A contact constraint. More...

#include <PBDCollisionConstraint.h>

Inheritance diagram for Chaos::FPBDCollisionConstraint:

Public Types
using	FConstraintContainerHandle = TIntrusiveConstraintHandle< FPBDCollisionConstraint >

Public Types inherited from Chaos::FPBDCollisionConstraintHandle
using	Base = TIntrusiveConstraintHandle< FPBDCollisionConstraint >

using	FImplicitPair = TPair< const FImplicitObject , const FImplicitObject >

using	FGeometryPair = TPair< const TGeometryParticleHandle< FReal, 3 > , const TGeometryParticleHandle< FReal, 3 > >

using	FHandleKey = TPair< FImplicitPair, FGeometryPair >

Public Types inherited from Chaos::TIntrusiveConstraintHandle< FPBDCollisionConstraint >
using	FConstraint = FPBDCollisionConstraint

Public Types inherited from Chaos::FConstraintHandle
using	FGeometryParticleHandle = TGeometryParticleHandle< FReal, 3 >

Public Member Functions
CHAOS_API void	RestoreFrom (const FPBDCollisionConstraint &Source)

	FPBDCollisionConstraint ()

virtual CHAOS_API	~FPBDCollisionConstraint ()

bool	GetCCDEnabled () const

void	SetCCDEnabled (const bool bCCDEnabled)

bool	GetCCDSweepEnabled () const

void	SetCCDSweepEnabled (const bool bCCDSweepEnabled)

FReal	GetCCDEnablePenetration () const
	If CCD is enabled, contacts deeper than this will be handled by CCD.

FReal	GetCCDTargetPenetration () const
	If CCD is enabled and processed the contact, CCD resolution leaves up to this much penetration.

FGeometryParticleHandle *	GetParticle0 () const

FGeometryParticleHandle *	GetParticle1 () const

FGeometryParticleHandle *	GetParticle (const int32 ParticleIndex) const

const FImplicitObject *	GetImplicit0 () const

const FImplicitObject *	GetImplicit1 () const

const FImplicitObject *	GetImplicit (const int32 ParticleIndex) const

const FShapeInstance *	GetShape0 () const

const FShapeInstance *	GetShape1 () const

const FShapeInstance *	GetShape (const int32 ParticleIndex) const

const FBVHParticles *	GetCollisionParticles0 () const

const FBVHParticles *	GetCollisionParticles1 () const

const FBVHParticles *	GetCollisionParticles (const int32 ParticleIndex) const

const FReal	GetCollisionMargin0 () const

const FReal	GetCollisionMargin1 () const

const bool	IsQuadratic0 () const

const bool	IsQuadratic1 () const

const bool	HasQuadraticShape () const

const FReal	GetCollisionRadius0 () const

const FReal	GetCollisionRadius1 () const

CHAOS_API void	Activate ()

void	Activate (const FReal Dt)

CHAOS_API void	UpdateParticleTransform (FGeometryParticleHandle *InParticle)

void	ResetPhi (FReal InPhi)

FReal	GetPhi () const

void	BeginTick ()

bool	IsCurrent () const

void	SetDisabled (bool bInDisabled)

bool	GetDisabled () const

bool	GetIsOneWayInteraction () const

void	SetIsProbe (bool bInProbe)

bool	GetIsProbe () const

void	SetIsInitialContact (const bool bInIsInitialContact)

bool	IsInitialContact () const

FRealSingle	GetMinInitialPhi () const

bool	UsePerContactInitialPhi () const

virtual bool	SupportsSleeping () const override final

virtual bool	SupportsPartialIslandSleeping () const override final

virtual CHAOS_API bool	IsSleeping () const override final

virtual CHAOS_API void	SetIsSleeping (const bool bInIsSleeping) override final

virtual CHAOS_API FVec3f	GetNetLinearImpulse () const override final

CHAOS_API FVec3	CalculateWorldContactNormal () const

CHAOS_API FVec3	CalculateWorldContactLocation () const

void	ClearMaterialProperties ()

void	UpdateMaterialProperties ()

void	SetModifierApplied ()

const FPBDCollisionConstraintMaterial &	GetCollisionMaterial () const

void	SetInvMassScale0 (const FReal InInvMassScale)

FReal	GetInvMassScale0 () const

void	SetInvMassScale1 (const FReal InInvMassScale)

FReal	GetInvMassScale1 () const

void	SetInvInertiaScale0 (const FReal InInvInertiaScale)

FReal	GetInvInertiaScale0 () const

void	SetInvInertiaScale1 (const FReal InInvInertiaScale)

FReal	GetInvInertiaScale1 () const

void	SetStiffness (FReal InStiffness)

FReal	GetStiffness () const

void	SetRestitution (const FReal InRestitution)

FReal	GetRestitution () const

void	SetRestitutionThreshold (const FReal InRestitutionThreshold)

FReal	GetRestitutionThreshold () const

void	SetStaticFriction (const FReal InStaticFriction)

FReal	GetStaticFriction () const

void	SetDynamicFriction (const FReal InDynamicFriction)

FReal	GetDynamicFriction () const

void	SetMinFrictionPushOut (const FReal InMinFrictionPushOut)

FReal	GetMinFrictionPushOut () const

bool	IsSoftContact () const

void	SetSoftSeparation (const FReal InSoftSeparation)

FRealSingle	GetSoftSeparation () const

EContactShapesType	GetShapesType () const

CHAOS_API FString	ToString () const

FReal	GetCullDistance () const

FRealSingle	GetCullDistancef () const

void	SetCullDistance (FReal InCullDistance)

FVec3f	GetRelativeMovement () const

void	SetRelativeMovement (const FVec3f &InDelta)

bool	GetUseManifold () const

bool	GetUseIncrementalManifold () const

bool	GetUseIncrementalCollisionDetection () const

FRealSingle	GetInitialOverlapDepenetrationVelocity () const

void	ResetModifications ()

CHAOS_API void	ResetManifold ()
	Clear the current and previous manifolds.

