A set of 4 manifold points in a FPBDCollisionSolver. More...

#include <PBDCollisionSolverJacobi.h>

Classes
struct	FManifoldPoint

Public Member Functions
void	Reset ()

FORCEINLINE_DEBUGGABLE int32	NumManifoldPoints () const

FORCEINLINE_DEBUGGABLE int32	AddManifoldPoint ()

FORCEINLINE_DEBUGGABLE void	SetWorldContact (const int32 ManifoldPointIndex, const FSolverVec3 &InRelativeContactPosition0, const FSolverVec3 &InRelativeContactPosition1, const FSolverVec3 &InWorldContactNormal, const FSolverVec3 &InWorldContactTangentU, const FSolverVec3 &InWorldContactTangentV, const FSolverReal InWorldContactDeltaNormal, const FSolverReal InWorldContactDeltaTangentU, const FSolverReal InWorldContactDeltaTangentV, const FSolverReal InWorldContactVelocityTargetNormal)

FORCEINLINE_DEBUGGABLE void	InitContact (const int32 ManifoldPointIndex, const FConstraintSolverBody &Body0, const FConstraintSolverBody &Body1)
	Initialize the geometric data for the contact.

void	UpdateMass (const int32 ManifoldPointIndex, const FConstraintSolverBody &Body0, const FConstraintSolverBody &Body1)
	Update the cached mass properties based on the current body transforms.

void	UpdateMassNormal (const int32 ManifoldPointIndex, const FConstraintSolverBody &Body0, const FConstraintSolverBody &Body1)
	Update the contact mass for the normal correction This is used by shock propagation.

FORCEINLINE_DEBUGGABLE FSolverVec3	GetNetPushOut (const int32 ManifoldPointIndex) const

FORCEINLINE_DEBUGGABLE FSolverVec3	GetNetImpulse (const int32 ManifoldPointIndex) const

FORCEINLINE_DEBUGGABLE FSolverReal	GetStaticFrictionRatio (const int32 ManifoldPointIndex) const

FORCEINLINE_DEBUGGABLE void	CalculateContactPositionErrorNormal (const int32 ManifoldPointIndex, const FConstraintSolverBody &Body0, const FConstraintSolverBody &Body1, const FSolverReal MaxPushOut, FSolverReal &OutContactDeltaNormal) const
	Calculate the position error at the current transforms.

FORCEINLINE_DEBUGGABLE void	CalculateContactPositionErrorTangential (const int32 ManifoldPointIndex, const FConstraintSolverBody &Body0, const FConstraintSolverBody &Body1, FSolverReal &OutContactDeltaTangentU, FSolverReal &OutContactDeltaTangentV) const

FORCEINLINE_DEBUGGABLE void	CalculatePositionCorrectionNormal (const int32 ManifoldPointIndex, const FSolverReal Stiffness, FSolverReal ContactDeltaNormal, FConstraintSolverBody &Body0, FConstraintSolverBody &Body1, FSolverVec3 &InOutDX0, FSolverVec3 &InOutDR0, FSolverVec3 &InOutDX1, FSolverVec3 &InOutDR1)

FORCEINLINE_DEBUGGABLE void	ApplyFrictionCone (const int32 ManifoldPointIndex, const FSolverReal StaticFriction, const FSolverReal DynamicFriction, const FSolverReal MaxFrictionPushOut, FSolverReal &InOutPushOutTangentU, FSolverReal &InOutPushOutTangentV)

FORCEINLINE_DEBUGGABLE void	SolvePositionNoFriction (const FSolverReal Stiffness, const FSolverReal MaxPushOut, FConstraintSolverBody &Body0, FConstraintSolverBody &Body1)

FORCEINLINE_DEBUGGABLE bool	SolvePositionWithFriction (const FSolverReal Stiffness, const FSolverReal Dt, const FSolverReal StaticFriction, const FSolverReal DynamicFriction, const FSolverReal MaxPushOut, FConstraintSolverBody &Body0, FConstraintSolverBody &Body1)

FORCEINLINE_DEBUGGABLE void	CalculateContactVelocityErrorNormal (const int32 ManifoldPointIndex, const FConstraintSolverBody &Body0, const FConstraintSolverBody &Body1, FSolverReal &OutContactVelocityDeltaNormal) const
	Calculate the velocity error at the current transforms.

FORCEINLINE_DEBUGGABLE void	CalculateContactVelocityError (const int32 ManifoldPointIndex, const FConstraintSolverBody &Body0, const FConstraintSolverBody &Body1, const FSolverReal DynamicFriction, const FSolverReal Dt, FSolverReal &OutContactVelocityDeltaNormal, FSolverReal &OutContactVelocityDeltaTangent0, FSolverReal &OutContactVelocityDeltaTangent1) const

FORCEINLINE_DEBUGGABLE void	SolveVelocity (const FSolverReal Stiffness, const FSolverReal Dt, const bool bApplyDynamicFriction, FConstraintSolverBody &Body0, FConstraintSolverBody &Body1)

FORCEINLINE_DEBUGGABLE bool	ShouldSolveVelocity (const int32 ManifoldPointIndex) const
	Whether we need to solve velocity for this manifold point (only if we were penetrating or applied a pushout)

Public Attributes
TCArray< FManifoldPoint, MaxManifoldPoints >	ManifoldPoints

Static Public Attributes
static const int32	MaxManifoldPoints = 4

Friends
class	FPBDCollisionSolverJacobi

Detailed Description

A set of 4 manifold points in a FPBDCollisionSolver.

