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  3. FPBDJointConstraints

FPBDJointConstraints

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

API > API/Runtime > API/Runtime/Chaos

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

   
Name FPBDJointConstraints
Type class
Header File /Engine/Source/Runtime/Experimental/Chaos/Public/Chaos/PBDJointConstraints.h
Include Path #include "Chaos/PBDJointConstraints.h"

Syntax

class FPBDJointConstraints : public Chaos::FPBDConstraintContainer

Inheritance Hierarchy

Constructors

Name Remarks Include Path Unreal Specifiers

FPBDJointConstraints()

   Chaos/PBDJointConstraints.h  

Destructors

Name Remarks Include Path Unreal Specifiers

virtual ~FPBDJointConstraints()

   Chaos/PBDJointConstraints.h  

Typedefs

Name Type Remarks Include Path
Base FPBDConstraintContainer   Chaos/PBDJointConstraints.h
FConstraintContainerHandle FPBDJointConstraintHandle   Chaos/PBDJointConstraints.h
FConstraintHandleAllocator TConstraintHandleAllocator< FPBDJointConstraints >   Chaos/PBDJointConstraints.h
FHandles TArray< FConstraintContainerHandle * >   Chaos/PBDJointConstraints.h

Variables

Protected

Name Type Remarks Include Path Unreal Specifiers
bJointsDirty bool   Chaos/PBDJointConstraints.h  
BreakCallback FJointBreakCallback   Chaos/PBDJointConstraints.h  
bUseLinearSolver bool   Chaos/PBDJointConstraints.h  
ConstraintParticles TArray< FParticlePair >   Chaos/PBDJointConstraints.h  
ConstraintSettings TArray< FPBDJointSettings >   Chaos/PBDJointConstraints.h  
ConstraintStates TArray< FPBDJointState >   Chaos/PBDJointConstraints.h  
HandleAllocator FConstraintHandleAllocator   Chaos/PBDJointConstraints.h  
Handles FHandles   Chaos/PBDJointConstraints.h  
Settings FPBDJointSolverSettings   Chaos/PBDJointConstraints.h  

Functions

Public

Name Remarks Include Path Unreal Specifiers

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

   Chaos/PBDJointConstraints.h  

void AddBodies ( FSolverBodyContainer& SolverBodyContainer
)

   Chaos/PBDJointConstraints.h  

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

 Add a constraint with particle-space constraint offsets. Chaos/PBDJointConstraints.h  

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

   Chaos/PBDJointConstraints.h  

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

   Chaos/PBDJointConstraints.h  

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

   Chaos/PBDJointConstraints.h  

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

   Chaos/PBDJointConstraints.h  

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

   Chaos/PBDJointConstraints.h  

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

   Chaos/PBDJointConstraints.h  

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

   Chaos/PBDJointConstraints.h  

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

   Chaos/PBDJointConstraints.h  

void BreakConstraint ( int32 ConstraintIndex
)

 Force a constraints to break Chaos/PBDJointConstraints.h  

void ClearBreakCallback()

 Remove the previously assigned break callback. Chaos/PBDJointConstraints.h  

void ClearConstraintBreaking ( int32 ConstraintIndex
)

 Clear the transient constraint braking state (called by event system when it has used the flag) Chaos/PBDJointConstraints.h  

void ClearConstraintViolating ( int32 ConstraintIndex
)

 Clear the transient constraint violation state (called by event system when it has used the flag) Chaos/PBDJointConstraints.h  

void ClearDriveTargetChanged ( int32 ConstraintIndex
)

 Clear the drive target state Chaos/PBDJointConstraints.h  

void FixConstraint ( int32 ConstraintIndex
)

 Repair a broken constraints (does not adjust particle positions) Chaos/PBDJointConstraints.h  

void GatherInput ( const FReal Dt
)

   Chaos/PBDJointConstraints.h  

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

   Chaos/PBDJointConstraints.h  

void GatherInput ( const int32 ConstraintIndex,
const FReal Dt
)

   Chaos/PBDJointConstraints.h  

const FHandles & GetConstConstraintHandles()