TArrayView< FManifoldPoint >	GetManifoldPoints ()

TArrayView< const FManifoldPoint >	GetManifoldPoints () const

int32	NumManifoldPoints () const

FManifoldPoint &	GetManifoldPoint (const int32 PointIndex)

const FManifoldPoint &	GetManifoldPoint (const int32 PointIndex) const

const FManifoldPoint *	GetClosestManifoldPoint () const

bool	IsManifoldPointActive (const int32 PointIndex) const

const FManifoldPointResult &	GetManifoldPointResult (const int32 PointIndex) const

int32	NumEnabledManifoldPoints () const

void	DisableManifoldPoint (const int32 DisabledManifoldPointIndex)

CHAOS_API void	AddIncrementalManifoldContact (const FContactPoint &ContactPoint)

void	AddOneshotManifoldContact (const FContactPointf &ContactPoint)

void	SetOneShotManifoldContacts (const TArrayView< const FContactPoint > &ContactPoints)
	Replace the current manifold points with the input. The input array should contain no more than MaxManifoldPoints contacts (any extra will be ignored). We assume that all input contacts have been initialized and will not return false from IsSet(). Ignores contacts deeper than the CullDistance for this constraint.

CHAOS_API void	CorrectManifoldPoints ()

CHAOS_API void	UpdateManifoldContacts ()

const FRigidTransform3 &	GetShapeRelativeTransform0 () const

const FRigidTransform3 &	GetShapeRelativeTransform1 () const

const FRigidTransform3 &	GetShapeRelativeTransform (const int32 ParticleIndex) const

const FRigidTransform3 &	GetShapeWorldTransform0 () const

const FRigidTransform3 &	GetShapeWorldTransform1 () const

const FRigidTransform3 &	GetShapeWorldTransform (const int32 ParticleIndex) const

void	SetShapeWorldTransforms (const FRigidTransform3 &InShapeWorldTransform0, const FRigidTransform3 &InShapeWorldTransform1)

void	SetLastShapeWorldTransforms (const FRigidTransform3 &InShapeWorldTransform0, const FRigidTransform3 &InShapeWorldTransform1)

bool	GetCanRestoreManifold () const

CHAOS_API bool	TryRestoreManifold ()

CHAOS_API void	ResetActiveManifoldContacts ()

CHAOS_API bool	TryAddManifoldContact (const FContactPoint &ContactPoint)

CHAOS_API bool	TryInsertManifoldContact (const FContactPoint &ContactPoint)

FGJKSimplexData &	GetGJKWarmStartData ()

const FSolverBody *	GetSolverBody0 () const

const FSolverBody *	GetSolverBody1 () const

void	SetSolverBodies (const FSolverBody InSolverBody0, const FSolverBody InSolverBody1)

bool	WasManifoldRestored () const
	Whether this constraint was fully restored from a previous tick, and the manifold should be reused as-is.

CHAOS_API ECollisionConstraintDirection	GetConstraintDirection (const FReal Dt) const

void	ResetSavedManifoldPoints ()
	Clear the saved manifold points. This effectively resets friction anchors.

int32	NumSavedManifoldPoints () const

const FSavedManifoldPoint &	GetSavedManifoldPoint (const int32 PointIndex) const

FReal	GetCCDTimeOfImpact () const
	Time of impact from CCD sweep test if CCD is activate.Otherwise undefined.

void	SetCCDTimeOfImpact (const FReal TOI)
	Set the CCD TOI from the collision detection sweep.

void	ResetCCDTimeOfImpact ()

void	SetCCDResults (const FVec3 &InNetImpulse)
	Store the results of CCD contact resolution, if active.

FORCEINLINE void	ResetSolverResults ()

FORCEINLINE void	SetSolverResults (const int32 ManifoldPointIndex, const FVec3f &NetPushOut, const FVec3f &NetImpulse, const FRealSingle StaticFrictionRatio, const FRealSingle Dt)
	Store the data from the solver that is retained between ticks for the specified manifold point or used by dependent systems (plasticity, breaking, etc.)

Private::FCollisionParticlePairKey	GetParticlePairKey () const

Private::FCollisionSortKey	GetCollisionSortKey () const

void	SetCollisionSortKey (const Private::FCollisionSortKey &InCollisionSortKey)

Private::FImplicitBoundsTestFlags	GetBoundsTestFlags () const

const FPBDCollisionConstraintHandle *	GetConstraintHandle () const

FPBDCollisionConstraintHandle *	GetConstraintHandle ()

bool	UpdateAndTryRestoreManifold ()

Public Member Functions inherited from Chaos::FPBDCollisionConstraintHandle
	FPBDCollisionConstraintHandle ()

const FPBDCollisionConstraint &	GetContact () const

FPBDCollisionConstraint &	GetContact ()

const FPBDCollisionConstraint &	GetPointContact () const

FPBDCollisionConstraint &	GetPointContact ()

const FPBDCollisionConstraint &	GetSweptPointContact () const

FPBDCollisionConstraint &	GetSweptPointContact ()

bool	GetCCDEnabled () const

virtual void	SetEnabled (bool InEnabled) override final

virtual bool	IsEnabled () const override final

virtual bool	IsProbe () const override final

FVec3	GetAccumulatedImpulse () const

virtual FParticlePair	GetConstrainedParticles () const override final

const FPBDCollisionConstraints *	ConcreteContainer () const

FPBDCollisionConstraints *	ConcreteContainer ()

Public Member Functions inherited from Chaos::TIntrusiveConstraintHandle< FPBDCollisionConstraint >
	TIntrusiveConstraintHandle ()

void	SetContainer (FPBDConstraintContainer *InContainer)

FConstraint *	GetConstraint ()

const FConstraint *	GetConstraint () const

Public Member Functions inherited from Chaos::FIntrusiveConstraintHandle
	FIntrusiveConstraintHandle ()

void	SetContainer (FPBDConstraintContainer *InContainer)

Public Member Functions inherited from Chaos::FConstraintHandle
	FConstraintHandle ()

	FConstraintHandle (FPBDConstraintContainer *InContainer)

virtual	~FConstraintHandle ()

virtual bool	IsValid () const

FPBDConstraintContainer *	GetContainer ()

const FPBDConstraintContainer *	GetContainer () const

bool	IsInConstraintGraph () const

Private::FPBDIslandConstraint *	GetConstraintGraphEdge () const

void	SetConstraintGraphEdge (Private::FPBDIslandConstraint *InEdge)

virtual bool	WasAwakened () const

virtual void	SetWasAwakened (const bool bInWasAwakened)

int32	GetContainerId () const

template<typename T >
T *	As ()

template<typename T >
const T *	As () const

template<typename T >
T *	AsUnsafe ()

template<typename T >
const T *	AsUnsafe () const

const FConstraintHandleTypeID &	GetType () const

	UE_DEPRECATED (5.3, "Use GetConstraintGraphEdge") int32 GetConstraintGraphIndex() const

	UE_DEPRECATED (5.3, "Not supported") void SetConstraintGraphIndex(const int32 InIndex) const

