#include <PBDCollisionConstraints.h>

Inheritance diagram for Chaos::FPBDCollisionConstraints:

Public Types
using	Base = FPBDIndexedConstraintContainer

using	FHandles = TArrayView< FPBDCollisionConstraint *const >

using	FConstHandles = TArrayView< const FPBDCollisionConstraint *const >

using	FConstraintContainerHandle = FPBDCollisionConstraintHandle

Public Member Functions
CHAOS_API	FPBDCollisionConstraints (const FPBDRigidsSOAs &InParticles, TArrayCollectionArray< bool > &Collided, const TArrayCollectionArray< TSerializablePtr< FChaosPhysicsMaterial > > &PhysicsMaterials, const TArrayCollectionArray< TUniquePtr< FChaosPhysicsMaterial > > &PerParticlePhysicsMaterials, const THandleArray< FChaosPhysicsMaterial > *const SimMaterials, const int32 NumCollisionsPerBlock=1000, const FReal RestitutionThreshold=FReal(2000))

virtual CHAOS_API	~FPBDCollisionConstraints ()

const FString &	GetName () const

void	SetName (const FSharedDebugName &InName)

bool	GetHandlesEnabled () const

CHAOS_API void	DisableHandles ()

void	SetIsDeterministic (const bool bInIsDeterministic)
	Enable or disable determinism. Support for determinism requires that we sort active constraints each tick, so there is additional cost.

bool	GetIsDeterministic () const
	Get determinism. Support for determinism requires that we sort active constraints each tick, so there is additional cost.

CHAOS_API void	BeginFrame ()

CHAOS_API void	Reset ()

CHAOS_API void	BeginDetectCollisions ()
	Called before collision detection to reset contacts.

CHAOS_API void	EndDetectCollisions ()
	Called after collision detection to finalize the contacts.

CHAOS_API void	DetectProbeCollisions (FReal Dt)
	Called after collision resolution in order to detect probes.

void	ApplyMidPhaseModifier (const TArray< ISimCallbackObject * > &MidPhaseModifiers, FReal Dt)

CHAOS_API void	ApplyCCDModifier (const TArray< ISimCallbackObject * > &CCDModifiers, FReal Dt)

CHAOS_API void	ApplyCollisionModifier (const TArray< ISimCallbackObject * > &CollisionModifiers, FReal Dt)

CHAOS_API void	RemoveConstraints (const TSet< FGeometryParticleHandle * > &ParticleHandle)

virtual CHAOS_API void	DisconnectConstraints (const TSet< FGeometryParticleHandle * > &ParticleHandles) override
	Remove all constraints associated with the particles - called when particles are destroyed.

void	DisableConstraints (const TSet< FGeometryParticleHandle * > &ParticleHandle)

virtual int32	GetNumConstraints () const override final

virtual void	ResetConstraints () override final

virtual CHAOS_API void	AddConstraintsToGraph (Private::FPBDIslandManager &IslandManager) override final

virtual void	PrepareTick () override final

virtual void	UnprepareTick () override final

virtual CHAOS_API TUniquePtr< FConstraintContainerSolver >	CreateSceneSolver (const int32 Priority) override final

virtual CHAOS_API TUniquePtr< FConstraintContainerSolver >	CreateGroupSolver (const int32 Priority) override final

Private::ECollisionSolverType	GetSolverType () const

void	SetSolverType (const Private::ECollisionSolverType InSolverType)

void	SetCanDisableContacts (bool bInCanDisableContacts)

bool	GetCanDisableContacts () const

void	SetRestitutionThreshold (FReal InRestitutionThreshold)

FReal	GetRestitutionThreshold () const

void	SetCollisionsEnabled (bool bInEnableCollisions)

bool	GetCollisionsEnabled () const

void	SetRestitutionEnabled (bool bInEnableRestitution)

bool	GetRestitutionEnabled () const

void	SetGravity (const FVec3 &InGravity)

