#include <PBDJointContainerSolver.h>

Inheritance diagram for Chaos::Private::TPBDJointContainerSolver< JointSolverType >:

Public Member Functions
	TPBDJointContainerSolver (FPBDJointConstraints &InConstraintContainer, const int32 InPriority)

	~TPBDJointContainerSolver ()

virtual int32	GetNumConstraints () const override final

virtual void	Reset (const int32 InMaxCollisions) override final

virtual void	AddConstraints () override final

virtual void	AddConstraints (const TArrayView< Private::FPBDIslandConstraint * > &IslandConstraints) override final

virtual void	AddBodies (FSolverBodyContainer &SolverBodyContainer) override final

virtual void	GatherInput (const FReal Dt) override final

virtual void	GatherInput (const FReal Dt, const int32 BeginIndex, const int32 EndIndex) override final

virtual void	ScatterOutput (const FReal Dt) override final

virtual void	ScatterOutput (const FReal Dt, const int32 BeginIndex, const int32 EndIndex) override final

virtual void	ApplyPositionConstraints (const FReal Dt, const int32 It, const int32 NumIts) override final

virtual void	ApplyVelocityConstraints (const FReal Dt, const int32 It, const int32 NumIts) override final

virtual void	ApplyProjectionConstraints (const FReal Dt, const int32 It, const int32 NumIts) override final

FPBDJointConstraints &	GetContainer () const

const FPBDJointSolverSettings &	GetSettings () const

const FPBDJointSettings &	GetConstraintSettings (const int32 InConstraintIndex) const

int32	GetContainerConstraintIndex (const int32 InConstraintIndex) const

Public Member Functions inherited from Chaos::FConstraintContainerSolver
	FConstraintContainerSolver (const int32 InPriority)

virtual	~FConstraintContainerSolver ()

void	SetPriority (const int32 InPriority)

int32	GetPriority () const

virtual void	PreApplyPositionConstraints (const FReal Dt)

virtual void	PreApplyVelocityConstraints (const FReal Dt)

virtual void	PreApplyProjectionConstraints (const FReal Dt)

Detailed Description

template<typename JointSolverType>
class Chaos::Private::TPBDJointContainerSolver< JointSolverType >

Runs the solvers for a set of constraints belonging to a JointConstraints container.

For the main scene, each IslandGroup owns two TPBDJointContainerSolvers (one for linear and one for nonlinear) and the list of constraints to be solved and the order in which they are solved is determined by the constraint graph. The two TPBDJointContainerSolvers are grouped under struct FPBDJointCombinedConstraints.

For RBAN, there is one FPBDJointCombinedConstraints with two TPBDJointContainerSolvers (linear & nonlinear) that solves all joints in the simulation in the order that they occur in the container.

Constructor & Destructor Documentation

◆ TPBDJointContainerSolver()

template<typename JointSolverType >

Chaos::Private::TPBDJointContainerSolver< JointSolverType >::TPBDJointContainerSolver	(	FPBDJointConstraints &	InConstraintContainer,
		const int32	InPriority
	)

◆ ~TPBDJointContainerSolver()

template<typename JointSolverType >

Chaos::Private::TPBDJointContainerSolver< JointSolverType >::~TPBDJointContainerSolver ( )

Member Function Documentation

◆ AddBodies()

template<typename JointSolverType >

void Chaos::Private::TPBDJointContainerSolver< JointSolverType >::AddBodies ( FSolverBodyContainer & SolverBodyContainer )

finaloverridevirtual

Add all the required bodies to the body container (required for the constraints added with AddConstraints)

Implements Chaos::FConstraintContainerSolver.

◆ AddConstraints() [1/2]

template<typename JointSolverType >

void Chaos::Private::TPBDJointContainerSolver< JointSolverType >::AddConstraints ( )

finaloverridevirtual

RBAN API. Add all (active) constraints to the solver.

Implements Chaos::FConstraintContainerSolver.

◆ AddConstraints() [2/2]

template<typename JointSolverType >

void Chaos::Private::TPBDJointContainerSolver< JointSolverType >::AddConstraints ( const TArrayView< Private::FPBDIslandConstraint * > & Constraints )

finaloverridevirtual

Island API. Add a set of constraints to the solver. This can be called multiple times: once for each island in an IslandGroup, but there will never be more constraints added than specified in Reset(). NOTE: this should not do any actual data gathering - it should just add to the list of constraints in this group. All data gathering is handled in GatherInput.

Implements Chaos::FConstraintContainerSolver.

