Chaos::FCharacterGroundConstraint Class Reference

#include <CharacterGroundConstraint.h>

Inheritance diagram for Chaos::FCharacterGroundConstraint:

Public Types
using	Base = FConstraintBase
Public Types inherited from Chaos::FConstraintBase
typedef TVector< TGeometryParticleHandle< FReal, 3 > *, 2 >	FParticleHandlePair

Public Member Functions
CHAOS_API	FCharacterGroundConstraint ()
virtual	~FCharacterGroundConstraint () override
CHAOS_API void	Init (FSingleParticlePhysicsProxy *InCharacterProxy)
FSingleParticlePhysicsProxy *	GetCharacterParticleProxy () const
FSingleParticlePhysicsProxy *	GetGroundParticleProxy () const
void	SetGroundParticleProxy (FSingleParticlePhysicsProxy *InGroundProxy)
void	SetGroundNormal (const FVec3 &Normal)
FVec3	GetGroundNormal () const
void	SetVerticalAxis (const FVec3 &Axis)
FVec3	GetVerticalAxis () const
void	SetGroundDistance (const FReal &Value)
FReal	GetGroundDistance () const
void	SetTargetHeight (const FReal &Value)
FReal	GetTargetHeight () const
void	SetDampingFactor (const FReal &Value)
FReal	GetDampingFactor () const
void	SetMotionTargetMassBias (const FReal &Value)
FReal	GetMotionTargetMassBias () const
void	SetRadialForceMotionTargetScaling (const FReal &Value)
FReal	GetRadialForceMotionTargetScaling () const
void	SetAssumedOnGroundHeight (const FReal &Value)
FReal	GetAssumedOnGroundHeight () const
void	SetMaxWalkableSlopeAngle (const FReal &Value)
FReal	GetMaxWalkableSlopeAngle () const
void	SetCosMaxWalkableSlopeAngle (const FReal &Value)
FReal	GetCosMaxWalkableSlopeAngle () const
void	SetTargetDeltaPosition (const FVec3 &Value)
FVec3	GetTargetDeltaPosition () const
void	SetTargetDeltaFacing (const FReal &Value)
FReal	GetTargetDeltaFacing () const
void	SetMotionTarget (const FVector &TargetDeltaPosition, const FReal &TargetDeltaFacing)
void	SetRadialForceLimit (const FReal &Value)
FReal	GetRadialForceLimit () const
void	SetFrictionForceLimit (const FReal &Value)
FReal	GetFrictionForceLimit () const
void	SetTwistTorqueLimit (const FReal &Value)
FReal	GetTwistTorqueLimit () const
void	SetSwingTorqueLimit (const FReal &Value)
FReal	GetSwingTorqueLimit () const
void	SetUserData (void *Value)
void *	GetUserData () const
void	SetMaxCharacterGroundMassRatio (const FReal &Value)
FReal	GetMaxCharacterGroundMassRatio () const
FVector	GetSolverAppliedForce () const
FVector	GetSolverAppliedTorque () const
Public Member Functions inherited from Chaos::FConstraintBase
virtual	~FConstraintBase ()
CHAOS_API	FConstraintBase (EConstraintType InType)
EConstraintType	GetType () const
bool	IsType (EConstraintType InType)
CHAOS_API bool	IsValid () const
bool	IsDirty () const
bool	IsDirty (const EChaosPropertyFlags CheckBits) const
void	ClearDirtyFlags ()
const FDirtyChaosPropertyFlags &	GetDirtyFlags () const
template<typename T = IPhysicsProxyBase>
T *	GetProxy ()
CHAOS_API void	SetProxy (IPhysicsProxyBase *InProxy)
void	SyncRemoteData (FDirtyPropertiesManager &Manager, int32 DataIdx, FDirtyChaosProperties &RemoteData)

Friends
class	FCharacterGroundConstraintProxy

Additional Inherited Members
Protected Attributes inherited from Chaos::FConstraintBase
EConstraintType	Type
class IPhysicsProxyBase *	Proxy
FDirtyChaosPropertyFlags	DirtyFlags

Detailed Description

Game thread side representation of a character ground constraint Modified data from this class will be pushed automatically to the physics thread and available through the FCharacterGroundConstraintHandle class. The FCharacterGroundConstraintProxy class, accessible via GetProxy(), knows about both representations and marshalls the data between them

Member Typedef Documentation

Base

using Chaos::FCharacterGroundConstraint::Base = FConstraintBase

Constructor & Destructor Documentation

FCharacterGroundConstraint()

Chaos::FCharacterGroundConstraint::FCharacterGroundConstraint

(

)

~FCharacterGroundConstraint()

virtual Chaos::FCharacterGroundConstraint::~FCharacterGroundConstraint ( )

inlineoverridevirtual

Member Function Documentation

GetAssumedOnGroundHeight()