FVec3	GetGravityDirection () const

FReal	GetGravitySize () const

void	SetMaxPushOutVelocity (const FReal InMaxPushOutVelocity)

void	SetDepenetrationVelocity (const FRealSingle InVel)

void	SetPositionFrictionIterations (const int32 InNumIterations)

void	SetVelocityFrictionIterations (const int32 InNumIterations)

void	SetPositionShockPropagationIterations (const int32 InNumIterations)

void	SetVelocityShockPropagationIterations (const int32 InNumIterations)

bool	IsShockPropagationEnabled () const

int32	NumConstraints () const

TArrayView< FPBDCollisionConstraint *const >	GetConstraints () const

CHAOS_API FHandles	GetConstraintHandles () const

CHAOS_API FConstHandles	GetConstConstraintHandles () const

CHAOS_API const FPBDCollisionConstraint &	GetConstraint (int32 Index) const

CHAOS_API const FPBDCollisionConstraint &	GetConstConstraint (int32 Index) const

Private::FCollisionConstraintAllocator &	GetConstraintAllocator ()

CHAOS_API void	UpdateConstraintMaterialProperties (FPBDCollisionConstraint &Contact)

const FPBDCollisionSolverSettings &	GetSolverSettings () const

void	SetSolverSettings (const FPBDCollisionSolverSettings &InSettings)

const FCollisionDetectorSettings &	GetDetectorSettings () const

void	SetDetectorSettings (const FCollisionDetectorSettings &InSettings)

void	SetCullDistance (const FReal InCullDistance)

void	SetVelocityBoundsExpansion (const FReal BoundsVelocityMultiplier, const FReal MaxVelocityBoundsExpansion)

void	SetVelocityBoundsExpansionMACD (const FReal BoundsVelocityMultiplier, const FReal MaxVelocityBoundsExpansion)

void	SetAllowManifolds (const bool bAllowManifolds)

Public Member Functions inherited from Chaos::FPBDConstraintContainer
CHAOS_API	FPBDConstraintContainer (FConstraintHandleTypeID InConstraintHandleType)

virtual CHAOS_API	~FPBDConstraintContainer ()

int32	GetContainerId () const

void	SetContainerId (int32 InContainerId)

const FConstraintHandleTypeID &	GetConstraintHandleType () const

virtual void	UpdatePositionBasedState (const FReal Dt)

virtual void	DisconnectConstraints (const TSet< TGeometryParticleHandle< FReal, 3 > * > &)

virtual void	OnDisableParticle (FGeometryParticleHandle *DisabledParticle)

virtual void	OnEnableParticle (FGeometryParticleHandle *EnabledParticle)

Protected Member Functions
CHAOS_API FPBDCollisionConstraint &	GetConstraint (int32 Index)

CHAOS_API void	PruneEdgeCollisions ()

Friends
class	FPBDCollisionConstraintHandle

Additional Inherited Members
Protected Attributes inherited from Chaos::FPBDConstraintContainer
FConstraintHandleTypeID	ConstraintHandleType

int32	ContainerId

Detailed Description

A container and solver for collision constraints.

Member Typedef Documentation

◆ Base

using Chaos::FPBDCollisionConstraints::Base = FPBDIndexedConstraintContainer

◆ FConstHandles

using Chaos::FPBDCollisionConstraints::FConstHandles = TArrayView<const FPBDCollisionConstraint* const>

◆ FConstraintContainerHandle

using Chaos::FPBDCollisionConstraints::FConstraintContainerHandle = FPBDCollisionConstraintHandle

◆ FHandles

using Chaos::FPBDCollisionConstraints::FHandles = TArrayView<FPBDCollisionConstraint* const>

Constructor & Destructor Documentation

◆ FPBDCollisionConstraints()

