Any constraint storing LagrangeCount correction multipliers. More...

#include <types.hpp>

Inheritance diagram for ToyMaker::Constraint< LagrangeCount >:

Public Member Functions
void	applyLagrangeDelta (float delta, uint8_t index)
	Adds a delta to a lagrange value located at index.
const std::array< float, LagrangeCount > &	getLagrange () const
	Gets the current Lagrange multiplier values for this constraint.
const std::array< float, LagrangeCount > &	getLagrangeDelta () const
	Gets the latest lagrange delta applied to a constraint.
void	resetLagrange () override
	Sets all lagrange multipliers to 0 in preparation for the next physics update.
template<uint8_t ... indices>
void	resetLagrange (std::integer_sequence< uint8_t, indices... > sequence)
Public Member Functions inherited from ToyMaker::BaseConstraint
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.
void	setCompliance (float newCompliance)
	Sets the compliance value for this constraint.

Protected Member Functions
	Constraint (float compliance)
	Initializes this constraint with some initial compliance value.
Protected Member Functions inherited from ToyMaker::BaseConstraint
	BaseConstraint (float compliance)
	Initializes this constraint.

Private Member Functions
template<uint8_t... ints>
void	resetLagrange (std::integer_sequence< uint8_t, ints... > index)
	Private implementation for each lagrange multiplier index in need of a reset.

Private Attributes
std::array< float, LagrangeCount >	mLagrangeMultipliers { 0.f }
	The Lagrange multiplier, computed every substep since the start of the physics simulation till the current time.
std::array< float, LagrangeCount >	mLagrangeDeltas { 0.f }
	The last delta applied to the Lagrange multiplier for this constraint.

Additional Inherited Members
Public Types inherited from ToyMaker::BaseConstraint
using	ParticipantID = std::size_t
using	ParticipantTable

Detailed Description

template<uint8_t LagrangeCount>
class ToyMaker::Constraint< LagrangeCount >

Any constraint storing LagrangeCount correction multipliers.

@tparameter LagrangeCount The number of Lagrange multipliers in usage by this constraint

Member Function Documentation

template<uint8_t LagrangeCount>

void ToyMaker::Constraint< LagrangeCount >::resetLagrange ( )

inlineoverridevirtual

Sets all lagrange multipliers to 0 in preparation for the next physics update.

template<uint8_t LagrangeCount>

std::array<float, LagrangeCount> ToyMaker::Constraint< LagrangeCount >::mLagrangeMultipliers { 0.f }

private

The Lagrange multiplier, computed every substep since the start of the physics simulation till the current time.

Allows position and orientation corrections applied by this constraint to be independent of the length of substep.

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