint and update its own compliance parameters

Reimplemented in ToyMaker::CollisionConstraint.

applyConstraintVelocity()

virtual void ToyMaker::BaseConstraint::applyConstraintVelocity ( const ParticipantTable & states, float substepSeconds )

inlinevirtual

Applies velocity-based constraint to current set of bounds and physics states.

Will update values stored in ObjectBounds and PhysicsLocal to maintain the constraint and update its own compliance parameters

Reimplemented in ToyMaker::CollisionConstraint.

resetLagrange()

virtual void ToyMaker::BaseConstraint::resetLagrange ( )

inlinevirtual

Resets all lagrange multipliers, preparing them for a new sequence of constraint solve substeps.

Reimplemented in ToyMaker::Constraint< LagrangeCount >.

Member Data Documentation

mCompliance

float ToyMaker::BaseConstraint::mCompliance { 0.f }

private

Value greater than equal to zero, inverse of the physical stiffness of this constraint.

Part of extended position based dynamics implementation.

A compliance of 0 implies infinite stiffness.

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

• ToyMaker_Main/include/toymaker/engine/physics/types.hpp
• ToyMaker_Main/src/physics/types.cpp