Chaos::FPBDCollisionConstraints::FPBDCollisionConstraints	(	const FPBDRigidsSOAs &	InParticles,
		TArrayCollectionArray< bool > &	Collided,
		const TArrayCollectionArray< TSerializablePtr< FChaosPhysicsMaterial > > &	PhysicsMaterials,
		const TArrayCollectionArray< TUniquePtr< FChaosPhysicsMaterial > > &	PerParticlePhysicsMaterials,
		const THandleArray< FChaosPhysicsMaterial > *const	SimMaterials,
		const int32	NumCollisionsPerBlock = `1000`,
		const FReal	RestitutionThreshold = `FReal(2000)`
	)

◆ ~FPBDCollisionConstraints()

Chaos::FPBDCollisionConstraints::~FPBDCollisionConstraints ( )

virtual

Member Function Documentation

◆ AddConstraintsToGraph()

void Chaos::FPBDCollisionConstraints::AddConstraintsToGraph ( Private::FPBDIslandManager & IslandManager )

finaloverridevirtual

Add all the constraints in the container to the graph

Implements Chaos::FPBDConstraintContainer.

◆ ApplyCCDModifier()

void Chaos::FPBDCollisionConstraints::ApplyCCDModifier	(	const TArray< ISimCallbackObject * > &	CCDModifiers,
		FReal	Dt
	)

Apply modifiers to CCD results

◆ ApplyCollisionModifier()

void Chaos::FPBDCollisionConstraints::ApplyCollisionModifier	(	const TArray< ISimCallbackObject * > &	CollisionModifiers,
		FReal	Dt
	)

Apply modifiers to the constraints and specify which constraints should be disabled. You would probably call this in the PostComputeCallback. Prefer this to calling RemoveConstraints in a loop, so you don't have to worry about constraint iterator/indices changing.

◆ ApplyMidPhaseModifier()

void Chaos::FPBDCollisionConstraints::ApplyMidPhaseModifier	(	const TArray< ISimCallbackObject * > &	MidPhaseModifiers,
		FReal	Dt
	)

inline

Apply modifiers to particle pair midphases

◆ BeginDetectCollisions()

void Chaos::FPBDCollisionConstraints::BeginDetectCollisions ( )

Called before collision detection to reset contacts.

◆ BeginFrame()

void Chaos::FPBDCollisionConstraints::BeginFrame ( )

Clears the list of active constraints.

◆ CreateGroupSolver()

TUniquePtr< FConstraintContainerSolver > Chaos::FPBDCollisionConstraints::CreateGroupSolver ( const int32 Priority )

finaloverridevirtual

Create a constraint solver for an Evolution with Graph support (World evolution). The system will create several of these: usually one per worker thread (Island Group) but possibly more in complex scenes where constraint coloring is being used. It will be used to solve constraints in groups, with the constraints in each group determined by the graph/islands/islandgroups.

Implements Chaos::FPBDConstraintContainer.

◆ CreateSceneSolver()

TUniquePtr< FConstraintContainerSolver > Chaos::FPBDCollisionConstraints::CreateSceneSolver ( const int32 Priority )

finaloverridevirtual

Create a constraint solver for an Evolution without Graph support (RBAN evolution). There will only be one of these per scene (RBAN node) and it is used to solve all constraints in the container (serially).

Implements Chaos::FPBDConstraintContainer.

◆ DetectProbeCollisions()

void Chaos::FPBDCollisionConstraints::DetectProbeCollisions ( FReal Dt )

Called after collision resolution in order to detect probes.

◆ DisableConstraints()

void Chaos::FPBDCollisionConstraints::DisableConstraints ( const TSet< FGeometryParticleHandle * > & ParticleHandle )

inline

Disable the constraints associated with the ParticleHandle.

◆ DisableHandles()

void Chaos::FPBDCollisionConstraints::DisableHandles ( )

Put the container in "no handles" mode for use with simple solver. Must be called when empty of constraints (ideally right after creation).

