#include <PBDJointCachedSolverGaussSeidel.h>

Public Member Functions
FConstraintSolverBody &	Body (int32 BodyIndex)

const FConstraintSolverBody &	Body (int32 BodyIndex) const

FConstraintSolverBody &	Body0 ()

const FConstraintSolverBody &	Body0 () const

FConstraintSolverBody &	Body1 ()

const FConstraintSolverBody &	Body1 () const

const FVec3	X (int BodyIndex) const

const FRotation3	R (int BodyIndex) const

const FVec3	P (int BodyIndex) const

const FRotation3	Q (int BodyIndex) const

const FVec3	V (int BodyIndex) const

const FVec3	W (int BodyIndex) const

FReal	InvM (int32 BodyIndex) const

FMatrix33	InvI (int32 BodyIndex) const

bool	IsDynamic (int32 BodyIndex) const

FVec3	GetNetLinearImpulse () const

FVec3	GetNetAngularImpulse () const

FReal	GetLinearViolationSq () const

FReal	GetAngularViolation () const

int32	GetNumActiveConstraints () const

bool	GetIsActive () const

	FPBDJointCachedSolver ()

void	SetSolverBodies (FSolverBody SolverBody0, FSolverBody SolverBody1)

void	Init (const FReal Dt, const FPBDJointSolverSettings &SolverSettings, const FPBDJointSettings &JointSettings, const FRigidTransform3 &XL0, const FRigidTransform3 &XL1)

void	InitProjection (const FReal Dt, const FPBDJointSolverSettings &SolverSettings, const FPBDJointSettings &JointSettings)

void	Deinit ()

void	Update (const FReal Dt, const FPBDJointSolverSettings &SolverSettings, const FPBDJointSettings &JointSettings)

void	ApplyConstraints (const FReal Dt, const FReal InSolverStiffness, const FPBDJointSolverSettings &SolverSettings, const FPBDJointSettings &JointSettings)

void	ApplyVelocityConstraints (const FReal Dt, const FReal InSolverStiffness, const FPBDJointSolverSettings &SolverSettings, const FPBDJointSettings &JointSettings)

void	ApplyProjections (const FReal Dt, const FPBDJointSolverSettings &SolverSettings, const FPBDJointSettings &JointSettings, const bool bLastIteration)

void	ApplyPositionProjection (const FReal Dt, const FPBDJointSolverSettings &SolverSettings, const FPBDJointSettings &JointSettings)

void	ApplyAxisPositionProjection (const FReal LinearProjection, const int32 ConstraintIndex)

void	ApplyPositionProjectionSimd (const FReal LinearProjection)

void	ApplyRotationProjection (const FReal Dt, const FPBDJointSolverSettings &SolverSettings, const FPBDJointSettings &JointSettings)

void	ApplyAxisRotationProjection (const FReal AngularProjection, const bool bLinearLocked, const int32 ConstraintIndex)

void	ApplyRotationProjectionSimd (const FRealSingle AngularProjection, const bool bLinearLocked)

void	ApplyTeleports (const FReal Dt, const FPBDJointSolverSettings &SolverSettings, const FPBDJointSettings &JointSettings)

void	ApplyPositionTeleport (const FReal Dt, const FPBDJointSolverSettings &SolverSettings, const FPBDJointSettings &JointSettings)

void	ApplyAxisPositionTeleport (const FReal TeleportDistance, const int32 ConstraintIndex)

void	ApplyPositionTeleportSimd (const FRealSingle TeleportDistance)

void	ApplyRotationTeleport (const FReal Dt, const FPBDJointSolverSettings &SolverSettings, const FPBDJointSettings &JointSettings)

void	SetShockPropagationScales (const FReal InvMScale0, const FReal InvMScale1, const FReal Dt)

void	SetIsBroken (const bool bInIsBroken)

bool	IsBroken () const

void	SetIsViolating (const bool bInIsViolating)

bool	IsViolating () const

bool	RequiresSolve () const

Static Public Attributes
static const int32	MaxConstrainedBodies = 2

Detailed Description

Calculate new positions and rotations for a pair of bodies connected by a joint.

This solver treats of the 6 possible constraints (up to 3 linear and 3 angular) individually and resolves them in sequence.