 All of the constraints in the container, including inactive Chaos/PBDJointConstraints.h  

const FParticlePair & GetConstrainedParticles ( int32 ConstraintIndex
) const

 Get the particles that are affected by the specified constraint. Chaos/PBDJointConstraints.h  

FVec3 GetConstraintAngularImpulse ( int32 ConstraintIndex
) const

 The total linear angular applied by the constraint Chaos/PBDJointConstraints.h  

float GetConstraintAngularViolation ( int32 ConstraintIndex
) const

   Chaos/PBDJointConstraints.h  

int32 GetConstraintColor ( int32 ConstraintIndex
) const

   Chaos/PBDJointConstraints.h  

const FConstraintContainerHandle * GetConstraintHandle ( int32 ConstraintIndex
) const

 Get a joint constraint by index Chaos/PBDJointConstraints.h  

FConstraintContainerHandle * GetConstraintHandle ( int32 ConstraintIndex
)

 Get a joint constraint by index Chaos/PBDJointConstraints.h  

FHandles & GetConstraintHandles()

 All of the constraints in the container, including inactive Chaos/PBDJointConstraints.h  

int32 GetConstraintIsland ( int32 ConstraintIndex
) const

   Chaos/PBDJointConstraints.h  

int32 GetConstraintLevel ( int32 ConstraintIndex
) const

   Chaos/PBDJointConstraints.h  

FVec3 GetConstraintLinearImpulse ( int32 ConstraintIndex
) const

 The total linear impulse applied by the constraint Chaos/PBDJointConstraints.h  

float GetConstraintLinearViolation ( int32 ConstraintIndex
) const

   Chaos/PBDJointConstraints.h  

EResimType GetConstraintResimType ( int32 ConstraintIndex
) const

   Chaos/PBDJointConstraints.h  

const FPBDJointSettings & GetConstraintSettings ( int32 ConstraintIndex
) const

 Get the settings for a joint constraint by index Chaos/PBDJointConstraints.h  

ESyncState GetConstraintSyncState ( int32 ConstraintIndex
) const

   Chaos/PBDJointConstraints.h  

const FPBDJointSolverSettings & GetSettings()

 Get the solver settings (used by TPBDJointContainerSolver) Chaos/PBDJointConstraints.h  

bool GetUseLinearSolver()

   Chaos/PBDJointConstraints.h  

bool IsConstraintBreaking ( int32 ConstraintIndex
) const

 Whether the constraint was broken this frame (transient flag for use by event system) Chaos/PBDJointConstraints.h  

bool IsConstraintBroken ( int32 ConstraintIndex
) const

 Whether the constraint is broken Chaos/PBDJointConstraints.h  

bool IsConstraintEnabled ( int32 ConstraintIndex
) const

 Whether the constraint is enabled Chaos/PBDJointConstraints.h  

bool IsConstraintEnabledDuringResim ( int32 ConstraintIndex
) const

   Chaos/PBDJointConstraints.h  

bool IsConstraintViolating ( int32 ConstraintIndex
) const

 Whether the constraint was violated beyond a threshold this frame (transient flag for use by event system) Chaos/PBDJointConstraints.h  

bool IsDriveTargetChanged ( int32 ConstraintIndex
) const

 Whether the drive target has changed Chaos/PBDJointConstraints.h  

void MarkJointsDirty()

 This will force a re-evaluation of the sorting of constraints - needed if objects switch between kinematic/dynamic, for example. Chaos/PBDJointConstraints.h  

int32 NumConstraints()

 Get the number of constraints. Chaos/PBDJointConstraints.h  

void RemoveConstraint ( int ConstraintIndex
)

 Remove the specified constraint. Chaos/PBDJointConstraints.h  

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

   Chaos/PBDJointConstraints.h  

void ScatterOutput ( const int32 ConstraintIndex,
const FReal Dt
)

   Chaos/PBDJointConstraints.h  

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

   Chaos/PBDJointConstraints.h  

void ScatterOutput ( const FReal Dt
)

   Chaos/PBDJointConstraints.h  

void SetAngularDrivePositionTarget ( int32 ConstraintIndex,
FRotation3 InAngularDrivePositionTarget
)