◆ DisconnectConstraints()

void Chaos::FPBDCollisionConstraints::DisconnectConstraints ( const TSet< FGeometryParticleHandle * > & ParticleHandles )

overridevirtual

Remove all constraints associated with the particles - called when particles are destroyed.

◆ EndDetectCollisions()

void Chaos::FPBDCollisionConstraints::EndDetectCollisions ( )

Called after collision detection to finalize the contacts.

◆ GetCanDisableContacts()

bool Chaos::FPBDCollisionConstraints::GetCanDisableContacts ( ) const

inline

◆ GetCollisionsEnabled()

bool Chaos::FPBDCollisionConstraints::GetCollisionsEnabled ( ) const

inline

◆ GetConstConstraint()

const FPBDCollisionConstraint & Chaos::FPBDCollisionConstraints::GetConstConstraint ( int32 Index ) const

◆ GetConstConstraintHandles()

FPBDCollisionConstraints::FConstHandles Chaos::FPBDCollisionConstraints::GetConstConstraintHandles ( ) const

◆ GetConstraint() [1/2]

FPBDCollisionConstraint & Chaos::FPBDCollisionConstraints::GetConstraint ( int32 Index )

protected

◆ GetConstraint() [2/2]

const FPBDCollisionConstraint & Chaos::FPBDCollisionConstraints::GetConstraint ( int32 Index ) const

◆ GetConstraintAllocator()

Private::FCollisionConstraintAllocator & Chaos::FPBDCollisionConstraints::GetConstraintAllocator ( )

inline

◆ GetConstraintHandles()

FPBDCollisionConstraints::FHandles Chaos::FPBDCollisionConstraints::GetConstraintHandles ( ) const

◆ GetConstraints()

TArrayView< FPBDCollisionConstraint *const > Chaos::FPBDCollisionConstraints::GetConstraints ( ) const

inline

◆ GetDetectorSettings()

const FCollisionDetectorSettings & Chaos::FPBDCollisionConstraints::GetDetectorSettings ( ) const

inline

◆ GetGravityDirection()

FVec3 Chaos::FPBDCollisionConstraints::GetGravityDirection ( ) const

inline

◆ GetGravitySize()

FReal Chaos::FPBDCollisionConstraints::GetGravitySize ( ) const

inline

◆ GetHandlesEnabled()

bool Chaos::FPBDCollisionConstraints::GetHandlesEnabled ( ) const

inline

Whether this container provides constraint handles (simple solvers do not need them)

◆ GetIsDeterministic()

bool Chaos::FPBDCollisionConstraints::GetIsDeterministic ( ) const

Get determinism. Support for determinism requires that we sort active constraints each tick, so there is additional cost.

◆ GetName()

const FString & Chaos::FPBDCollisionConstraints::GetName ( ) const

inline

◆ GetNumConstraints()

virtual int32 Chaos::FPBDCollisionConstraints::GetNumConstraints ( ) const

inlinefinaloverridevirtual

Get the number of constraints in this container (includes inactive and disabled)

Implements Chaos::FPBDConstraintContainer.

◆ GetRestitutionEnabled()

bool Chaos::FPBDCollisionConstraints::GetRestitutionEnabled ( ) const

inline

◆ GetRestitutionThreshold()

FReal Chaos::FPBDCollisionConstraints::GetRestitutionThreshold ( ) const

inline

◆ GetSolverSettings()

const FPBDCollisionSolverSettings & Chaos::FPBDCollisionConstraints::GetSolverSettings ( ) const

inline

◆ GetSolverType()

Private::ECollisionSolverType Chaos::FPBDCollisionConstraints::GetSolverType ( ) const

inline

◆ IsShockPropagationEnabled()

bool Chaos::FPBDCollisionConstraints::IsShockPropagationEnabled ( ) const

inline

◆ NumConstraints()

int32 Chaos::FPBDCollisionConstraints::NumConstraints ( ) const

inline

◆ PrepareTick()

virtual void Chaos::FPBDCollisionConstraints::PrepareTick ( )

inlinefinaloverridevirtual

Called oncer per tick to initialize buffers required for the rest of the tick

Implements Chaos::FPBDConstraintContainer.