See also: FJointSolverCholesky

Constructor & Destructor Documentation

◆ FPBDJointCachedSolver()

Chaos::FPBDJointCachedSolver::FPBDJointCachedSolver ( )

inline

Member Function Documentation

◆ ApplyAxisPositionProjection()

void Chaos::FPBDJointCachedSolver::ApplyAxisPositionProjection	(	const FReal	LinearProjection,
		const int32	ConstraintIndex
	)

◆ ApplyAxisPositionTeleport()

void Chaos::FPBDJointCachedSolver::ApplyAxisPositionTeleport	(	const FReal	TeleportDistance,
		const int32	ConstraintIndex
	)

◆ ApplyAxisRotationProjection()

void Chaos::FPBDJointCachedSolver::ApplyAxisRotationProjection	(	const FReal	AngularProjection,
		const bool	bLinearLocked,
		const int32	ConstraintIndex
	)

◆ ApplyConstraints()

void Chaos::FPBDJointCachedSolver::ApplyConstraints	(	const FReal	Dt,
		const FReal	InSolverStiffness,
		const FPBDJointSolverSettings &	SolverSettings,
		const FPBDJointSettings &	JointSettings
	)

Main Apply function to solve all the constraint

◆ ApplyPositionProjection()

void Chaos::FPBDJointCachedSolver::ApplyPositionProjection	(	const FReal	Dt,
		const FPBDJointSolverSettings &	SolverSettings,
		const FPBDJointSettings &	JointSettings
	)

◆ ApplyPositionProjectionSimd()

void Chaos::FPBDJointCachedSolver::ApplyPositionProjectionSimd ( const FReal LinearProjection )

◆ ApplyPositionTeleport()

void Chaos::FPBDJointCachedSolver::ApplyPositionTeleport	(	const FReal	Dt,
		const FPBDJointSolverSettings &	SolverSettings,
		const FPBDJointSettings &	JointSettings
	)

◆ ApplyPositionTeleportSimd()

void Chaos::FPBDJointCachedSolver::ApplyPositionTeleportSimd ( const FRealSingle TeleportDistance )

◆ ApplyProjections()

void Chaos::FPBDJointCachedSolver::ApplyProjections	(	const FReal	Dt,
		const FPBDJointSolverSettings &	SolverSettings,
		const FPBDJointSettings &	JointSettings,
		const bool	bLastIteration
	)

APPLY POSITION PROJECTIONS

◆ ApplyRotationProjection()

void Chaos::FPBDJointCachedSolver::ApplyRotationProjection	(	const FReal	Dt,
		const FPBDJointSolverSettings &	SolverSettings,
		const FPBDJointSettings &	JointSettings
	)

◆ ApplyRotationProjectionSimd()

void Chaos::FPBDJointCachedSolver::ApplyRotationProjectionSimd	(	const FRealSingle	AngularProjection,
		const bool	bLinearLocked
	)

◆ ApplyRotationTeleport()

void Chaos::FPBDJointCachedSolver::ApplyRotationTeleport	(	const FReal	Dt,
		const FPBDJointSolverSettings &	SolverSettings,
		const FPBDJointSettings &	JointSettings
	)

◆ ApplyTeleports()

void Chaos::FPBDJointCachedSolver::ApplyTeleports	(	const FReal	Dt,
		const FPBDJointSolverSettings &	SolverSettings,
		const FPBDJointSettings &	JointSettings
	)

◆ ApplyVelocityConstraints()

void Chaos::FPBDJointCachedSolver::ApplyVelocityConstraints	(	const FReal	Dt,
		const FReal	InSolverStiffness,
		const FPBDJointSolverSettings &	SolverSettings,
		const FPBDJointSettings &	JointSettings
	)

◆ Body() [1/2]

FConstraintSolverBody & Chaos::FPBDJointCachedSolver::Body ( int32 BodyIndex )

inline

◆ Body() [2/2]

const FConstraintSolverBody & Chaos::FPBDJointCachedSolver::Body ( int32 BodyIndex ) const

inline

◆ Body0() [1/2]

FConstraintSolverBody & Chaos::FPBDJointCachedSolver::Body0 ( )

inline

◆ Body0() [2/2]

const FConstraintSolverBody & Chaos::FPBDJointCachedSolver::Body0 ( ) const

inline

◆ Body1() [1/2]

FConstraintSolverBody & Chaos::FPBDJointCachedSolver::Body1 ( )

inline

◆ Body1() [2/2]

const FConstraintSolverBody & Chaos::FPBDJointCachedSolver::Body1 ( ) const

inline

◆ Deinit()

void Chaos::FPBDJointCachedSolver::Deinit ( )

◆ GetAngularViolation()

FReal Chaos::FPBDJointCachedSolver::GetAngularViolation ( ) const

inline

◆ GetIsActive()

bool Chaos::FPBDJointCachedSolver::GetIsActive ( ) const

inline

◆ GetLinearViolationSq()

FReal Chaos::FPBDJointCachedSolver::GetLinearViolationSq ( ) const

inline

◆ GetNetAngularImpulse()

FVec3 Chaos::FPBDJointCachedSolver::GetNetAngularImpulse ( ) const

inline

◆ GetNetLinearImpulse()

FVec3 Chaos::FPBDJointCachedSolver::GetNetLinearImpulse ( ) const

inline

◆ GetNumActiveConstraints()

int32 Chaos::FPBDJointCachedSolver::GetNumActiveConstraints ( ) const

inline

◆ Init()

void Chaos::FPBDJointCachedSolver::Init	(	const FReal	Dt,
		const FPBDJointSolverSettings &	SolverSettings,
		const FPBDJointSettings &	JointSettings,
		const FRigidTransform3 &	XL0,
		const FRigidTransform3 &	XL1
	)

