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  3. FPBDJointConstraints

FPBDJointConstraints

A set of joint restricting up to 6 degrees of freedom, with linear and angular limits.

Unreal Engine C++ API Reference > Runtime > Chaos > Chaos

Inheritance Hierarchy

References

   
Module Chaos
Header /Engine/Source/Runtime/Experimental/Chaos/Public/Chaos/PBDJointConstraints.h
Include #include "Chaos/PBDJointConstraints.h"

Syntax

class FPBDJointConstraints : public Chaos::FPBDConstraintContainer

Remarks

A set of joint restricting up to 6 degrees of freedom, with linear and angular limits.

Constructors

  Type Name Description
Public function    

Destructors

  Type Name Description
Public function Virtual    

Functions

  Type Name Description
Public function FConstraintContainerHandle *

AddConstraint ( const FParticlePair& InConstrainedParticles,
const FPBDJointSettings& InConstraintSettings
)

 Add a constraint with particle-space constraint offsets.
Public function FConstraintContainerHandle *

AddConstraint ( const FParticlePair& InConstrainedParticles,
const FTransformPair& ConnectorTransforms
)

 Add a constraint with particle-space constraint offsets.
Public function FConstraintContainerHandle *

AddConstraint ( const FParticlePair& InConstrainedParticles,
const FRigidTransform3& WorldConstraintFrame
)

 Add a constraint with particle-space constraint offsets.
Public function void

BreakConstraint ( int32 ConstraintIndex
)

 Force a constraints to break
Public function void Remove the previously assigned break callback.
Public function void

ClearConstraintBreaking ( int32 ConstraintIndex
)

 Clear the transient constraint braking state (called by event system when it has used the flag)
Public function void

ClearDriveTargetChanged ( int32 ConstraintIndex
)

 Clear the drive target state
Public function void

FixConstraint ( int32 ConstraintIndex
)

 Repair a broken constraints (does not adjust particle positions)
Public function Const const FHandles & All of the constraints in the container, including inactive
Public function Const const FParticlePair &

GetConstrainedParticles ( int32 ConstraintIndex
)

 Get the particles that are affected by the specified constraint.
Public function Const FVec3

GetConstraintAngularImpulse ( int32 ConstraintIndex
)

 The total linear angular applied by the constraint
Public function Const int32

GetConstraintColor ( int32 ConstraintIndex
)

  
Public function Const const FConstraintContainerHandle *

GetConstraintHandle ( int32 ConstraintIndex
)

 Get a joint constraint by index
Public function FConstraintContainerHandle *

GetConstraintHandle ( int32 ConstraintIndex
)

 Get a joint constraint by index
Public function FHandles & All of the constraints in the container, including inactive
Public function Const int32

GetConstraintIsland ( int32 ConstraintIndex
)

  
Public function Const int32

GetConstraintLevel ( int32 ConstraintIndex
)

  
Public function Const FVec3

GetConstraintLinearImpulse ( int32 ConstraintIndex
)

 The total linear impulse applied by the constraint
Public function Const EResimType

GetConstraintResimType ( int32 ConstraintIndex
)

  
Public function Const const FPBDJointSettings &

GetConstraintSettings ( int32 ConstraintIndex
)

 Get the settings for a joint constraint by index
Public function Const ESyncState

GetConstraintSyncState ( int32 ConstraintIndex
)

  
Public function Const const FPBDJointSolverSettings & Get the solver settings (used by FPBDJointContainerSolver)
Public function Const bool

IsConstraintBreaking ( int32 ConstraintIndex
)

 Whether the constraint was broken this frame (transient flag for use by event system)
Public function Const bool

IsConstraintBroken ( int32 ConstraintIndex
)

 Whether the constraint is broken
Public function Const bool

IsConstraintEnabled ( int32 ConstraintIndex
)

 Whether the constraint is enabled
Public function Const bool

IsDriveTargetChanged ( int32 ConstraintIndex
)

 Whether the drive target has changed
Public function Const int32 Get the number of constraints.
Public function void

RemoveConstraint ( int ConstraintIndex
)

 Remove the specified constraint.
Public function void

RemoveConstraints ( const TSet< TGeometryParticleHandle< FReal, 3 >* >& RemovedParticles
)

  
Public function void

SetAngularDrivePositionTarget ( int32 ConstraintIndex,
FRotation3 InAngularDrivePositionTarget
)

 Set the angular drive target for a constraint by index
Public function void Set the break callback.
Public function void

SetConstraintEnabled ( int32 ConstraintIndex,
bool bEnabled
)

 Enable or disable a constraints
Public function void

SetConstraintEnabledDuringResim ( int32 ConstraintIndex,
bool bEnabled
)

