#include <ContactModification.h>

Public Member Functions
	FContactPairModifier ()

	FContactPairModifier (FPBDCollisionConstraint *InConstraint, FCollisionContactModifier &InModifier)

CHAOS_API void	Disable ()

CHAOS_API void	Enable ()

CHAOS_API void	ConvertToProbe ()

CHAOS_API void	ConvertToNonProbe ()

CHAOS_API bool	GetIsProbe () const

CHAOS_API int32	GetNumContacts () const

CHAOS_API int32	GetDeepestContactIndex () const

CHAOS_API bool	GetIsInitialContact () const

CHAOS_API void	SetIsInitialContact (bool bIsInitialContact) const

CHAOS_API const FImplicitObject *	GetContactGeometry (int32 ParticleIdx)

CHAOS_API FRigidTransform3	GetShapeToWorld (int32 ParticleIdx) const

CHAOS_API FReal	GetSeparation (int32 ContactPointIdx) const

CHAOS_API FReal	GetTargetSeparation (int32 ContactPointIdx) const

CHAOS_API void	ModifyTargetSeparation (FReal TargetSeparation, int32 ContactPointIdx)

CHAOS_API FVec3	GetWorldNormal (int32 ContactPointIdx) const
	Get the world-space contact normal.

CHAOS_API void	ModifyWorldNormal (const FVec3 &Normal, int32 ContactPointIdx)

CHAOS_API void	GetWorldContactLocations (int32 ContactPointIdx, FVec3 &OutLocation0, FVec3 &OutLocation1) const

CHAOS_API FVec3	GetWorldContactLocation (int32 ContactPointIdx) const

CHAOS_API void	ModifyWorldContactLocations (const FVec3 &Location0, const FVec3 &Location1, int32 ContactPointIdx)

CHAOS_API FReal	GetRestitution () const

CHAOS_API void	ModifyRestitution (FReal Restitution)

CHAOS_API FReal	GetRestitutionThreshold () const

CHAOS_API void	ModifyRestitutionThreshold (FReal Restitution)

CHAOS_API FReal	GetDynamicFriction () const

CHAOS_API void	ModifyDynamicFriction (FReal DynamicFriction)

CHAOS_API FReal	GetStaticFriction () const

CHAOS_API void	ModifyStaticFriction (FReal StaticFriction)

CHAOS_API FVec3	GetParticleVelocity (int32 ParticleIdx) const

CHAOS_API void	ModifyParticleVelocity (FVec3 Velocity, int32 ParticleIdx)

CHAOS_API FVec3	GetParticleAngularVelocity (int32 ParticleIdx) const

CHAOS_API void	ModifyParticleAngularVelocity (FVec3 AngularVelocity, int32 ParticleIdx)

CHAOS_API FVec3	GetParticlePosition (int32 ParticleIdx) const

CHAOS_API void	ModifyParticlePosition (FVec3 Position, bool bMaintainVelocity, int32 ParticleIdx)

CHAOS_API FRotation3	GetParticleRotation (int32 ParticleIdx) const

CHAOS_API void	ModifyParticleRotation (FRotation3 Rotation, bool bMaintainVelocity, int32 ParticleIdx)

CHAOS_API FReal	GetInvInertiaScale (int32 ParticleIdx) const

CHAOS_API void	ModifyInvInertiaScale (FReal InvInertiaScale, int32 ParticleIdx)

CHAOS_API FReal	GetInvMassScale (int32 ParticleIdx) const

CHAOS_API void	ModifyInvMassScale (FReal InvMassScale, int32 ParticleIdx)

CHAOS_API FGeometryParticleHandle *	GetOtherParticle (FGeometryParticleHandle *Particle) const

CHAOS_API TVec2< FGeometryParticleHandle * >	GetParticlePair () const

CHAOS_API TVec2< const FPerShapeData * >	GetShapePair () const

CHAOS_API const FShapeInstance *	GetShape (int32 ParticleIdx) const

CHAOS_API const FConstImplicitObjectRef	GetImplicit (int32 ParticleIdx) const

CHAOS_API bool	GetIsCCD () const

CHAOS_API bool	IsEdgeContactPoint (int32 ContactPointIdx) const

CHAOS_API bool	IsContactPointDisabled (int32 ContactPointIdx) const

CHAOS_API void	SetContactPointDisabled (int32 ContactPointIdx) const

Friends
class	FVisitedContactPairsTracker

Constructor & Destructor Documentation

◆ FContactPairModifier() [1/2]

Chaos::FContactPairModifier::FContactPairModifier ( )

inline

◆ FContactPairModifier() [2/2]

Chaos::FContactPairModifier::FContactPairModifier	(	FPBDCollisionConstraint *	InConstraint,
		FCollisionContactModifier &	InModifier
	)

inline

Member Function Documentation

◆ ConvertToNonProbe()

void Chaos::FContactPairModifier::ConvertToNonProbe ( )

Convert the constraint from probe to a regular physical collision

◆ ConvertToProbe()

void Chaos::FContactPairModifier::ConvertToProbe ( )

Convert the constraint between this pair of bodies into a probe. Collision callbacks will still occur if the bodies collide (a contact occurring in contact modification does not mean a contact actually has occurred yet, but that it may)

◆ Disable()

void Chaos::FContactPairModifier::Disable ( )

Disable all contact points for this pair of bodies.