◆ PruneEdgeCollisions()

void Chaos::FPBDCollisionConstraints::PruneEdgeCollisions ( )

protected

◆ RemoveConstraints()

void Chaos::FPBDCollisionConstraints::RemoveConstraints ( const TSet< FGeometryParticleHandle * > & ParticleHandle )

Remove the constraints associated with the ParticleHandle.

◆ Reset()

void Chaos::FPBDCollisionConstraints::Reset ( )

Destroy all constraints

◆ ResetConstraints()

virtual void Chaos::FPBDCollisionConstraints::ResetConstraints ( )

inlinefinaloverridevirtual

Empty the constraints (must be removed from the graph first, if required)

Implements Chaos::FPBDConstraintContainer.

◆ SetAllowManifolds()

void Chaos::FPBDCollisionConstraints::SetAllowManifolds ( const bool bAllowManifolds )

inline

◆ SetCanDisableContacts()

void Chaos::FPBDCollisionConstraints::SetCanDisableContacts ( bool bInCanDisableContacts )

inline

◆ SetCollisionsEnabled()

void Chaos::FPBDCollisionConstraints::SetCollisionsEnabled ( bool bInEnableCollisions )

inline

◆ SetCullDistance()

void Chaos::FPBDCollisionConstraints::SetCullDistance ( const FReal InCullDistance )

inline

◆ SetDepenetrationVelocity()

void Chaos::FPBDCollisionConstraints::SetDepenetrationVelocity ( const FRealSingle InVel )

inline

◆ SetDetectorSettings()

void Chaos::FPBDCollisionConstraints::SetDetectorSettings ( const FCollisionDetectorSettings & InSettings )

inline

◆ SetGravity()

void Chaos::FPBDCollisionConstraints::SetGravity ( const FVec3 & InGravity )

inline

◆ SetIsDeterministic()

void Chaos::FPBDCollisionConstraints::SetIsDeterministic ( const bool bInIsDeterministic )

Enable or disable determinism. Support for determinism requires that we sort active constraints each tick, so there is additional cost.

◆ SetMaxPushOutVelocity()

void Chaos::FPBDCollisionConstraints::SetMaxPushOutVelocity ( const FReal InMaxPushOutVelocity )

inline

◆ SetName()

void Chaos::FPBDCollisionConstraints::SetName ( const FSharedDebugName & InName )

inline

◆ SetPositionFrictionIterations()

void Chaos::FPBDCollisionConstraints::SetPositionFrictionIterations ( const int32 InNumIterations )

inline

◆ SetPositionShockPropagationIterations()

void Chaos::FPBDCollisionConstraints::SetPositionShockPropagationIterations ( const int32 InNumIterations )

inline

◆ SetRestitutionEnabled()

void Chaos::FPBDCollisionConstraints::SetRestitutionEnabled ( bool bInEnableRestitution )

inline

◆ SetRestitutionThreshold()

void Chaos::FPBDCollisionConstraints::SetRestitutionThreshold ( FReal InRestitutionThreshold )

inline

◆ SetSolverSettings()

void Chaos::FPBDCollisionConstraints::SetSolverSettings ( const FPBDCollisionSolverSettings & InSettings )

inline

◆ SetSolverType()

void Chaos::FPBDCollisionConstraints::SetSolverType ( const Private::ECollisionSolverType InSolverType )

inline

◆ SetVelocityBoundsExpansion()

void Chaos::FPBDCollisionConstraints::SetVelocityBoundsExpansion	(	const FReal	BoundsVelocityMultiplier,
		const FReal	MaxVelocityBoundsExpansion
	)

inline

◆ SetVelocityBoundsExpansionMACD()