  
Public function void

SetConstraintSettings ( int32 ConstraintIndex,
const FPBDJointSettings& InConstraintSettings
)

 Set the settings for a joint constraint by index
Public function void

SetConstraintSyncState ( int32 ConstraintIndex,
ESyncState SyncState
)

  
Public function void

SetDriveTargetChanged ( int32 ConstraintIndex,
bool bTargetChanged
)

 Set Drive Target Changed State
Public function void

SetLinearDrivePositionTarget ( int32 ConstraintIndex,
FVec3 InLinearDrivePositionTarget
)

 Set the linear drive target for a constraint by index
Public function void

SetSettings ( const FPBDJointSolverSettings& InSettings
)

 Modify the solver settings
Public function void

SetSolverResults ( const int32 ConstraintIndex,
const FVec3& LinearImpulse,
const FVec3& AngularImpulse,
const bool bIsBroken,
const FSolverBody* SolverBody0,
const FSolverBody* SolverBody1
)

 Called by the joint solver at the end of the constraint solver phase.
Public function void

SetSortEnabled ( const bool bInEnable
)

 Whether to sort the joints internally.
Public function void

SetUseLinearJointSolver ( const bool bInEnable
)

 Whether to use a linear or non-linear joint solver.

Overridden from FPBDConstraintContainer

  Type Name Description
Public function Virtual void Add all the constraints in the container to the graph
Public function Virtual TUniquePtr< FConstraintContainerSolver >

CreateGroupSolver ( const int32 Priority
)

 Create a constraint solver for an Evolution with Graph support (World evolution).
Public function Virtual TUniquePtr< FConstraintContainerSolver >

CreateSceneSolver ( const int32 Priority
)

 FConstraintContainer Implementation
Public function Virtual void

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

 Disconnect the constraints from the attached input particles.
Public function Virtual Const int32 Get the number of constraints in this container (includes inactive and disabled)
Public function Virtual void Called oncer per tick to initialize buffers required for the rest of the tick
Public function Virtual void Empty the constraints (must be removed from the graph first, if required)
Public function Virtual void Should undo any allocations in PrepareTick

Typedefs

Name Description
Base  
FConstraintContainerHandle  
FConstraintHandleAllocator  
FHandles  
FTransformPair  

Deprecated Functions

  Type Name Description
Public function void

AddBodies ( FSolverBodyContainer& SolverBodyContainer
)

 Joint Solver API moved to FPBDJointContainerSolver
Public function void

AddBodies ( const TArrayView< int32 >& ConstraintIndices,
FSolverBodyContainer& SolverBodyContainer
)

 Joint Solver API moved to FPBDJointContainerSolver
Public function void

ApplyPositionConstraints ( const TArrayView< int32 >& ConstraintIndices,
const FReal Dt,
const int32 It,
const int32 NumIts
)

 Joint Solver API moved to FPBDJointContainerSolver
Public function void

ApplyPositionConstraints ( const FReal Dt,
const int32 It,
const int32 NumIts
)

 Joint Solver API moved to FPBDJointContainerSolver
Public function void

ApplyProjectionConstraints ( const TArrayView< int32 >& ConstraintIndices,
const FReal Dt,
const int32 It,
const int32 NumIts
)

 Joint Solver API moved to FPBDJointContainerSolver
Public function void

ApplyProjectionConstraints ( const FReal Dt,
const int32 It,
const int32 NumIts
)

 Joint Solver API moved to FPBDJointContainerSolver
Public function void

ApplyVelocityConstraints ( const FReal Dt,
const int32 It,
const int32 NumIts
)

 Joint Solver API moved to FPBDJointContainerSolver
Public function void

ApplyVelocityConstraints ( const TArrayView< int32 >& ConstraintIndices,
const FReal Dt,
const int32 It,
const int32 NumIts
)

 Joint Solver API moved to FPBDJointContainerSolver
Public function void

GatherInput ( const FReal Dt
)

 Joint Solver API moved to FPBDJointContainerSolver
Public function void

GatherInput ( const TArrayView< int32 >& ConstraintIndices,
const FReal Dt
)

 Joint Solver API moved to FPBDJointContainerSolver
Public function void

GatherInput ( const int32 ConstraintIndex,
const FReal Dt
)

 Joint Solver API moved to FPBDJointContainerSolver
Public function void

ScatterOutput ( const TArrayView< int32 >& ConstraintIndices,
const FReal Dt
)

 Joint Solver API moved to FPBDJointContainerSolver
Public function void

ScatterOutput ( const FReal Dt
)

 Joint Solver API moved to FPBDJointContainerSolver
Public function void

ScatterOutput ( const int32 ConstraintIndex,
const FReal Dt
)

 Joint Solver API moved to FPBDJointContainerSolver

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