◆ Enable()

void Chaos::FContactPairModifier::Enable ( )

Enables all contact points for this pair of bodies. This does nothing unless Disable() was previously called.

◆ GetContactGeometry()

const FImplicitObject * Chaos::FContactPairModifier::GetContactGeometry ( int32 ParticleIdx )

Returns: Geometry of specified particle in contact pair.

◆ GetDeepestContactIndex()

int32 Chaos::FContactPairModifier::GetDeepestContactIndex ( ) const

Returns: Contact point index of point in manifold penetrating the deepest.

◆ GetDynamicFriction()

FReal Chaos::FContactPairModifier::GetDynamicFriction ( ) const

Returns: Dynamic friction coefficient of contact.

◆ GetImplicit()

const FConstImplicitObjectRef Chaos::FContactPairModifier::GetImplicit ( int32 ParticleIdx ) const

◆ GetInvInertiaScale()

FReal Chaos::FContactPairModifier::GetInvInertiaScale ( int32 ParticleIdx ) const

Returns: InvInertiaScale of particle.

◆ GetInvMassScale()

FReal Chaos::FContactPairModifier::GetInvMassScale ( int32 ParticleIdx ) const

Returns: InvMassScale of particle.

◆ GetIsCCD()

bool Chaos::FContactPairModifier::GetIsCCD ( ) const

◆ GetIsInitialContact()

bool Chaos::FContactPairModifier::GetIsInitialContact ( ) const

Returns: true if this contact is an initial contact, i.e., the pair of shapes in the contact were not touching last frame.

◆ GetIsProbe()

bool Chaos::FContactPairModifier::GetIsProbe ( ) const

Return true if this constraint is a probe type

◆ GetNumContacts()

int32 Chaos::FContactPairModifier::GetNumContacts ( ) const

Returns: Number of contact points in constraint pair. ContactPointIdx must be below number of contacts.

◆ GetOtherParticle()

FGeometryParticleHandle * Chaos::FContactPairModifier::GetOtherParticle ( FGeometryParticleHandle * Particle ) const

◆ GetParticleAngularVelocity()

FVec3 Chaos::FContactPairModifier::GetParticleAngularVelocity ( int32 ParticleIdx ) const

Returns: Angular velocity of particle.

◆ GetParticlePair()

TVec2< FGeometryParticleHandle * > Chaos::FContactPairModifier::GetParticlePair ( ) const

◆ GetParticlePosition()

FVec3 Chaos::FContactPairModifier::GetParticlePosition ( int32 ParticleIdx ) const

Returns: Position of particle. For simulated objects: this is PBD predicted position and not previous position before integrating movement.

◆ GetParticleRotation()

FRotation3 Chaos::FContactPairModifier::GetParticleRotation ( int32 ParticleIdx ) const

Returns: Rotation of particle. For simulated objects: this is PBD predicted rotation and not previous rotation before integrating movement.

◆ GetParticleVelocity()

FVec3 Chaos::FContactPairModifier::GetParticleVelocity ( int32 ParticleIdx ) const

Returns: Linear velocity of particle.

◆ GetRestitution()

FReal Chaos::FContactPairModifier::GetRestitution ( ) const

Returns: Restitution of contact.

◆ GetRestitutionThreshold()

FReal Chaos::FContactPairModifier::GetRestitutionThreshold ( ) const

Returns: Restitution threshold of contact. If velocity of object is below this threshold, no restitution is applied.

◆ GetSeparation()

FReal Chaos::FContactPairModifier::GetSeparation ( int32 ContactPointIdx ) const

Returns: separation of contact locations in direction of normal.

◆ GetShape()

const FShapeInstance * Chaos::FContactPairModifier::GetShape ( int32 ParticleIdx ) const

◆ GetShapePair()

TVec2< const FPerShapeData * > Chaos::FContactPairModifier::GetShapePair ( ) const

◆ GetShapeToWorld()

FRigidTransform3 Chaos::FContactPairModifier::GetShapeToWorld ( int32 ParticleIdx ) const

Returns: Transformation from geometry to world.

◆ GetStaticFriction()

FReal Chaos::FContactPairModifier::GetStaticFriction ( ) const

Returns: Static friction coefficient of contact.

◆ GetTargetSeparation()

FReal Chaos::FContactPairModifier::GetTargetSeparation ( int32 ContactPointIdx ) const

Returns: desired separation of contact locations in direction of normal.

◆ GetWorldContactLocation()

FVec3 Chaos::FContactPairModifier::GetWorldContactLocation ( int32 ContactPointIdx ) const

Returns: Contact location. This is midpoint of each body's contact location.

◆ GetWorldContactLocations()

void Chaos::FContactPairModifier::GetWorldContactLocations	(	int32	ContactPointIdx,
		FVec3 &	OutLocation0,
		FVec3 &	OutLocation1
	)		const

Get contact location on each body in world space.