Main init function to cache datas that could be reused in the apply

◆ InitProjection()

void Chaos::FPBDJointCachedSolver::InitProjection	(	const FReal	Dt,
		const FPBDJointSolverSettings &	SolverSettings,
		const FPBDJointSettings &	JointSettings
	)

◆ InvI()

FMatrix33 Chaos::FPBDJointCachedSolver::InvI ( int32 BodyIndex ) const

inline

◆ InvM()

FReal Chaos::FPBDJointCachedSolver::InvM ( int32 BodyIndex ) const

inline

◆ IsBroken()

bool Chaos::FPBDJointCachedSolver::IsBroken ( ) const

inline

◆ IsDynamic()

bool Chaos::FPBDJointCachedSolver::IsDynamic ( int32 BodyIndex ) const

inline

◆ IsViolating()

bool Chaos::FPBDJointCachedSolver::IsViolating ( ) const

inline

◆ P()

const FVec3 Chaos::FPBDJointCachedSolver::P ( int BodyIndex ) const

inline

◆ Q()

const FRotation3 Chaos::FPBDJointCachedSolver::Q ( int BodyIndex ) const

inline

◆ R()

const FRotation3 Chaos::FPBDJointCachedSolver::R ( int BodyIndex ) const

inline

◆ RequiresSolve()

bool Chaos::FPBDJointCachedSolver::RequiresSolve ( ) const

inline

◆ SetIsBroken()

void Chaos::FPBDJointCachedSolver::SetIsBroken ( const bool bInIsBroken )

inline

◆ SetIsViolating()

void Chaos::FPBDJointCachedSolver::SetIsViolating ( const bool bInIsViolating )

inline

◆ SetShockPropagationScales()

void Chaos::FPBDJointCachedSolver::SetShockPropagationScales	(	const FReal	InvMScale0,
		const FReal	InvMScale1,
		const FReal	Dt
	)

◆ SetSolverBodies()

void Chaos::FPBDJointCachedSolver::SetSolverBodies	(	FSolverBody *	SolverBody0,
		FSolverBody *	SolverBody1
	)

inline

◆ Update()

void Chaos::FPBDJointCachedSolver::Update	(	const FReal	Dt,
		const FPBDJointSolverSettings &	SolverSettings,
		const FPBDJointSettings &	JointSettings
	)

◆ V()

const FVec3 Chaos::FPBDJointCachedSolver::V ( int BodyIndex ) const

inline

◆ W()

const FVec3 Chaos::FPBDJointCachedSolver::W ( int BodyIndex ) const

inline

◆ X()

const FVec3 Chaos::FPBDJointCachedSolver::X ( int BodyIndex ) const

inline

Member Data Documentation

◆ MaxConstrainedBodies

const int32 Chaos::FPBDJointCachedSolver::MaxConstrainedBodies = 2

static

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

Engine/Source/Runtime/Experimental/Chaos/Public/Chaos/Joint/PBDJointCachedSolverGaussSeidel.h
Engine/Source/Runtime/Experimental/Chaos/Private/Chaos/Joint/PBDJointCachedSolverGaussSeidel.cpp

Public Member Functions

Static Public Attributes

Detailed Description

Constructor & Destructor Documentation

◆ FPBDJointCachedSolver()

Member Function Documentation

◆ ApplyAxisPositionProjection()

◆ ApplyAxisPositionTeleport()

◆ ApplyAxisRotationProjection()

◆ ApplyConstraints()

◆ ApplyPositionProjection()

◆ ApplyPositionProjectionSimd()

◆ ApplyPositionTeleport()

◆ ApplyPositionTeleportSimd()

◆ ApplyProjections()

◆ ApplyRotationProjection()

◆ ApplyRotationProjectionSimd()

◆ ApplyRotationTeleport()

◆ ApplyTeleports()

◆ ApplyVelocityConstraints()

◆ Body() [1/2]

◆ Body() [2/2]

◆ Body0() [1/2]

◆ Body0() [2/2]

◆ Body1() [1/2]

◆ Body1() [2/2]

◆ Deinit()

◆ GetAngularViolation()

◆ GetIsActive()

◆ GetLinearViolationSq()

◆ GetNetAngularImpulse()

◆ GetNetLinearImpulse()

◆ GetNumActiveConstraints()

◆ Init()

◆ InitProjection()

◆ InvI()

◆ InvM()

◆ IsBroken()

◆ IsDynamic()

◆ IsViolating()

◆ P()

◆ Q()

◆ R()

◆ RequiresSolve()

◆ SetIsBroken()

◆ SetIsViolating()

◆ SetShockPropagationScales()

◆ SetSolverBodies()

◆ Update()

◆ V()

◆ W()

◆ X()

Member Data Documentation

◆ MaxConstrainedBodies