ToyMaker::ConstraintContactManifold Class Reference

Special structure for handling collisions with multiple points of contact accumulated over several timesteps in order to improve stability. More...

#include <types.hpp>

Inheritance diagram for ToyMaker::ConstraintContactManifold:

Public Member Functions
	ConstraintContactManifold ()
	Constraint constructor with a compliance of 0, since our collision constraints are perfectly stiff.
void	addContact (const Collision &collision, const PhysicsState &physicsA, const ObjectBounds &boundsA, const ObjectBounds &boundsAPrev, const PhysicsState &physicsB, const ObjectBounds &boundsB, const ObjectBounds &boundsBPrev)
	Attempts to add a contact to the manifold, succeeding when the new contact is not close to any existing contact.
void	applyConstraintPosition (const ParticipantTable &states, float substepSeconds) override
	Separates intersecting/colliding objects and applies static friction.
void	applyConstraintVelocity (const ParticipantTable &states, float substepSeconds) override
	Applies dynamic friction.
void	resetLagrange () override
	Resets all lagrange values associated with this manifold.
uint8_t	getNContacts () const
	Returns the number of contacts currently held by this manifold.
void	clear ()
	Clears all contacts.
Public Member Functions inherited from ToyMaker::BaseConstraint
float	getCompliance () const
	Gets the current compliance value for this constraint.
void	setCompliance (float newCompliance)
	Sets the compliance value for this constraint.
template<typename TConstraint, std::enable_if_t< std::is_base_of< ConstraintParametrized< typename TConstraint::Config, typename TConstraint::Parameter, TConstraint::NLagrange >, TConstraint >::value, bool > = true>
void	setParameter (ParticipantID participant, const typename TConstraint::Parameter &parameter)
	Sets a parameter belonging to a particular constraint participant.
template<typename TConstraint, std::enable_if_t< std::is_base_of< ConstraintParametrized< typename TConstraint::Config, typename TConstraint::Parameter, TConstraint::NLagrange >, TConstraint >::value, bool > = true>
TConstraint::Parameter	getParameter (ParticipantID participant) const
	Gets a parameter associated with a particular constraint participant.
template<typename TConstraint, std::enable_if_t< std::is_base_of< ConstraintParametrized< typename TConstraint::Config, typename TConstraint::Parameter, TConstraint::NLagrange >, TConstraint >::value, bool > = true>
void	setConfig (const typename TConstraint::Config &config)
	Sets the configuration of a constraint.
template<typename TConstraint, std::enable_if_t< std::is_base_of< ConstraintParametrized< typename TConstraint::Config, typename TConstraint::Parameter, TConstraint::NLagrange >, TConstraint >::value, bool > = true>
TConstraint::Config	getConfig () const
	Gets the configuration of a constraint.

Private Member Functions
void	trim (const ObjectBounds &boundsA, const ObjectBounds &boundsB)
	Culls contacts that are no longer considered colliding, or have moved too far from their original locations.

Private Attributes
uint8_t	mNContacts { 0 }
	The number of contacts stored by this manifold.
std::array< ConstraintContact, 5 >	mContacts {}
	Collection of contact constraints tracked by this manifold.

Additional Inherited Members
Public Types inherited from ToyMaker::BaseConstraint
using	ParticipantID = std::size_t
using	ParticipantTable
Protected Member Functions inherited from ToyMaker::BaseConstraint
	BaseConstraint (float compliance)
	Initializes this constraint.

Detailed Description

Special structure for handling collisions with multiple points of contact accumulated over several timesteps in order to improve stability.

Tracks up to a maximum of 4 contacts – temporarily 5 when a new contact is added.

Member Function Documentation

applyConstraintPosition()

void ConstraintContactManifold::applyConstraintPosition ( const ParticipantTable & states, float substepSeconds )

overridevirtual

Separates intersecting/colliding objects and applies static friction.

Reimplemented from ToyMaker::BaseConstraint.

applyConstraintVelocity()

void ConstraintContactManifold::applyConstraintVelocity ( const ParticipantTable & states, float substepSeconds )

overridevirtual

Applies dynamic friction.

Reimplemented from ToyMaker::BaseConstraint.

resetLagrange()

void ConstraintContactManifold::resetLagrange ( )

overridevirtual

Resets all lagrange values associated with this manifold.

Reimplemented from ToyMaker::BaseConstraint.

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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