Static Public Member Functions
static CHAOS_API void	Make (FGeometryParticleHandle Particle0, const FImplicitObject Implicit0, const FPerShapeData Shape0, const FBVHParticles Simplicial0, const FRigidTransform3 &ImplicitLocalTransform0, FGeometryParticleHandle Particle1, const FImplicitObject Implicit1, const FPerShapeData Shape1, const FBVHParticles Simplicial1, const FRigidTransform3 &ImplicitLocalTransform1, const FReal InCullDistance, const bool bInUseManifold, const EContactShapesType ShapesType, FPBDCollisionConstraint &OutConstraint)
	Create a contact constraint Initializes a constraint stored inline in an object. Only intended to be called once right after construction. Does not reinitialize all data so not intended to reset a constraint for reuse with different particles etc.

static CHAOS_API FPBDCollisionConstraint	MakeTriangle (const FImplicitObject *Implicit0)
	For use by the tri mesh and heighfield collision detection as a temporary measure.

static CHAOS_API FPBDCollisionConstraint	MakeCopy (const FPBDCollisionConstraint &Source)
	Return a constraint copied from the Source constraint, for use in the Resim Cache or other system.

Static Public Member Functions inherited from Chaos::FPBDCollisionConstraintHandle
static CHAOS_API const FConstraintHandleTypeID &	StaticType ()

Static Public Member Functions inherited from Chaos::FIntrusiveConstraintHandle
static const FConstraintHandleTypeID &	StaticType ()

Static Public Member Functions inherited from Chaos::FConstraintHandle
static const FConstraintHandleTypeID &	StaticType ()

static const FConstraintHandleTypeID &	InvalidType ()

Public Attributes
FVec3f	AccumulatedImpulse

Static Public Attributes
static constexpr FRealSingle	MaxTOI = std::numeric_limits<FRealSingle>::max()

Protected Member Functions
	FPBDCollisionConstraint (FGeometryParticleHandle Particle0, const FImplicitObject Implicit0, const FPerShapeData Shape0, const FBVHParticles Simplicial0, FGeometryParticleHandle Particle1, const FImplicitObject Implicit1, const FPerShapeData Shape1, const FBVHParticles Simplicial1)

CHAOS_API void	Setup (const ECollisionCCDType InCCDType, const EContactShapesType InShapesType, const FRigidTransform3 &InImplicitTransform0, const FRigidTransform3 &InImplicitTransform1, const FReal InCullDistance, const bool bInUseManifold)

const FPBDCollisionConstraintContainerCookie &	GetContainerCookie () const

FPBDCollisionConstraintContainerCookie &	GetContainerCookie ()

CHAOS_API bool	AreMatchingContactPoints (const FContactPoint &A, const FContactPoint &B, FReal &OutScore) const

CHAOS_API int32	FindManifoldPoint (const FContactPoint &ContactPoint) const

int32	FindSimpleSavedManifoldPoint (const int32 ManifoldPointIndex) const

CHAOS_API int32	FindSavedManifoldPoint (const int32 ManifoldPointIndex, int32 *InOutAllowedSavedPointIndices, int32 &InOutNumAllowedSavedPoints) const

CHAOS_API void	AssignSavedManifoldPoints ()

void	InitManifoldPoint (const int32 ManifoldPointIndex, const FContactPointf &ContactPoint)

int32	AddManifoldPoint (const FContactPointf &ContactPoint)

CHAOS_API void	UpdateManifoldPointPhi (const int32 ManifoldPointIndex)

CHAOS_API void	InitMarginsAndTolerances (const EImplicitObjectType ImplicitType0, const EImplicitObjectType ImplicitType1, const FRealSingle Margin0, const FRealSingle Margin1)

CHAOS_API void	InitCCDThreshold ()

CHAOS_API void	UpdateMaterialPropertiesImpl ()

CHAOS_API void	UpdateMassScales ()

Friends
class	Private::FCollisionConstraintAllocator

class	Private::FCollisionContextAllocator

class	FContactPairModifier

class	FGenericParticlePairMidPhase

class	FParticlePairMidPhase

class	FPBDCollisionConstraints

class	FShapePairParticlePairMidPhase

class	FSingleShapePairCollisionDetector

class	FSphereApproximationParticlePairMidPhase

class	::FChaosVDDataWrapperUtils

CHAOS_API bool	ContactConstraintSortPredicate (const FPBDCollisionConstraint &L, const FPBDCollisionConstraint &R)

Additional Inherited Members
Protected Attributes inherited from Chaos::FConstraintHandle
FPBDConstraintContainer *	ConstraintContainer

Private::FPBDIslandConstraint *	GraphEdge

Detailed Description

A contact constraint.

A contact constraint represents the non-penetration, friction, and restitution constraints for a single shape pair on a particle pair. I.e., a specific particle-pair may have multiple contact constraints between them if one or boht has multuple collision shapes that overlap the shape(s) of the other body.

Each contact constraint contains a Manifold, which is a set of contact points that approximate the contact patch between the two shapes.

Contact constraints are allocated on the heap (Asee FCollisionConstraintAllocator) and have permanent addresses. They use intrusive handles to reduce unnecessary indirection.

Member Typedef Documentation

◆ FConstraintContainerHandle

using Chaos::FPBDCollisionConstraint::FConstraintContainerHandle = TIntrusiveConstraintHandle<FPBDCollisionConstraint>

Constructor & Destructor Documentation

◆ FPBDCollisionConstraint() [1/2]

Chaos::FPBDCollisionConstraint::FPBDCollisionConstraint ( )

◆ ~FPBDCollisionConstraint()

Chaos::FPBDCollisionConstraint::~FPBDCollisionConstraint ( )

virtual

◆ FPBDCollisionConstraint() [2/2]

Chaos::FPBDCollisionConstraint::FPBDCollisionConstraint	(	FGeometryParticleHandle *	Particle0,
		const FImplicitObject *	Implicit0,
		const FPerShapeData *	Shape0,
		const FBVHParticles *	Simplicial0,
		FGeometryParticleHandle *	Particle1,
		const FImplicitObject *	Implicit1,
		const FPerShapeData *	Shape1,
		const FBVHParticles *	Simplicial1
	)

protected

Member Function Documentation

◆ Activate() [1/2]

void Chaos::FPBDCollisionConstraint::Activate ( )

Called each frame when the constraint is active after primary collision detection (but not per incremental collision detection call if enabled)

◆ Activate() [2/2]

void Chaos::FPBDCollisionConstraint::Activate ( const FReal Dt )

inline

◆ AddIncrementalManifoldContact()

void Chaos::FPBDCollisionConstraint::AddIncrementalManifoldContact ( const FContactPoint & ContactPoint )