void Chaos::FPBDCollisionConstraints::SetVelocityBoundsExpansionMACD	(	const FReal	BoundsVelocityMultiplier,
		const FReal	MaxVelocityBoundsExpansion
	)

inline

◆ SetVelocityFrictionIterations()

void Chaos::FPBDCollisionConstraints::SetVelocityFrictionIterations ( const int32 InNumIterations )

inline

◆ SetVelocityShockPropagationIterations()

void Chaos::FPBDCollisionConstraints::SetVelocityShockPropagationIterations ( const int32 InNumIterations )

inline

◆ UnprepareTick()

virtual void Chaos::FPBDCollisionConstraints::UnprepareTick ( )

inlinefinaloverridevirtual

Should undo any allocations in PrepareTick

Implements Chaos::FPBDConstraintContainer.

◆ UpdateConstraintMaterialProperties()

void Chaos::FPBDCollisionConstraints::UpdateConstraintMaterialProperties ( FPBDCollisionConstraint & Contact )

Friends And Related Symbol Documentation

◆ FPBDCollisionConstraintHandle

friend class FPBDCollisionConstraintHandle

friend

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

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

Public Types

Public Member Functions

Protected Member Functions

Friends

Additional Inherited Members

Detailed Description

Member Typedef Documentation

◆ Base

◆ FConstHandles

◆ FConstraintContainerHandle

◆ FHandles

Constructor & Destructor Documentation

◆ FPBDCollisionConstraints()

◆ ~FPBDCollisionConstraints()

Member Function Documentation

◆ AddConstraintsToGraph()

◆ ApplyCCDModifier()

◆ ApplyCollisionModifier()

◆ ApplyMidPhaseModifier()

◆ BeginDetectCollisions()

◆ BeginFrame()

◆ CreateGroupSolver()

◆ CreateSceneSolver()

◆ DetectProbeCollisions()

◆ DisableConstraints()

◆ DisableHandles()

◆ DisconnectConstraints()

◆ EndDetectCollisions()

◆ GetCanDisableContacts()

◆ GetCollisionsEnabled()

◆ GetConstConstraint()

◆ GetConstConstraintHandles()

◆ GetConstraint() [1/2]

◆ GetConstraint() [2/2]

◆ GetConstraintAllocator()

◆ GetConstraintHandles()

◆ GetConstraints()

◆ GetDetectorSettings()

◆ GetGravityDirection()

◆ GetGravitySize()

◆ GetHandlesEnabled()

◆ GetIsDeterministic()

◆ GetName()

◆ GetNumConstraints()

◆ GetRestitutionEnabled()

◆ GetRestitutionThreshold()

◆ GetSolverSettings()

◆ GetSolverType()

◆ IsShockPropagationEnabled()

◆ NumConstraints()

◆ PrepareTick()

◆ PruneEdgeCollisions()

◆ RemoveConstraints()

◆ Reset()

◆ ResetConstraints()

◆ SetAllowManifolds()

◆ SetCanDisableContacts()

◆ SetCollisionsEnabled()

◆ SetCullDistance()

◆ SetDepenetrationVelocity()

◆ SetDetectorSettings()

◆ SetGravity()

◆ SetIsDeterministic()

◆ SetMaxPushOutVelocity()

◆ SetName()

◆ SetPositionFrictionIterations()

◆ SetPositionShockPropagationIterations()

◆ SetRestitutionEnabled()

◆ SetRestitutionThreshold()

◆ SetSolverSettings()

◆ SetSolverType()

◆ SetVelocityBoundsExpansion()

◆ SetVelocityBoundsExpansionMACD()

◆ SetVelocityFrictionIterations()

◆ SetVelocityShockPropagationIterations()

◆ UnprepareTick()

◆ UpdateConstraintMaterialProperties()

Friends And Related Symbol Documentation

◆ FPBDCollisionConstraintHandle