◆ GetWorldNormal()

FVec3 Chaos::FContactPairModifier::GetWorldNormal ( int32 ContactPointIdx ) const

Get the world-space contact normal.

Note: The contact normal always points away from the second body. E.g., a sphere lying on a flat ground could return a WorldNormal pointing up or down, depending on whether the sphere is the first or second body in the constraint.

Returns: Normal of contact in world space.

◆ IsContactPointDisabled()

bool Chaos::FContactPairModifier::IsContactPointDisabled ( int32 ContactPointIdx ) const

◆ IsEdgeContactPoint()

bool Chaos::FContactPairModifier::IsEdgeContactPoint ( int32 ContactPointIdx ) const

◆ ModifyDynamicFriction()

void Chaos::FContactPairModifier::ModifyDynamicFriction ( FReal DynamicFriction )

Modify dynamic friction coefficient of contact.

◆ ModifyInvInertiaScale()

void Chaos::FContactPairModifier::ModifyInvInertiaScale	(	FReal	InvInertiaScale,
		int32	ParticleIdx
	)

Modify InvInertiaScale of particle. 0 prevents all rotation of particle due to collision, values > 1 decrease rotational inertia.

◆ ModifyInvMassScale()

void Chaos::FContactPairModifier::ModifyInvMassScale	(	FReal	InvMassScale,
		int32	ParticleIdx
	)

Modify InvMassScale of particle. 0 gives particle infinite mass during collision, values > 1 decrease mass during collision.

◆ ModifyParticleAngularVelocity()

void Chaos::FContactPairModifier::ModifyParticleAngularVelocity	(	FVec3	AngularVelocity,
		int32	ParticleIdx
	)

Modify angular velocity. For simulated objects: Previous frame's rotation is modified to maintain PBD implicit velocity.

◆ ModifyParticlePosition()

void Chaos::FContactPairModifier::ModifyParticlePosition	(	FVec3	Position,
		bool	bMaintainVelocity,
		int32	ParticleIdx
	)

For simulated objects: this sets PBD predicted position and not position before integrating movement.

Parameters

bMaintainVelocity - if true, simulated object will update previous position to maintain implicit velocity. Otherwise changing position will change velocity.

◆ ModifyParticleRotation()

void Chaos::FContactPairModifier::ModifyParticleRotation	(	FRotation3	Rotation,
		bool	bMaintainVelocity,
		int32	ParticleIdx
	)

For simulated objects: this sets PBD predicted rotation and not rotation before integrating movement.

Parameters

bMaintainVelocity - if true, simulated object will update previous rotation to maintain implicit velocity. Otherwise changing rotation will change angular velocity.

◆ ModifyParticleVelocity()

void Chaos::FContactPairModifier::ModifyParticleVelocity	(	FVec3	Velocity,
		int32	ParticleIdx
	)

Modify linear velocity. For simulated objects: Previous frame's position is modified to maintain PBD implicit velocity.

◆ ModifyRestitution()

void Chaos::FContactPairModifier::ModifyRestitution ( FReal Restitution )

Modify restitution of contact. If object is moving slowly, RestitutionThreshold may need to be lowered if restitution is desired.

◆ ModifyRestitutionThreshold()

void Chaos::FContactPairModifier::ModifyRestitutionThreshold ( FReal Restitution )

Modify restitution threshold of contact. If velocity of object is below this threshold, no restitution is applied.

◆ ModifyStaticFriction()

void Chaos::FContactPairModifier::ModifyStaticFriction ( FReal StaticFriction )

Modify static friction coefficient of contact.

◆ ModifyTargetSeparation()

void Chaos::FContactPairModifier::ModifyTargetSeparation	(	FReal	TargetSeparation,
		int32	ContactPointIdx
	)

Set the desired separation at the contact point (negative for penetration).

◆ ModifyWorldContactLocations()

void Chaos::FContactPairModifier::ModifyWorldContactLocations	(	const FVec3 &	Location0,
		const FVec3 &	Location1,
		int32	ContactPointIdx
	)

Modify contact location of each body in world space. If modifying locations and separation, order of operations should be considered.

◆ ModifyWorldNormal()

void Chaos::FContactPairModifier::ModifyWorldNormal	(	const FVec3 &	Normal,
		int32	ContactPointIdx
	)

Modify contact normal in world space. If modifying separation and normal, order of operations should be considered.

Note: The contact normal should always point away from the second body.

◆ SetContactPointDisabled()

void Chaos::FContactPairModifier::SetContactPointDisabled ( int32 ContactPointIdx ) const

◆ SetIsInitialContact()

void Chaos::FContactPairModifier::SetIsInitialContact ( bool bIsInitialContact ) const

Set whether this contact is considered an initial contact. This controls how the contact behaves with regard to the initial overlap depenetration system.

Friends And Related Symbol Documentation

◆ FVisitedContactPairsTracker

friend class FVisitedContactPairsTracker

friend

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

Engine/Source/Runtime/Experimental/Chaos/Public/Chaos/ContactModification.h
Engine/Source/Runtime/Experimental/Chaos/Private/Chaos/ContactModification.cpp

Public Member Functions

Friends