◆ AddManifoldPoint()

int32 Chaos::FPBDCollisionConstraint::AddManifoldPoint ( const FContactPointf & ContactPoint )

inlineprotected

◆ AddOneshotManifoldContact()

void Chaos::FPBDCollisionConstraint::AddOneshotManifoldContact ( const FContactPointf & ContactPoint )

inline

◆ AreMatchingContactPoints()

bool Chaos::FPBDCollisionConstraint::AreMatchingContactPoints	(	const FContactPoint &	A,
		const FContactPoint &	B,
		FReal &	OutScore
	)		const

protected

◆ AssignSavedManifoldPoints()

void Chaos::FPBDCollisionConstraint::AssignSavedManifoldPoints ( )

protected

◆ BeginTick()

void Chaos::FPBDCollisionConstraint::BeginTick ( )

inline

◆ CalculateWorldContactLocation()

FVec3 Chaos::FPBDCollisionConstraint::CalculateWorldContactLocation ( ) const

◆ CalculateWorldContactNormal()

FVec3 Chaos::FPBDCollisionConstraint::CalculateWorldContactNormal ( ) const

◆ ClearMaterialProperties()

void Chaos::FPBDCollisionConstraint::ClearMaterialProperties ( )

inline

◆ CorrectManifoldPoints()

void Chaos::FPBDCollisionConstraint::CorrectManifoldPoints ( )

◆ DisableManifoldPoint()

void Chaos::FPBDCollisionConstraint::DisableManifoldPoint ( const int32 DisabledManifoldPointIndex )

inline

◆ FindManifoldPoint()

int32 Chaos::FPBDCollisionConstraint::FindManifoldPoint ( const FContactPoint & ContactPoint ) const

protected

◆ FindSavedManifoldPoint()

int32 Chaos::FPBDCollisionConstraint::FindSavedManifoldPoint	(	const int32	ManifoldPointIndex,
		int32 *	InOutAllowedSavedPointIndices,
		int32 &	InOutNumAllowedSavedPoints
	)		const

protected

◆ FindSimpleSavedManifoldPoint()

int32 Chaos::FPBDCollisionConstraint::FindSimpleSavedManifoldPoint ( const int32 ManifoldPointIndex ) const

protected

◆ GetBoundsTestFlags()

Private::FImplicitBoundsTestFlags Chaos::FPBDCollisionConstraint::GetBoundsTestFlags ( ) const

inline

◆ GetCanRestoreManifold()

bool Chaos::FPBDCollisionConstraint::GetCanRestoreManifold ( ) const

inline

◆ GetCCDEnabled()

bool Chaos::FPBDCollisionConstraint::GetCCDEnabled ( ) const

inline

Whether CCD is enabled for this collision. This value depends only on the CCD requirements of the two particles. It does not change from tick to tick.

◆ GetCCDEnablePenetration()

FReal Chaos::FPBDCollisionConstraint::GetCCDEnablePenetration ( ) const

inline

If CCD is enabled, contacts deeper than this will be handled by CCD.

◆ GetCCDSweepEnabled()

bool Chaos::FPBDCollisionConstraint::GetCCDSweepEnabled ( ) const

inline

For CCD constraints, a transient flag (reset every frame) that is used to both enable/disable CCD sweeps for the frame, and to report whether the sweep was run and the results retained. It will be set to false if the bodies are moving less than the CCD threshold this tick.

If this is true in a collision callback then: 1) a CCD sweep was performed; 2) a CCD impact was detected; and 3) the collision is being treated as a CCD contact. The bodies will be moved back to first CCD contact.

NOTE: If a sweep is performed and a hit detected, but the resultant contact is shallow enough to be handled by the standard collision solver path, this flag is set to false and no rollback will be performed.

◆ GetCCDTargetPenetration()

FReal Chaos::FPBDCollisionConstraint::GetCCDTargetPenetration ( ) const

inline

If CCD is enabled and processed the contact, CCD resolution leaves up to this much penetration.

◆ GetCCDTimeOfImpact()

FReal Chaos::FPBDCollisionConstraint::GetCCDTimeOfImpact ( ) const

inline

Time of impact from CCD sweep test if CCD is activate.Otherwise undefined.

◆ GetClosestManifoldPoint()

const FManifoldPoint * Chaos::FPBDCollisionConstraint::GetClosestManifoldPoint ( ) const

inline

◆ GetCollisionMargin0()

const FReal Chaos::FPBDCollisionConstraint::GetCollisionMargin0 ( ) const

inline

◆ GetCollisionMargin1()

const FReal Chaos::FPBDCollisionConstraint::GetCollisionMargin1 ( ) const

inline

◆ GetCollisionMaterial()

const FPBDCollisionConstraintMaterial & Chaos::FPBDCollisionConstraint::GetCollisionMaterial ( ) const

inline

◆ GetCollisionParticles()

const FBVHParticles * Chaos::FPBDCollisionConstraint::GetCollisionParticles ( const int32 ParticleIndex ) const

inline

◆ GetCollisionParticles0()

const FBVHParticles * Chaos::FPBDCollisionConstraint::GetCollisionParticles0 ( ) const

inline

◆ GetCollisionParticles1()

const FBVHParticles * Chaos::FPBDCollisionConstraint::GetCollisionParticles1 ( ) const

inline

◆ GetCollisionRadius0()

const FReal Chaos::FPBDCollisionConstraint::GetCollisionRadius0 ( ) const

inline

◆ GetCollisionRadius1()

const FReal Chaos::FPBDCollisionConstraint::GetCollisionRadius1 ( ) const

inline

◆ GetCollisionSortKey()

Private::FCollisionSortKey Chaos::FPBDCollisionConstraint::GetCollisionSortKey ( ) const

inline

A key that uniquely identifies a collision constraint and provides a good sort order for the solver

◆ GetConstraintDirection()

ECollisionConstraintDirection Chaos::FPBDCollisionConstraint::GetConstraintDirection ( const FReal Dt ) const

Determine the constraint direction based on Normal and Phi. This function assumes that the constraint is update-to-date.