Member Function Documentation

◆ AddManifoldPoint()

FORCEINLINE_DEBUGGABLE int32 Chaos::Private::FPBDCollisionSolverJacobiManifoldPoints::AddManifoldPoint ( )

inline

◆ ApplyFrictionCone()

FORCEINLINE_DEBUGGABLE void Chaos::Private::FPBDCollisionSolverJacobiManifoldPoints::ApplyFrictionCone	(	const int32	ManifoldPointIndex,
		const FSolverReal	StaticFriction,
		const FSolverReal	DynamicFriction,
		const FSolverReal	MaxFrictionPushOut,
		FSolverReal &	InOutPushOutTangentU,
		FSolverReal &	InOutPushOutTangentV
	)

inline

◆ CalculateContactPositionErrorNormal()

FORCEINLINE_DEBUGGABLE void Chaos::Private::FPBDCollisionSolverJacobiManifoldPoints::CalculateContactPositionErrorNormal	(	const int32	ManifoldPointIndex,
		const FConstraintSolverBody &	Body0,
		const FConstraintSolverBody &	Body1,
		const FSolverReal	MaxPushOut,
		FSolverReal &	OutContactDeltaNormal
	)		const

inline

Calculate the position error at the current transforms.

Parameters

MaxPushOut a limit on the position error for this iteration to prevent initial-penetration explosion (a common PBD problem)

◆ CalculateContactPositionErrorTangential()

FORCEINLINE_DEBUGGABLE void Chaos::Private::FPBDCollisionSolverJacobiManifoldPoints::CalculateContactPositionErrorTangential	(	const int32	ManifoldPointIndex,
		const FConstraintSolverBody &	Body0,
		const FConstraintSolverBody &	Body1,
		FSolverReal &	OutContactDeltaTangentU,
		FSolverReal &	OutContactDeltaTangentV
	)		const

inline

◆ CalculateContactVelocityError()

FORCEINLINE_DEBUGGABLE void Chaos::Private::FPBDCollisionSolverJacobiManifoldPoints::CalculateContactVelocityError	(	const int32	ManifoldPointIndex,
		const FConstraintSolverBody &	Body0,
		const FConstraintSolverBody &	Body1,
		const FSolverReal	DynamicFriction,
		const FSolverReal	Dt,
		FSolverReal &	OutContactVelocityDeltaNormal,
		FSolverReal &	OutContactVelocityDeltaTangent0,
		FSolverReal &	OutContactVelocityDeltaTangent1
	)		const

inline

◆ CalculateContactVelocityErrorNormal()

FORCEINLINE_DEBUGGABLE void Chaos::Private::FPBDCollisionSolverJacobiManifoldPoints::CalculateContactVelocityErrorNormal	(	const int32	ManifoldPointIndex,
		const FConstraintSolverBody &	Body0,
		const FConstraintSolverBody &	Body1,
		FSolverReal &	OutContactVelocityDeltaNormal
	)		const

inline

Calculate the velocity error at the current transforms.

◆ CalculatePositionCorrectionNormal()

FORCEINLINE_DEBUGGABLE void Chaos::Private::FPBDCollisionSolverJacobiManifoldPoints::CalculatePositionCorrectionNormal	(	const int32	ManifoldPointIndex,
		const FSolverReal	Stiffness,
		FSolverReal	ContactDeltaNormal,
		FConstraintSolverBody &	Body0,
		FConstraintSolverBody &	Body1,
		FSolverVec3 &	InOutDX0,
		FSolverVec3 &	InOutDR0,
		FSolverVec3 &	InOutDX1,
		FSolverVec3 &	InOutDR1
	)

inline

◆ GetNetImpulse()

FORCEINLINE_DEBUGGABLE FSolverVec3 Chaos::Private::FPBDCollisionSolverJacobiManifoldPoints::GetNetImpulse ( const int32 ManifoldPointIndex ) const

inline

◆ GetNetPushOut()

FORCEINLINE_DEBUGGABLE FSolverVec3 Chaos::Private::FPBDCollisionSolverJacobiManifoldPoints::GetNetPushOut ( const int32 ManifoldPointIndex ) const

inline

◆ GetStaticFrictionRatio()

FORCEINLINE_DEBUGGABLE FSolverReal Chaos::Private::FPBDCollisionSolverJacobiManifoldPoints::GetStaticFrictionRatio ( const int32 ManifoldPointIndex ) const

inline

◆ InitContact()

FORCEINLINE_DEBUGGABLE void Chaos::Private::FPBDCollisionSolverJacobiManifoldPoints::InitContact	(	const int32	ManifoldPointIndex,
		const FConstraintSolverBody &	Body0,
		const FConstraintSolverBody &	Body1
	)

inline

Initialize the geometric data for the contact.

