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  3. FSimpleSuspensionHelpers

FSimpleSuspensionHelpers

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

References

   
Module Engine
Header /Engine/Source/Runtime/Engine/Public/Physics/SimpleSuspension.h
Include #include "Physics/SimpleSuspension.h"

Syntax

struct FSimpleSuspensionHelpers

Functions

  Type Name Description
Public function 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
Public function 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.
Public function 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.
Public function 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
Public function 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
Public function 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
Public function 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
Public function 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
Public function 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.
Public function Static bool

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

 Setup functionsCompute the distribution of the mass of a body among springs.
Public function 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.
Public function Static void

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

  
Public function 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.
Public function Static void

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

  
Public function 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.
Public function Static void

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

  
Public function 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
Public function 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.
Public function 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.

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