◆ GetConstraintHandle() [1/2]

FPBDCollisionConstraintHandle * Chaos::FPBDCollisionConstraint::GetConstraintHandle ( )

inline

◆ GetConstraintHandle() [2/2]

const FPBDCollisionConstraintHandle * Chaos::FPBDCollisionConstraint::GetConstraintHandle ( ) const

inline

◆ GetContainerCookie() [1/2]

FPBDCollisionConstraintContainerCookie & Chaos::FPBDCollisionConstraint::GetContainerCookie ( )

inlineprotected

◆ GetContainerCookie() [2/2]

const FPBDCollisionConstraintContainerCookie & Chaos::FPBDCollisionConstraint::GetContainerCookie ( ) const

inlineprotected

◆ GetCullDistance()

FReal Chaos::FPBDCollisionConstraint::GetCullDistance ( ) const

inline

◆ GetCullDistancef()

FRealSingle Chaos::FPBDCollisionConstraint::GetCullDistancef ( ) const

inline

◆ GetDisabled()

bool Chaos::FPBDCollisionConstraint::GetDisabled ( ) const

inline

◆ GetDynamicFriction()

FReal Chaos::FPBDCollisionConstraint::GetDynamicFriction ( ) const

inline

◆ GetGJKWarmStartData()

FGJKSimplexData & Chaos::FPBDCollisionConstraint::GetGJKWarmStartData ( )

inline

◆ GetImplicit()

const FImplicitObject * Chaos::FPBDCollisionConstraint::GetImplicit ( const int32 ParticleIndex ) const

inline

◆ GetImplicit0()

const FImplicitObject * Chaos::FPBDCollisionConstraint::GetImplicit0 ( ) const

inline

◆ GetImplicit1()

const FImplicitObject * Chaos::FPBDCollisionConstraint::GetImplicit1 ( ) const

inline

◆ GetInitialOverlapDepenetrationVelocity()

FRealSingle Chaos::FPBDCollisionConstraint::GetInitialOverlapDepenetrationVelocity ( ) const

inline

◆ GetInvInertiaScale0()

FReal Chaos::FPBDCollisionConstraint::GetInvInertiaScale0 ( ) const

inline

◆ GetInvInertiaScale1()

FReal Chaos::FPBDCollisionConstraint::GetInvInertiaScale1 ( ) const

inline

◆ GetInvMassScale0()

FReal Chaos::FPBDCollisionConstraint::GetInvMassScale0 ( ) const

inline

◆ GetInvMassScale1()

FReal Chaos::FPBDCollisionConstraint::GetInvMassScale1 ( ) const

inline

◆ GetIsOneWayInteraction()

bool Chaos::FPBDCollisionConstraint::GetIsOneWayInteraction ( ) const

inline

◆ GetIsProbe()

bool Chaos::FPBDCollisionConstraint::GetIsProbe ( ) const

inline

◆ GetManifoldPoint() [1/2]

FManifoldPoint & Chaos::FPBDCollisionConstraint::GetManifoldPoint ( const int32 PointIndex )

inline

◆ GetManifoldPoint() [2/2]

const FManifoldPoint & Chaos::FPBDCollisionConstraint::GetManifoldPoint ( const int32 PointIndex ) const

inline

◆ GetManifoldPointResult()

const FManifoldPointResult & Chaos::FPBDCollisionConstraint::GetManifoldPointResult ( const int32 PointIndex ) const

inline

◆ GetManifoldPoints() [1/2]

TArrayView< FManifoldPoint > Chaos::FPBDCollisionConstraint::GetManifoldPoints ( )

inline

◆ GetManifoldPoints() [2/2]

TArrayView< const FManifoldPoint > Chaos::FPBDCollisionConstraint::GetManifoldPoints ( ) const

inline

◆ GetMinFrictionPushOut()

FReal Chaos::FPBDCollisionConstraint::GetMinFrictionPushOut ( ) const

inline

◆ GetMinInitialPhi()

FRealSingle Chaos::FPBDCollisionConstraint::GetMinInitialPhi ( ) const

inline

◆ GetNetLinearImpulse()

Chaos::FVec3f Chaos::FPBDCollisionConstraint::GetNetLinearImpulse ( ) const

finaloverridevirtual

Reimplemented from Chaos::FConstraintHandle.

◆ GetParticle()

FGeometryParticleHandle * Chaos::FPBDCollisionConstraint::GetParticle ( const int32 ParticleIndex ) const

inline

◆ GetParticle0()

FGeometryParticleHandle * Chaos::FPBDCollisionConstraint::GetParticle0 ( ) const

inline

◆ GetParticle1()

FGeometryParticleHandle * Chaos::FPBDCollisionConstraint::GetParticle1 ( ) const

inline

◆ GetParticlePairKey()

Private::FCollisionParticlePairKey Chaos::FPBDCollisionConstraint::GetParticlePairKey ( ) const

inline

A key used to uniquely identify the constraint (it is based on the two particle IDs)

◆ GetPhi()

FReal Chaos::FPBDCollisionConstraint::GetPhi ( ) const

inline

◆ GetRelativeMovement()

FVec3f Chaos::FPBDCollisionConstraint::GetRelativeMovement ( ) const

inline

◆ GetRestitution()

FReal Chaos::FPBDCollisionConstraint::GetRestitution ( ) const

inline

◆ GetRestitutionThreshold()

FReal Chaos::FPBDCollisionConstraint::GetRestitutionThreshold ( ) const

inline

◆ GetSavedManifoldPoint()

const FSavedManifoldPoint & Chaos::FPBDCollisionConstraint::GetSavedManifoldPoint ( const int32 PointIndex ) const

inline

◆ GetShape()

const FShapeInstance * Chaos::FPBDCollisionConstraint::GetShape ( const int32 ParticleIndex ) const

inline

◆ GetShape0()

const FShapeInstance * Chaos::FPBDCollisionConstraint::GetShape0 ( ) const

inline

◆ GetShape1()

const FShapeInstance * Chaos::FPBDCollisionConstraint::GetShape1 ( ) const

inline

◆ GetShapeRelativeTransform()

const FRigidTransform3 & Chaos::FPBDCollisionConstraint::GetShapeRelativeTransform ( const int32 ParticleIndex ) const

inline

◆ GetShapeRelativeTransform0()

const FRigidTransform3 & Chaos::FPBDCollisionConstraint::GetShapeRelativeTransform0 ( ) const

inline

◆ GetShapeRelativeTransform1()

const FRigidTransform3 & Chaos::FPBDCollisionConstraint::GetShapeRelativeTransform1 ( ) const

inline

◆ GetShapesType()

EContactShapesType Chaos::FPBDCollisionConstraint::GetShapesType ( ) const

inline

◆ GetShapeWorldTransform()

const FRigidTransform3 & Chaos::FPBDCollisionConstraint::GetShapeWorldTransform ( const int32 ParticleIndex ) const

inline

◆ GetShapeWorldTransform0()

const FRigidTransform3 & Chaos::FPBDCollisionConstraint::GetShapeWorldTransform0 ( ) const

inline

◆ GetShapeWorldTransform1()

const FRigidTransform3 & Chaos::FPBDCollisionConstraint::GetShapeWorldTransform1 ( ) const

inline

◆ GetSoftSeparation()

