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  3. FPBDCollisionSolverJacobiManifoldPoints

FPBDCollisionSolverJacobiManifoldPoints

A set of 4 manifold points in a [FPBDCollisionSolver](API\Runtime\Chaos\FPBDCollisionSolver).

API > API/Runtime > API/Runtime/Chaos

A set of 4 manifold points in a FPBDCollisionSolver.

   
Name FPBDCollisionSolverJacobiManifoldPoints
Type class
Header File /Engine/Source/Runtime/Experimental/Chaos/Public/Chaos/Collision/PBDCollisionSolverJacobi.h
Include Path #include "Chaos/Collision/PBDCollisionSolverJacobi.h"

Syntax

class FPBDCollisionSolverJacobiManifoldPoints

Structs

Name Remarks
FManifoldPoint  

Constants

Name Type Remarks Include Path
MaxManifoldPoints const int32   Chaos/Collision/PBDCollisionSolverJacobi.h

Variables

Public

Name Type Remarks Include Path Unreal Specifiers
ManifoldPoints TCArray< FManifoldPoint, MaxManifoldPoints >   Chaos/Collision/PBDCollisionSolverJacobi.h  

Functions

Public

Name Remarks Include Path Unreal Specifiers

int32 AddManifoldPoint()

   Chaos/Collision/PBDCollisionSolverJacobi.h  

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

   Chaos/Collision/PBDCollisionSolverJacobi.h  

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. Chaos/Collision/PBDCollisionSolverJacobi.h  

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

   Chaos/Collision/PBDCollisionSolverJacobi.h  

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

   Chaos/Collision/PBDCollisionSolverJacobi.h  

void CalculateContactVelocityErrorNormal ( const int32 ManifoldPointIndex,
const FConstraintSolverBody& Body0,
const FConstraintSolverBody& Body1,
FSolverReal& OutContactVelocityDeltaNormal
) const

 Calculate the velocity error at the current transforms. Chaos/Collision/PBDCollisionSolverJacobi.h  

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

   Chaos/Collision/PBDCollisionSolverJacobi.h  

FSolverVec3 GetNetImpulse ( const int32 ManifoldPointIndex
) const

   Chaos/Collision/PBDCollisionSolverJacobi.h  

FSolverVec3 GetNetPushOut ( const int32 ManifoldPointIndex
) const

   Chaos/Collision/PBDCollisionSolverJacobi.h  

FSolverReal GetStaticFrictionRatio ( const int32 ManifoldPointIndex
) const

   Chaos/Collision/PBDCollisionSolverJacobi.h  

void InitContact ( const int32 ManifoldPointIndex,
const FConstraintSolverBody& Body0,
const FConstraintSolverBody& Body1
)

 Initialize the geometric data for the contact. Chaos/Collision/PBDCollisionSolverJacobi.h  

int32 NumManifoldPoints()

   Chaos/Collision/PBDCollisionSolverJacobi.h  

void Reset()

   Chaos/Collision/PBDCollisionSolverJacobi.h  

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
)

   Chaos/Collision/PBDCollisionSolverJacobi.h  

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) Chaos/Collision/PBDCollisionSolverJacobi.h  

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

   Chaos/Collision/PBDCollisionSolverJacobi.h  

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

   Chaos/Collision/PBDCollisionSolverJacobi.h  

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

   Chaos/Collision/PBDCollisionSolverJacobi.h  

void UpdateMass ( const int32 ManifoldPointIndex,
const FConstraintSolverBody& Body0,
const FConstraintSolverBody& Body1
)

 Update the cached mass properties based on the current body transforms. Chaos/Collision/PBDCollisionSolverJacobi.h  

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. Chaos/Collision/PBDCollisionSolverJacobi.h  

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