ToyMaker::CollisionConstraint Struct Reference

Constraint requiring exactly two parameters representing colliding rigid bodies. More...

#include <types.hpp>

Inheritance diagram for ToyMaker::CollisionConstraint:

Public Member Functions
	CollisionConstraint ()
	Initializes constraint with collision data from two potentially intersecting objects.
void	updateCollisionData (const Collision &collision, const PhysicsState &physicsA, const ObjectBounds &boundsA, const ObjectBounds &boundsAPrev, const PhysicsState &physicsB, const ObjectBounds &boundsB, const ObjectBounds &boundsBPrev)
	Caches collision related information shared across position and velocity corrections.
void	updateCollisionDataPartial (const PhysicsState &physicsA, const ObjectBounds &boundsA, const PhysicsState &physicsB, const ObjectBounds &boundsB)
	Performs a partial collision data update based on result from previous physics substep.
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.
Public Member Functions inherited from ToyMaker::Constraint< 2 >
void	resetLagrange (std::integer_sequence< uint8_t, indices... > sequence)
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.
Public Member Functions inherited from ToyMaker::BaseConstraint
float	getCompliance () const
	Gets the current compliance value for this constraint.
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.

Public Attributes
bool	mCollided { false }
	Whether or not two objects are currently intersecting (and therefore whether they should be separated).
glm::vec3	mLastPointContactA { 0.f }
	The projected last point of contact of object A participating in this constraint.
glm::vec3	mCurrentPointContactA { 0.f }
	The contact point of object A participating in this constraint in world space.
glm::vec3	mRelativePointContactA { 0.f }
	The contact point of object A relative to its own frame.
glm::vec3	mLastPointContactB { 0.f }
	The projected last point of contact of object B participating in this constraint.
glm::vec3	mCurrentPointContactB { 0.f }
	The contact point of object B participating in this constraint in world space.
glm::vec3	mRelativePointContactB { 0.f }
	The contact point of object B relative to its own frame.
glm::vec3	mContactNormal { 0.f }
	Upon collision, points in the direction object B would need to move in order to be separated from object A.
float	mCollisionVelocity { 0.f }
	The velocity of A's point of contact relative to B at the time the collision took place.
float	mPenetrationDepth { 0.f }
	The shortest distance an object must move along the contact normal in order to be separated from the object it is intersecting with.

Additional Inherited Members
Public Types inherited from ToyMaker::BaseConstraint
using	ParticipantID = std::size_t
using	ParticipantTable
Protected Member Functions inherited from ToyMaker::Constraint< 2 >
	Constraint (float compliance)
	Initializes this constraint with some initial compliance value.
Protected Member Functions inherited from ToyMaker::BaseConstraint
	BaseConstraint (float compliance)
	Initializes this constraint.

Detailed Description

Constraint requiring exactly two parameters representing colliding rigid bodies.

Repositions objects such that they no longer intersect along the axis of collision.

Member Function Documentation

applyConstraintPosition()

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

overridevirtual

Separates intersecting/colliding objects and applies static friction.

Reimplemented from ToyMaker::BaseConstraint.

applyConstraintVelocity()

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

overridevirtual

Applies dynamic friction.

Reimplemented from ToyMaker::BaseConstraint.

---

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

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