FRealSingle Chaos::FPBDCollisionConstraint::GetSoftSeparation ( ) const

inline

◆ GetSolverBody0()

const FSolverBody * Chaos::FPBDCollisionConstraint::GetSolverBody0 ( ) const

inline

◆ GetSolverBody1()

const FSolverBody * Chaos::FPBDCollisionConstraint::GetSolverBody1 ( ) const

inline

◆ GetStaticFriction()

FReal Chaos::FPBDCollisionConstraint::GetStaticFriction ( ) const

inline

◆ GetStiffness()

FReal Chaos::FPBDCollisionConstraint::GetStiffness ( ) const

inline

◆ GetUseIncrementalCollisionDetection()

bool Chaos::FPBDCollisionConstraint::GetUseIncrementalCollisionDetection ( ) const

inline

◆ GetUseIncrementalManifold()

bool Chaos::FPBDCollisionConstraint::GetUseIncrementalManifold ( ) const

inline

◆ GetUseManifold()

bool Chaos::FPBDCollisionConstraint::GetUseManifold ( ) const

inline

◆ HasQuadraticShape()

const bool Chaos::FPBDCollisionConstraint::HasQuadraticShape ( ) const

inline

◆ InitCCDThreshold()

void Chaos::FPBDCollisionConstraint::InitCCDThreshold ( )

protected

◆ InitManifoldPoint()

void Chaos::FPBDCollisionConstraint::InitManifoldPoint	(	const int32	ManifoldPointIndex,
		const FContactPointf &	ContactPoint
	)

inlineprotected

◆ InitMarginsAndTolerances()

void Chaos::FPBDCollisionConstraint::InitMarginsAndTolerances	(	const EImplicitObjectType	ImplicitType0,
		const EImplicitObjectType	ImplicitType1,
		const FRealSingle	Margin0,
		const FRealSingle	Margin1
	)

protected

◆ IsCurrent()

bool Chaos::FPBDCollisionConstraint::IsCurrent ( ) const

inline

◆ IsInitialContact()

bool Chaos::FPBDCollisionConstraint::IsInitialContact ( ) const

inline

◆ IsManifoldPointActive()

bool Chaos::FPBDCollisionConstraint::IsManifoldPointActive ( const int32 PointIndex ) const

inline

◆ IsQuadratic0()

const bool Chaos::FPBDCollisionConstraint::IsQuadratic0 ( ) const

inline

◆ IsQuadratic1()

const bool Chaos::FPBDCollisionConstraint::IsQuadratic1 ( ) const

inline

◆ IsSleeping()

bool Chaos::FPBDCollisionConstraint::IsSleeping ( ) const

finaloverridevirtual

Reimplemented from Chaos::FConstraintHandle.

◆ IsSoftContact()

bool Chaos::FPBDCollisionConstraint::IsSoftContact ( ) const

inline

◆ Make()

void Chaos::FPBDCollisionConstraint::Make	(	FGeometryParticleHandle *	Particle0,
		const FImplicitObject *	Implicit0,
		const FPerShapeData *	Shape0,
		const FBVHParticles *	Simplicial0,
		const FRigidTransform3 &	ImplicitLocalTransform0,
		FGeometryParticleHandle *	Particle1,
		const FImplicitObject *	Implicit1,
		const FPerShapeData *	Shape1,
		const FBVHParticles *	Simplicial1,
		const FRigidTransform3 &	ImplicitLocalTransform1,
		const FReal	InCullDistance,
		const bool	bInUseManifold,
		const EContactShapesType	ShapesType,
		FPBDCollisionConstraint &	OutConstraint
	)

static

Create a contact constraint Initializes a constraint stored inline in an object. Only intended to be called once right after construction. Does not reinitialize all data so not intended to reset a constraint for reuse with different particles etc.

◆ MakeCopy()

FPBDCollisionConstraint Chaos::FPBDCollisionConstraint::MakeCopy ( const FPBDCollisionConstraint & Source )

static

Return a constraint copied from the Source constraint, for use in the Resim Cache or other system.

Note: Unlike the other factory method, this version returns a constraint by value for emplacing into an array (ther others are by pointer)

◆ MakeTriangle()

FPBDCollisionConstraint Chaos::FPBDCollisionConstraint::MakeTriangle ( const FImplicitObject * Implicit0 )

static

For use by the tri mesh and heighfield collision detection as a temporary measure.

See also: FHeightField::ContactManifoldImp, FTriangleMeshImplicitObject::ContactManifoldImp

◆ NumEnabledManifoldPoints()

int32 Chaos::FPBDCollisionConstraint::NumEnabledManifoldPoints ( ) const

inline

◆ NumManifoldPoints()

int32 Chaos::FPBDCollisionConstraint::NumManifoldPoints ( ) const

inline

◆ NumSavedManifoldPoints()

int32 Chaos::FPBDCollisionConstraint::NumSavedManifoldPoints ( ) const

inline

◆ ResetActiveManifoldContacts()

void Chaos::FPBDCollisionConstraint::ResetActiveManifoldContacts ( )

◆ ResetCCDTimeOfImpact()

void Chaos::FPBDCollisionConstraint::ResetCCDTimeOfImpact ( )

inline

Initialize the CCD TOI to the highest possible value

◆ ResetManifold()

void Chaos::FPBDCollisionConstraint::ResetManifold ( )

Clear the current and previous manifolds.

◆ ResetModifications()

void Chaos::FPBDCollisionConstraint::ResetModifications ( )

inline

Reset the material properties to those from the shape materials. Called each frame to reset contact modifications to the material.

◆ ResetPhi()

void Chaos::FPBDCollisionConstraint::ResetPhi ( FReal InPhi )

inline

◆ ResetSavedManifoldPoints()

void Chaos::FPBDCollisionConstraint::ResetSavedManifoldPoints ( )

inline

Clear the saved manifold points. This effectively resets friction anchors.

◆ ResetSolverResults()

FORCEINLINE void Chaos::FPBDCollisionConstraint::ResetSolverResults ( )

inline

◆ RestoreFrom()

void Chaos::FPBDCollisionConstraint::RestoreFrom ( const FPBDCollisionConstraint & Source )

Restore the properties of a collision from the properties of another. Used by the rewind/resim system when restoring a collision constraint that was saved (and called MakeCopy). This takes care not to overwrite any data maintained for the use of other systems (the ContainerCookie, Graph data, etc)

◆ SetCCDEnabled()

void Chaos::FPBDCollisionConstraint::SetCCDEnabled ( const bool bCCDEnabled )

inline

Enable or disable CCD for this constraint. Called once right after the constraint is created.

