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  3. FSimpleSuspensionHelpers

FSimpleSuspensionHelpers

API > API/Runtime > API/Runtime/Engine

   
Name FSimpleSuspensionHelpers
Type struct
Header File /Engine/Source/Runtime/Engine/Public/Physics/SimpleSuspension.h
Include Path #include "Physics/SimpleSuspension.h"

Syntax

struct FSimpleSuspensionHelpers

Functions

Static

Name Remarks Include Path Unreal Specifiers

static bool ComputeSingleAxisLambda ( const FVector::FReal AxisDot,
const FVector::FReal SumAxis,
const uint32 Count,
TArray< FVector::FReal, TFixedAllocator< 2 > >& Lambdas,
FString* ErrMsg
)

 Calculates the Lambdas in the single axis case Physics/SimpleSuspension.h  

static float ComputeSpringCriticalDamping ( const float SprungMass,
const float NaturalFrequency
)

 Given a sprung mass and a natural frequency, return the damping coefficient which will critically damp the spring. Physics/SimpleSuspension.h  

static float ComputeSpringDamping ( const float SprungMass,
const float NaturalFrequency,
const float DampingRatio
)

 Given a sprung mass (not just a sprung mass percent!), a desired natural frequency, and a damping ratio, compute the damping coefficient of the spring. Physics/SimpleSuspension.h  

static float ComputeSpringForce ( const float SpringStiffness,
const float SpringDamping,
const float SpringDisplacement,
const float SpringVelocity
)

 Compute the total force that a spring ought to apply Physics/SimpleSuspension.h  

static void ComputeSpringNaturalFrequencyAndDampingRatio ( const float SprungMass,
const float SpringStiffness,
const float SpringDamping,
float& OutNaturalFrequency,
float& OutDampingRatio
)

 Given a sprung mass and a spring stiffness, compute the natural frequency of the spring Physics/SimpleSuspension.h  

static void ComputeSpringParams ( const FSimpleSuspensionParams& SuspensionParams,
const float TotalMass,
const float Gravity,
TArray< FSimpleSuspensionSpringParams >& OutSpringParams
)

 Compute an array of FSimpleSupportParams objects, based on data from a SuspensionParams object Physics/SimpleSuspension.h  

static void ComputeSpringParams ( const TArray< FVector >& LocalSuspensionOrigins,
const FVector& LocalCenterOfMass,
const float TotalMass,
const FVector& LocalSuspensionNormal,
const float LocalGroundDistance,
const float NaturalFrequency,
const float DampingRatio,
const float Gravity,
TArray< FSimpleSuspensionSpringParams >& OutSpringParams
)

 Compute an array of FSimpleSupportParams objects Physics/SimpleSuspension.h  

static float ComputeSpringRestLength ( const float SpringStiffness,
const float SprungMass,
const float SuspendedLength,
const float Gravity
)

 Based on spring stiffness, gravity, and the desired length of the spring at rest under load, compute its uncompressed rest-length Physics/SimpleSuspension.h  

static float ComputeSpringStiffness ( const float SprungMass,
const float NaturalFrequency
)

 Given a sprung mass (not just a sprung mass percent!), a desired natural frequency, compute the stiffness of the spring. Physics/SimpleSuspension.h  

static bool ComputeSprungMasses ( const TArray< FVector >& MassSpringPositions,
const float TotalMass,
TArray< float >& OutSprungMasses,
FString* ErrMsg
)

 Setup functions Compute the distribution of the mass of a body among springs. Physics/SimpleSuspension.h  

static bool ComputeSprungMasses ( const TArray< FVector >& LocalSpringPositions,
const FVector& LocalCenterOfMass,
const float TotalMass,
TArray< float >& OutSprungMasses,
FString* ErrMsg
)

 Same as above, but allows the caller to specify spring locations in a local space which is not necessarily originated at the center of mass. Physics/SimpleSuspension.h  

static void ComputeSuspensionDisplacements ( const TArray< FVector > WorldSuspensionOrigins,
const TArray< FSimpleSuspensionSpringParams >& SpringParams,
const FVector& WorldSuspensionNormal,
const FSimpleSuspensionRaycast& RaycastFunction,
TArray< float >& OutSpringDisplacements
)

 Perform raycasts to compute spring displacements. Physics/SimpleSuspension.h  

static void ComputeSuspensionDisplacements ( const FSimpleSuspensionParams& SuspensionParams,
const FSimpleSuspensionRaycast& RaycastFunction,
FSimpleSuspensionState InOutSuspensionState
)

   Physics/SimpleSuspension.h  

static void ComputeSuspensionForces ( const FVector& LinearVelocity,
const FVector& AngularVelocityRad,
const FVector& WorldCenterOfMass,
const FVector& WorldSuspensionNormal,
const TArray< FVector > WorldSuspensionOrigins,
const TArray< FSimpleSuspensionSpringParams >& SpringParams,
const TArray< float >& SpringDisplacements,
FVector& OutTotalForce,
FVector& OutTotalTorque,
TArray< float >& OutSpringForces
)

 Based on the current state of the system, compute the total force and torque that the suspension system wants to apply to the suspended body, as well as the spring force magnitudes of each support. Physics/SimpleSuspension.h  

static void ComputeSuspensionForces ( const FVector& LinearVelocity,
const FVector& AngularVelocityRad,
const FSimpleSuspensionState& SuspensionState,
const TArray< FSimpleSuspensionSpringParams >& SpringParams,
FSimpleSuspensionState& OutSuspensionState
)

   Physics/SimpleSuspension.h  

static void ComputeWorldSuspensionCoordinates ( const FVector& LocalCenterOfMass,
const FVector& LocalSuspensionNormal,
const TArray< FVector >& LocalSuspensionOrigins,
const FTransform& LocalToWorld,
FVector& OutWorldCenterOfMass,
FVector& OutWorldSuspensionNormal,
TArray< FVector >& OutWorldSuspensionOrigins
)

 Dynamics functions Physics/SimpleSuspension.h  

static void ComputeWorldSuspensionCoordinates ( const FSimpleSuspensionParams& SuspensionParams,
const FTransform& LocalToWorld,
FSimpleSuspensionState& OutSuspensionState
)

   Physics/SimpleSuspension.h  

static bool ErrCheck ( const bool bCondition,
const FString& Message,
FString* ErrMsg
)

   Physics/SimpleSuspension.h  

static void IntegrateSpring ( const float DeltaTime,
const float SpringDisplacement,
const float SpringVelocity,
const FSimpleSuspensionSpringParams& SpringParams,
const float SprungMass,
float& OutNewSpringDisplacement,
float& OutNewSpringVelocity
)

 Integrate a single spring. Physics/SimpleSuspension.h  

static void IntegrateSprings ( const float DeltaTime,
const TArray< float >& SpringDisplacements,
const TArray< float >& SpringVelocities,
const TArray< FSimpleSuspensionSpringParams >& SuspensionParams,
const TArray< float >& SprungMasses,
TArray< float >& OutNewSpringDisplacements,
TArray< float >& OutNewSpringVelocities
)

 Performs a fully implicit damped spring integration to compute next positions and velocities. Physics/SimpleSuspension.h  

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