FReal Chaos::FCharacterGroundConstraint::GetAssumedOnGroundHeight ( ) const

inline

GetCharacterParticleProxy()

FSingleParticlePhysicsProxy * Chaos::FCharacterGroundConstraint::GetCharacterParticleProxy ( ) const

inline

GetCosMaxWalkableSlopeAngle()

FReal Chaos::FCharacterGroundConstraint::GetCosMaxWalkableSlopeAngle ( ) const

inline

GetDampingFactor()

FReal Chaos::FCharacterGroundConstraint::GetDampingFactor ( ) const

inline

GetFrictionForceLimit()

FReal Chaos::FCharacterGroundConstraint::GetFrictionForceLimit ( ) const

inline

GetGroundDistance()

FReal Chaos::FCharacterGroundConstraint::GetGroundDistance ( ) const

inline

GetGroundNormal()

FVec3 Chaos::FCharacterGroundConstraint::GetGroundNormal ( ) const

inline

GetGroundParticleProxy()

FSingleParticlePhysicsProxy * Chaos::FCharacterGroundConstraint::GetGroundParticleProxy ( ) const

inline

GetMaxCharacterGroundMassRatio()

FReal Chaos::FCharacterGroundConstraint::GetMaxCharacterGroundMassRatio ( ) const

inline

GetMaxWalkableSlopeAngle()

FReal Chaos::FCharacterGroundConstraint::GetMaxWalkableSlopeAngle ( ) const

inline

GetMotionTargetMassBias()

FReal Chaos::FCharacterGroundConstraint::GetMotionTargetMassBias ( ) const

inline

GetRadialForceLimit()

FReal Chaos::FCharacterGroundConstraint::GetRadialForceLimit ( ) const

inline

GetRadialForceMotionTargetScaling()

FReal Chaos::FCharacterGroundConstraint::GetRadialForceMotionTargetScaling ( ) const

inline

GetSolverAppliedForce()

FVector Chaos::FCharacterGroundConstraint::GetSolverAppliedForce ( ) const

inline

GetSolverAppliedTorque()

FVector Chaos::FCharacterGroundConstraint::GetSolverAppliedTorque ( ) const

inline

GetSwingTorqueLimit()

FReal Chaos::FCharacterGroundConstraint::GetSwingTorqueLimit ( ) const

inline

GetTargetDeltaFacing()

FReal Chaos::FCharacterGroundConstraint::GetTargetDeltaFacing ( ) const

inline

GetTargetDeltaPosition()

FVec3 Chaos::FCharacterGroundConstraint::GetTargetDeltaPosition ( ) const

inline

GetTargetHeight()

FReal Chaos::FCharacterGroundConstraint::GetTargetHeight ( ) const

inline

GetTwistTorqueLimit()

FReal Chaos::FCharacterGroundConstraint::GetTwistTorqueLimit ( ) const

inline

GetUserData()

void * Chaos::FCharacterGroundConstraint::GetUserData ( ) const

inline

GetVerticalAxis()

FVec3 Chaos::FCharacterGroundConstraint::GetVerticalAxis ( ) const

inline

Init()

void Chaos::FCharacterGroundConstraint::Init

(

FSingleParticlePhysicsProxy *

InCharacterProxy

)

SetAssumedOnGroundHeight()

void Chaos::FCharacterGroundConstraint::SetAssumedOnGroundHeight ( const FReal &  Value )

inline

This is the height below which the character is assumed to be on the ground and can apply force to move. This is useful if the character is slightly off the ground but should still be considered in a locomotion rather than falling state. If this number is set to zero then the constraint can only apply force to move to the motion target if the solver determines that there is a ground reaction force Input should be positive

SetCosMaxWalkableSlopeAngle()

void Chaos::FCharacterGroundConstraint::SetCosMaxWalkableSlopeAngle ( const FReal &  Value )

inline

SetDampingFactor()

void Chaos::FCharacterGroundConstraint::SetDampingFactor ( const FReal &  Value )

inline

The damping factor is used to add softness to the vertical constraint between the character and the ground. This can add springiness to landings and slow the rate of step ups. Input should be positive. A value of 0 gives rigid behavior. A value of 1/Dt or above will give maximum softness Units are /T

SetFrictionForceLimit()

void Chaos::FCharacterGroundConstraint::SetFrictionForceLimit ( const FReal &  Value )

inline

The maximum force that the character can apply in the plane defined by the ground normal to hold the character in place while standing on an unwalkable incline (defined by max walkable slope angle)

SetGroundDistance()

void Chaos::FCharacterGroundConstraint::SetGroundDistance ( const FReal &  Value )

inline

Vertical distance from the character body to the ground This should be set every frame as the character moves over the ground and is typically measured by performing one or more physics traces Input should be positive

SetGroundNormal()

void Chaos::FCharacterGroundConstraint::SetGroundNormal ( const FVec3 &  Normal )

inline

Unit normal to the ground plane Input vector is normalized if it is not already a unit vector

SetGroundParticleProxy()

void Chaos::FCharacterGroundConstraint::SetGroundParticleProxy ( FSingleParticlePhysicsProxy *  InGroundProxy )

inline

SetMaxCharacterGroundMassRatio()

void Chaos::FCharacterGroundConstraint::SetMaxCharacterGroundMassRatio ( const FReal &  Value )

inline

Maximum ratio between the character mass and the ground body mass as used by the constraint solver E.g. a value of 2 means that the character can be at most twice as heavy as the ground body and if it is over that the constraint solve will inflate the mass of the ground body to reach a 2:1 ratio This is useful for stability when walking on a light mass. A negative value disables this mass conditioning feature.