◆ SetCCDResults()

void Chaos::FPBDCollisionConstraint::SetCCDResults ( const FVec3 & InNetImpulse )

inline

Store the results of CCD contact resolution, if active.

◆ SetCCDSweepEnabled()

void Chaos::FPBDCollisionConstraint::SetCCDSweepEnabled ( const bool bCCDSweepEnabled )

inline

For CCD constraints, a transient flag (reset every frame) that is used to both enable/disable CCD sweeps for the frame, and to retport whether the sweep was run and the results retained. See GetCCDSweepEnabled().

◆ SetCCDTimeOfImpact()

void Chaos::FPBDCollisionConstraint::SetCCDTimeOfImpact ( const FReal TOI )

inline

Set the CCD TOI from the collision detection sweep.

◆ SetCollisionSortKey()

void Chaos::FPBDCollisionConstraint::SetCollisionSortKey ( const Private::FCollisionSortKey & InCollisionSortKey )

inline

◆ SetCullDistance()

void Chaos::FPBDCollisionConstraint::SetCullDistance ( FReal InCullDistance )

inline

◆ SetDisabled()

void Chaos::FPBDCollisionConstraint::SetDisabled ( bool bInDisabled )

inline

◆ SetDynamicFriction()

void Chaos::FPBDCollisionConstraint::SetDynamicFriction ( const FReal InDynamicFriction )

inline

◆ SetInvInertiaScale0()

void Chaos::FPBDCollisionConstraint::SetInvInertiaScale0 ( const FReal InInvInertiaScale )

inline

◆ SetInvInertiaScale1()

void Chaos::FPBDCollisionConstraint::SetInvInertiaScale1 ( const FReal InInvInertiaScale )

inline

◆ SetInvMassScale0()

void Chaos::FPBDCollisionConstraint::SetInvMassScale0 ( const FReal InInvMassScale )

inline

◆ SetInvMassScale1()

void Chaos::FPBDCollisionConstraint::SetInvMassScale1 ( const FReal InInvMassScale )

inline

◆ SetIsInitialContact()

void Chaos::FPBDCollisionConstraint::SetIsInitialContact ( const bool bInIsInitialContact )

inline

◆ SetIsProbe()

void Chaos::FPBDCollisionConstraint::SetIsProbe ( bool bInProbe )

inline

◆ SetIsSleeping()

void Chaos::FPBDCollisionConstraint::SetIsSleeping ( const bool bInIsSleeping )

finaloverridevirtual

Reimplemented from Chaos::FConstraintHandle.

◆ SetLastShapeWorldTransforms()

void Chaos::FPBDCollisionConstraint::SetLastShapeWorldTransforms	(	const FRigidTransform3 &	InShapeWorldTransform0,
		const FRigidTransform3 &	InShapeWorldTransform1
	)

inline

◆ SetMinFrictionPushOut()

void Chaos::FPBDCollisionConstraint::SetMinFrictionPushOut ( const FReal InMinFrictionPushOut )

inline

◆ SetModifierApplied()

void Chaos::FPBDCollisionConstraint::SetModifierApplied ( )

inline

◆ SetOneShotManifoldContacts()

void Chaos::FPBDCollisionConstraint::SetOneShotManifoldContacts ( const TArrayView< const FContactPoint > & ContactPoints )

inline

Replace the current manifold points with the input. The input array should contain no more than MaxManifoldPoints contacts (any extra will be ignored). We assume that all input contacts have been initialized and will not return false from IsSet(). Ignores contacts deeper than the CullDistance for this constraint.

◆ SetRelativeMovement()

void Chaos::FPBDCollisionConstraint::SetRelativeMovement ( const FVec3f & InDelta )

inline

◆ SetRestitution()

void Chaos::FPBDCollisionConstraint::SetRestitution ( const FReal InRestitution )

inline

◆ SetRestitutionThreshold()

void Chaos::FPBDCollisionConstraint::SetRestitutionThreshold ( const FReal InRestitutionThreshold )

inline

◆ SetShapeWorldTransforms()

void Chaos::FPBDCollisionConstraint::SetShapeWorldTransforms	(	const FRigidTransform3 &	InShapeWorldTransform0,
		const FRigidTransform3 &	InShapeWorldTransform1
	)

inline

◆ SetSoftSeparation()

void Chaos::FPBDCollisionConstraint::SetSoftSeparation ( const FReal InSoftSeparation )

inline

◆ SetSolverBodies()

void Chaos::FPBDCollisionConstraint::SetSolverBodies	(	const FSolverBody *	InSolverBody0,
		const FSolverBody *	InSolverBody1
	)

inline

◆ SetSolverResults()

FORCEINLINE void Chaos::FPBDCollisionConstraint::SetSolverResults	(	const int32	ManifoldPointIndex,
		const FVec3f &	NetPushOut,
		const FVec3f &	NetImpulse,
		const FRealSingle	StaticFrictionRatio,
		const FRealSingle	Dt
	)

inline

Store the data from the solver that is retained between ticks for the specified manifold point or used by dependent systems (plasticity, breaking, etc.)

◆ SetStaticFriction()

void Chaos::FPBDCollisionConstraint::SetStaticFriction ( const FReal InStaticFriction )

inline

◆ SetStiffness()

void Chaos::FPBDCollisionConstraint::SetStiffness ( FReal InStiffness )

inline

◆ Setup()

void Chaos::FPBDCollisionConstraint::Setup	(	const ECollisionCCDType	InCCDType,
		const EContactShapesType	InShapesType,
		const FRigidTransform3 &	InImplicitTransform0,
		const FRigidTransform3 &	InImplicitTransform1,
		const FReal	InCullDistance,
		const bool	bInUseManifold
	)

protected

◆ SupportsPartialIslandSleeping()

virtual bool Chaos::FPBDCollisionConstraint::SupportsPartialIslandSleeping ( ) const

inlinefinaloverridevirtual

Reimplemented from Chaos::FConstraintHandle.

◆ SupportsSleeping()

virtual bool Chaos::FPBDCollisionConstraint::SupportsSleeping ( ) const

inlinefinaloverridevirtual

Reimplemented from Chaos::FConstraintHandle.