◆ NumManifoldPoints()

FORCEINLINE_DEBUGGABLE int32 Chaos::Private::FPBDCollisionSolverJacobiManifoldPoints::NumManifoldPoints ( ) const

inline

◆ Reset()

void Chaos::Private::FPBDCollisionSolverJacobiManifoldPoints::Reset ( )

inline

◆ SetWorldContact()

FORCEINLINE_DEBUGGABLE void Chaos::Private::FPBDCollisionSolverJacobiManifoldPoints::SetWorldContact	(	const int32	ManifoldPointIndex,
		const FSolverVec3 &	InRelativeContactPosition0,
		const FSolverVec3 &	InRelativeContactPosition1,
		const FSolverVec3 &	InWorldContactNormal,
		const FSolverVec3 &	InWorldContactTangentU,
		const FSolverVec3 &	InWorldContactTangentV,
		const FSolverReal	InWorldContactDeltaNormal,
		const FSolverReal	InWorldContactDeltaTangentU,
		const FSolverReal	InWorldContactDeltaTangentV,
		const FSolverReal	InWorldContactVelocityTargetNormal
	)

inline

◆ ShouldSolveVelocity()

FORCEINLINE_DEBUGGABLE bool Chaos::Private::FPBDCollisionSolverJacobiManifoldPoints::ShouldSolveVelocity ( const int32 ManifoldPointIndex ) const

inline

Whether we need to solve velocity for this manifold point (only if we were penetrating or applied a pushout)

◆ SolvePositionNoFriction()

FORCEINLINE_DEBUGGABLE void Chaos::Private::FPBDCollisionSolverJacobiManifoldPoints::SolvePositionNoFriction	(	const FSolverReal	Stiffness,
		const FSolverReal	MaxPushOut,
		FConstraintSolverBody &	Body0,
		FConstraintSolverBody &	Body1
	)

inline

◆ SolvePositionWithFriction()

FORCEINLINE_DEBUGGABLE bool Chaos::Private::FPBDCollisionSolverJacobiManifoldPoints::SolvePositionWithFriction	(	const FSolverReal	Stiffness,
		const FSolverReal	Dt,
		const FSolverReal	StaticFriction,
		const FSolverReal	DynamicFriction,
		const FSolverReal	MaxPushOut,
		FConstraintSolverBody &	Body0,
		FConstraintSolverBody &	Body1
	)

inline

◆ SolveVelocity()

FORCEINLINE_DEBUGGABLE void Chaos::Private::FPBDCollisionSolverJacobiManifoldPoints::SolveVelocity	(	const FSolverReal	Stiffness,
		const FSolverReal	Dt,
		const bool	bApplyDynamicFriction,
		FConstraintSolverBody &	Body0,
		FConstraintSolverBody &	Body1
	)

inline

◆ UpdateMass()

void Chaos::Private::FPBDCollisionSolverJacobiManifoldPoints::UpdateMass	(	const int32	ManifoldPointIndex,
		const FConstraintSolverBody &	Body0,
		const FConstraintSolverBody &	Body1
	)

inline

Update the cached mass properties based on the current body transforms.

◆ UpdateMassNormal()

void Chaos::Private::FPBDCollisionSolverJacobiManifoldPoints::UpdateMassNormal	(	const int32	ManifoldPointIndex,
		const FConstraintSolverBody &	Body0,
		const FConstraintSolverBody &	Body1
	)

inline

Update the contact mass for the normal correction This is used by shock propagation.

Friends And Related Symbol Documentation

◆ FPBDCollisionSolverJacobi

friend class FPBDCollisionSolverJacobi

friend

Member Data Documentation

◆ ManifoldPoints

TCArray<FManifoldPoint, MaxManifoldPoints> Chaos::Private::FPBDCollisionSolverJacobiManifoldPoints::ManifoldPoints

◆ MaxManifoldPoints

const int32 Chaos::Private::FPBDCollisionSolverJacobiManifoldPoints::MaxManifoldPoints = 4

static

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

Engine/Source/Runtime/Experimental/Chaos/Public/Chaos/Collision/PBDCollisionSolverJacobi.h

Classes

Public Member Functions

Public Attributes

Static Public Attributes

Friends

Detailed Description

Member Function Documentation

◆ AddManifoldPoint()

◆ ApplyFrictionCone()

◆ CalculateContactPositionErrorNormal()

◆ CalculateContactPositionErrorTangential()

◆ CalculateContactVelocityError()

◆ CalculateContactVelocityErrorNormal()

◆ CalculatePositionCorrectionNormal()

◆ GetNetImpulse()

◆ GetNetPushOut()

◆ GetStaticFrictionRatio()

◆ InitContact()

◆ NumManifoldPoints()

◆ Reset()

◆ SetWorldContact()

◆ ShouldSolveVelocity()

◆ SolvePositionNoFriction()

◆ SolvePositionWithFriction()

◆ SolveVelocity()

◆ UpdateMass()

◆ UpdateMassNormal()

Friends And Related Symbol Documentation

◆ FPBDCollisionSolverJacobi

Member Data Documentation

◆ ManifoldPoints

◆ MaxManifoldPoints