◆ ApplyPositionConstraints()

template<typename SolverType >

void Chaos::Private::TPBDJointContainerSolver< SolverType >::ApplyPositionConstraints	(	const FReal	Dt,
		const int32	It,
		const int32	NumIts
	)

finaloverridevirtual

Apply the position solve to all constraints in the container

Implements Chaos::FConstraintContainerSolver.

◆ ApplyProjectionConstraints()

template<typename SolverType >

void Chaos::Private::TPBDJointContainerSolver< SolverType >::ApplyProjectionConstraints	(	const FReal	Dt,
		const int32	It,
		const int32	NumIts
	)

finaloverridevirtual

Apply the projection solve to all constraints in the container

Implements Chaos::FConstraintContainerSolver.

◆ ApplyVelocityConstraints()

template<typename SolverType >

void Chaos::Private::TPBDJointContainerSolver< SolverType >::ApplyVelocityConstraints	(	const FReal	Dt,
		const int32	It,
		const int32	NumIts
	)

finaloverridevirtual

Apply the velocity solve to all constraints in the container

Implements Chaos::FConstraintContainerSolver.

◆ GatherInput() [1/2]

template<typename JointSolverType >

void Chaos::Private::TPBDJointContainerSolver< JointSolverType >::GatherInput ( const FReal Dt )

finaloverridevirtual

Implements Chaos::FConstraintContainerSolver.

◆ GatherInput() [2/2]

template<typename SolverType >

void Chaos::Private::TPBDJointContainerSolver< SolverType >::GatherInput	(	const FReal	Dt,
		const int32	BeginIndex,
		const int32	EndIndex
	)

finaloverridevirtual

Implements Chaos::FConstraintContainerSolver.

◆ GetConstraintSettings()

template<typename JointSolverType >

const FPBDJointSettings & Chaos::Private::TPBDJointContainerSolver< JointSolverType >::GetConstraintSettings ( const int32 InConstraintIndex ) const

inline

◆ GetContainer()

template<typename JointSolverType >

FPBDJointConstraints & Chaos::Private::TPBDJointContainerSolver< JointSolverType >::GetContainer ( ) const

inline

◆ GetContainerConstraintIndex()

template<typename JointSolverType >

int32 Chaos::Private::TPBDJointContainerSolver< JointSolverType >::GetContainerConstraintIndex ( const int32 InConstraintIndex ) const

inline

◆ GetNumConstraints()

template<typename JointSolverType >

virtual int32 Chaos::Private::TPBDJointContainerSolver< JointSolverType >::GetNumConstraints ( ) const

inlinefinaloverridevirtual

Implements Chaos::FConstraintContainerSolver.

◆ GetSettings()

template<typename JointSolverType >

const FPBDJointSolverSettings & Chaos::Private::TPBDJointContainerSolver< JointSolverType >::GetSettings ( ) const

inline

◆ Reset()

template<typename JointSolverType >

void Chaos::Private::TPBDJointContainerSolver< JointSolverType >::Reset ( const int32 MaxConstraints )

finaloverridevirtual

Set the maximum number of constraints the solver will have to handle. This will be called only once per tick, so containers resized here will not have to resize again this tick so that pointers to elements in the container will remain valid for the tick (but not beyond).

Implements Chaos::FConstraintContainerSolver.

◆ ScatterOutput() [1/2]

template<typename SolverType >

void Chaos::Private::TPBDJointContainerSolver< SolverType >::ScatterOutput ( const FReal Dt )

finaloverridevirtual

Implements Chaos::FConstraintContainerSolver.

◆ ScatterOutput() [2/2]

template<typename SolverType >

void Chaos::Private::TPBDJointContainerSolver< SolverType >::ScatterOutput	(	const FReal	Dt,
		const int32	BeginIndex,
		const int32	EndIndex
	)

finaloverridevirtual

Implements Chaos::FConstraintContainerSolver.

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

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

Public Member Functions

Detailed Description

Constructor & Destructor Documentation

◆ TPBDJointContainerSolver()

◆ ~TPBDJointContainerSolver()

Member Function Documentation

◆ AddBodies()

◆ AddConstraints() [1/2]

◆ AddConstraints() [2/2]

◆ ApplyPositionConstraints()

◆ ApplyProjectionConstraints()

◆ ApplyVelocityConstraints()

◆ GatherInput() [1/2]

◆ GatherInput() [2/2]

◆ GetConstraintSettings()

◆ GetContainer()

◆ GetContainerConstraintIndex()

◆ GetNumConstraints()

◆ GetSettings()

◆ Reset()

◆ ScatterOutput() [1/2]

◆ ScatterOutput() [2/2]