◆ ToString()

FString Chaos::FPBDCollisionConstraint::ToString ( ) const

◆ TryAddManifoldContact()

bool Chaos::FPBDCollisionConstraint::TryAddManifoldContact ( const FContactPoint & ContactPoint )

◆ TryInsertManifoldContact()

bool Chaos::FPBDCollisionConstraint::TryInsertManifoldContact ( const FContactPoint & ContactPoint )

◆ TryRestoreManifold()

bool Chaos::FPBDCollisionConstraint::TryRestoreManifold ( )

◆ UpdateAndTryRestoreManifold()

bool Chaos::FPBDCollisionConstraint::UpdateAndTryRestoreManifold ( )

inline

◆ UpdateManifoldContacts()

void Chaos::FPBDCollisionConstraint::UpdateManifoldContacts ( )

◆ UpdateManifoldPointPhi()

void Chaos::FPBDCollisionConstraint::UpdateManifoldPointPhi ( const int32 ManifoldPointIndex )

protected

◆ UpdateMassScales()

void Chaos::FPBDCollisionConstraint::UpdateMassScales ( )

protected

◆ UpdateMaterialProperties()

void Chaos::FPBDCollisionConstraint::UpdateMaterialProperties ( )

inline

◆ UpdateMaterialPropertiesImpl()

void Chaos::FPBDCollisionConstraint::UpdateMaterialPropertiesImpl ( )

protected

◆ UpdateParticleTransform()

void Chaos::FPBDCollisionConstraint::UpdateParticleTransform ( FGeometryParticleHandle * InParticle )

◆ UsePerContactInitialPhi()

bool Chaos::FPBDCollisionConstraint::UsePerContactInitialPhi ( ) const

inline

◆ WasManifoldRestored()

bool Chaos::FPBDCollisionConstraint::WasManifoldRestored ( ) const

inline

Whether this constraint was fully restored from a previous tick, and the manifold should be reused as-is.

Friends And Related Symbol Documentation

◆ ::FChaosVDDataWrapperUtils

friend class ::FChaosVDDataWrapperUtils

friend

◆ ContactConstraintSortPredicate

CHAOS_API bool ContactConstraintSortPredicate	(	const FPBDCollisionConstraint &	L,
		const FPBDCollisionConstraint &	R
	)

friend

◆ FContactPairModifier

friend class FContactPairModifier

friend

◆ FGenericParticlePairMidPhase

friend class FGenericParticlePairMidPhase

friend

◆ FParticlePairMidPhase

friend class FParticlePairMidPhase

friend

◆ FPBDCollisionConstraints

friend class FPBDCollisionConstraints

friend

◆ FShapePairParticlePairMidPhase

friend class FShapePairParticlePairMidPhase

friend

◆ FSingleShapePairCollisionDetector

friend class FSingleShapePairCollisionDetector

friend

◆ FSphereApproximationParticlePairMidPhase

friend class FSphereApproximationParticlePairMidPhase

friend

◆ Private::FCollisionConstraintAllocator

friend class Private::FCollisionConstraintAllocator

friend

◆ Private::FCollisionContextAllocator

friend class Private::FCollisionContextAllocator

friend

Member Data Documentation

◆ AccumulatedImpulse

FVec3f Chaos::FPBDCollisionConstraint::AccumulatedImpulse

◆ MaxTOI

constexpr FRealSingle Chaos::FPBDCollisionConstraint::MaxTOI = std::numeric_limits<FRealSingle>::max()

staticconstexpr

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

Engine/Source/Runtime/Experimental/Chaos/Public/Chaos/Collision/PBDCollisionConstraint.h
Engine/Source/Runtime/Experimental/Chaos/Private/Chaos/Collision/PBDCollisionConstraint.cpp

Public Types

Public Member Functions

Static Public Member Functions

Public Attributes

Static Public Attributes

Protected Member Functions

Friends

Additional Inherited Members

Detailed Description

Member Typedef Documentation

◆ FConstraintContainerHandle

Constructor & Destructor Documentation

◆ FPBDCollisionConstraint() [1/2]

◆ ~FPBDCollisionConstraint()

◆ FPBDCollisionConstraint() [2/2]

Member Function Documentation

◆ Activate() [1/2]

◆ Activate() [2/2]

◆ AddIncrementalManifoldContact()

◆ AddManifoldPoint()

◆ AddOneshotManifoldContact()

◆ AreMatchingContactPoints()

◆ AssignSavedManifoldPoints()

◆ BeginTick()

◆ CalculateWorldContactLocation()

◆ CalculateWorldContactNormal()

◆ ClearMaterialProperties()

◆ CorrectManifoldPoints()

◆ DisableManifoldPoint()

◆ FindManifoldPoint()

◆ FindSavedManifoldPoint()

◆ FindSimpleSavedManifoldPoint()

◆ GetBoundsTestFlags()

◆ GetCanRestoreManifold()

◆ GetCCDEnabled()

◆ GetCCDEnablePenetration()

◆ GetCCDSweepEnabled()

◆ GetCCDTargetPenetration()

◆ GetCCDTimeOfImpact()

◆ GetClosestManifoldPoint()

◆ GetCollisionMargin0()

◆ GetCollisionMargin1()

◆ GetCollisionMaterial()

◆ GetCollisionParticles()

◆ GetCollisionParticles0()

◆ GetCollisionParticles1()

◆ GetCollisionRadius0()

◆ GetCollisionRadius1()

◆ GetCollisionSortKey()

◆ GetConstraintDirection()

◆ GetConstraintHandle() [1/2]

◆ GetConstraintHandle() [2/2]

◆ GetContainerCookie() [1/2]

◆ GetContainerCookie() [2/2]

◆ GetCullDistance()

◆ GetCullDistancef()

◆ GetDisabled()

◆ GetDynamicFriction()

◆ GetGJKWarmStartData()

◆ GetImplicit()

◆ GetImplicit0()

◆ GetImplicit1()

◆ GetInitialOverlapDepenetrationVelocity()

◆ GetInvInertiaScale0()

◆ GetInvInertiaScale1()

◆ GetInvMassScale0()

◆ GetInvMassScale1()

◆ GetIsOneWayInteraction()

◆ GetIsProbe()

◆ GetManifoldPoint() [1/2]

◆ GetManifoldPoint() [2/2]

◆ GetManifoldPointResult()

◆ GetManifoldPoints() [1/2]

◆ GetManifoldPoints() [2/2]

◆ GetMinFrictionPushOut()

◆ GetMinInitialPhi()

◆ GetNetLinearImpulse()

◆ GetParticle()

◆ GetParticle0()

◆ GetParticle1()