 Set the angular drive target for a constraint by index Chaos/PBDJointConstraints.h  

void SetBreakCallback ( const FJointBreakCallback& Callback
)

 Set the break callback. Chaos/PBDJointConstraints.h  

void SetConstraintEnabled ( int32 ConstraintIndex,
bool bEnabled
)

 Enable or disable a constraints Chaos/PBDJointConstraints.h  

void SetConstraintEnabledDuringResim ( int32 ConstraintIndex,
bool bEnabled
)

   Chaos/PBDJointConstraints.h  

void SetConstraintSettings ( int32 ConstraintIndex,
const FPBDJointSettings& InConstraintSettings
)

 Set the settings for a joint constraint by index Chaos/PBDJointConstraints.h  

void SetConstraintState ( int32 ConstraintIndex,
const FPBDJointState& InState
)

   Chaos/PBDJointConstraints.h  

void SetConstraintSyncState ( int32 ConstraintIndex,
ESyncState SyncState
)

   Chaos/PBDJointConstraints.h  

void SetDriveTargetChanged ( int32 ConstraintIndex,
bool bTargetChanged
)

 Set Drive Target Changed State Chaos/PBDJointConstraints.h  

void SetLinearDrivePositionTarget ( int32 ConstraintIndex,
FVec3 InLinearDrivePositionTarget
)

 Set the linear drive target for a constraint by index Chaos/PBDJointConstraints.h  

void SetSettings ( const FPBDJointSolverSettings& InSettings
)

 Modify the solver settings Chaos/PBDJointConstraints.h  

void SetSolverResults ( const int32 ConstraintIndex,
const FVec3& LinearImpulse,
const FVec3& AngularImpulse,
const float LinearViolation,
const float AngularViolation,
const bool bIsBroken,
const bool bIsViolating,
const FSolverBody* SolverBody0,
const FSolverBody* SolverBody1
)

 Called by the joint solver at the end of the constraint solver phase. Chaos/PBDJointConstraints.h  

void SetSortEnabled ( const bool bInEnable
)

 Whether to sort the joints internally. Chaos/PBDJointConstraints.h  

void SetUseLinearJointSolver ( const bool bInEnable
)

 Whether to use a linear or non-linear joint solver. Chaos/PBDJointConstraints.h  

void SetUseLinearSolver ( const bool bUseLinearSolverIn
)

   Chaos/PBDJointConstraints.h  

void SetUseLinearSolver ( int32 ConstraintIndex,
bool InbUseLinearSolver
)

 Set the option to use linear solver for a constraint by index Chaos/PBDJointConstraints.h  

void SetUseSimd ( const bool bInEnable
)

 Whether to use simd in single precision on the linear joint solver. Chaos/PBDJointConstraints.h  

Overridden from FPBDConstraintContainer

Name Remarks Include Path Unreal Specifiers

virtual void AddConstraintsToGraph ( Private::FPBDIslandManager& IslandManager
)

 Add all the constraints in the container to the graph Chaos/PBDJointConstraints.h  

virtual TUniquePtr< FConstraintContainerSolver > CreateGroupSolver ( const int32 Priority
)

 Create a constraint solver for an Evolution with Graph support (World evolution). Chaos/PBDJointConstraints.h  

virtual TUniquePtr< FConstraintContainerSolver > CreateSceneSolver ( const int32 Priority
)

 FConstraintContainer Implementation Chaos/PBDJointConstraints.h  

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

 Disconnect the constraints from the attached input particles. Chaos/PBDJointConstraints.h  

virtual int32 GetNumConstraints()

 Get the number of constraints in this container (includes inactive and disabled) Chaos/PBDJointConstraints.h  

virtual void PrepareTick()

 Called oncer per tick to initialize buffers required for the rest of the tick Chaos/PBDJointConstraints.h  

virtual void ResetConstraints()

 Empty the constraints (must be removed from the graph first, if required) Chaos/PBDJointConstraints.h  

virtual void UnprepareTick()

 Should undo any allocations in PrepareTick Chaos/PBDJointConstraints.h  

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