SetMaxWalkableSlopeAngle()

void Chaos::FCharacterGroundConstraint::SetMaxWalkableSlopeAngle ( const FReal &  Value )

inline

The maximum angle of slope that is considered walkable. The slope angle is defined as the angle between the ground normal and vertical axis. If the slope angle is greater than the maximum walkable slope angle the motion target vector is adjusted to stop movement up the slope

SetMotionTarget()

void Chaos::FCharacterGroundConstraint::SetMotionTarget ( const FVector &  TargetDeltaPosition, const FReal &  TargetDeltaFacing  )

inline

Set both the target delta position and facing angle. This is more efficient than setting them both individually

SetMotionTargetMassBias()

void Chaos::FCharacterGroundConstraint::SetMotionTargetMassBias ( const FReal &  Value )

inline

This is a fractional value used to scale the ground mass in the motion target constraint. It controls how much tangential force is applied to the ground when the character is moving. 1 means the full reaction force is applied 0 means zero reaction force is applied

SetRadialForceLimit()

void Chaos::FCharacterGroundConstraint::SetRadialForceLimit ( const FReal &  Value )

inline

The maximum force that the character can apply in the plane defined by the ground normal to move the character to its target position (or hold the character in place if no target delta position is set).

SetRadialForceMotionTargetScaling()

void Chaos::FCharacterGroundConstraint::SetRadialForceMotionTargetScaling ( const FReal &  Value )

inline

This is a fractional value used to scale the radial force so that the character can achieve the motion target 1 means full scaling is applied and the character will always be able to achieve the motion target 0 means no scaling is applied to the radial force limit

SetSwingTorqueLimit()

void Chaos::FCharacterGroundConstraint::SetSwingTorqueLimit ( const FReal &  Value )

inline

The maximum torque that the character can apply about the non vertical axes to keep the character upright

SetTargetDeltaFacing()

void Chaos::FCharacterGroundConstraint::SetTargetDeltaFacing ( const FReal &  Value )

inline

Set the target orientation change about the vertical axis. This is used to turn the character when it is on the ground. The solver will do this by applying a torque if the character is considered to be on the ground and the torque required is less than or equal to the torque limit. For orientation change off the ground, e.g. in air steering, set an angular velocity or impulse on the character body directly. This should be set every frame for a locomoting character, and the value is typically controlled either from a character movement model or from root motion extracted from an animation sequence.

SetTargetDeltaPosition()

void Chaos::FCharacterGroundConstraint::SetTargetDeltaPosition ( const FVec3 &  Value )

inline

Set the target change in position for the character. This is used to move the character along the ground, and this target will be clamped to the ground plane. The solver will apply a force to move the character to the desired position as long as the character is considered to be on the ground and the force required is less than or equal to the radial force limit. For motion off of the ground, e.g. jumping, set a velocity or impulse on the character body directly. This should be set every frame for a locomoting character, and the value is typically controlled either from a character movement model or from root motion extracted from an animation sequence.

SetTargetHeight()

void Chaos::FCharacterGroundConstraint::SetTargetHeight ( const FReal &  Value )

inline

Target vertical distance from the character body to the ground If the ground distance is smaller than this number the constraint will try to fix up the error to keep the character at the target height Input should be positive

SetTwistTorqueLimit()

void Chaos::FCharacterGroundConstraint::SetTwistTorqueLimit ( const FReal &  Value )

inline

The maximum torque that the character can apply about the vertical axis to rotate the character to its target facing direction (or hold the character in place if no target delta facing is set).

SetUserData()

void Chaos::FCharacterGroundConstraint::SetUserData ( void *  Value )

inline

SetVerticalAxis()

void Chaos::FCharacterGroundConstraint::SetVerticalAxis ( const FVec3 &  Axis )

inline

Unit vector defining the character up direction Input vector is normalized if it is not already a unit vector

Friends And Related Symbol Documentation

FCharacterGroundConstraintProxy

FCharacterGroundConstraintProxy

friend

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

• Engine/Source/Runtime/Experimental/Chaos/Public/Chaos/Character/CharacterGroundConstraint.h
• Engine/Source/Runtime/Experimental/Chaos/Private/Chaos/Character/CharacterGroundConstraint.cpp