An interface for classes that solves contact constraints between objects in a simulation. More...

#include <omPhysicsContactConstraint.h>

Inheritance diagram for om::physics::constraints::ContactConstraint:

Classes
class	Contact
	A class that stores data about a single constraint contact point. More...

class	ContactManifold
	An object that stores a set of contact points between two objects. More...

class	ContactMaterial
	Class that contains the combined material properties of two objects at a contact point. More...

class	ObjectPair
	A class that stores the IDs for a pair of simulated objects. More...

class	SolverFrame

Public Types
typedef UInt32	ManifoldID
	Define the type to use for a contact manifold ID. More...

typedef UInt32	ContactID
	Define the type to use for a contact ID. More...

Public Member Functions
	ContactConstraint ()
	Create a new contact constraint with no constraints. More...

void	updateContacts (const CollisionResultSet &collisions)
	Update this contact constraint using the specified collision result set. More...

virtual void	solverStart (const ConstraintRequest &request, UInt32 userID, Float dt)
	Initialize the constraint solving for the specified constraint ID and timestep. More...

virtual void	solverIterate (const ConstraintRequest &request, UInt32 userID, Float dt)
	Iterate the solution the constraint solving for the specified constraint ID and timestep. More...

void	addPointToManifold (ContactManifold &manifold, const CollisionPoint &point)
	Add a new collision point to the specified contact manifold. More...

UInt32	findWorstContact (ContactManifold &manifold)
	Find the worst contact point in the specified manifold and return its index. More...

Public Member Functions inherited from om::physics::constraints::Constraint
virtual	~Constraint ()
	Destroy this constraint. More...

const ConstraintType &	getType () const
	Return an object representing the type of this Constraint. More...

Public Member Functions inherited from om::physics::context::PhysicsSceneObject
virtual Bool	addSceneObjects (PhysicsSceneID sceneID)
	Add internal context objects to the scene with the specified ID. More...

virtual Bool	removeSceneObjects (PhysicsSceneID sceneID)
	Remove internal context objects from the scene with the specified ID. More...

Public Member Functions inherited from om::physics::context::PhysicsContextObject
virtual	~PhysicsContextObject ()
	Destory this physics context object. More...

PhysicsContext *	getContext () const
	Return a pointer to the physics context this context object is using to do simulation. More...

virtual Bool	setContext (PhysicsContext *newContext)
	Set a pointer to the physics context this context object should use to do simulation. More...

Bool	clearContext ()
	Clear the previous context from this object. More...

Static Public Member Functions
static void	normalBasis (const SIMDFloat4 &normal, SIMDFloat4 &tangent, SIMDFloat4 &binormal)
	Construct an orthonormal basis from a normalized normal vector (z column). More...

static Float	getJacobian (const SolverFrame &frame, const Contact &c, Float invMassSum)

static Float	getRelativeSpeed (const SolverFrame &frame, const Contact &c, const VelocityState &v1, const VelocityState &v2)
	Return the relative speed along the solver frame direction for the specified velocity states. More...

static Float	getRelativeSpeedBias (const SolverFrame &frame, const Contact &c, const VelocityState &v1, const VelocityState &v2)
	Return the relative bias speed along the solver frame direction for the specified velocity states. More...

static void	applyImpulses (const Contact &c, Float jXMag, Float jYMag, Float jZMag, VelocityState &v1, VelocityState &v2)

static void	applyImpulse (const SolverFrame &frame, Float magnitude, VelocityState &v1, VelocityState &v2)

static void	applyImpulseBias (const SolverFrame &frame, Float magnitude, VelocityState &v1, VelocityState &v2)

static Float	crossMagnitude (const SIMDFloat4 &v1, const SIMDFloat4 &v2)

static Float	getElasticityForSpeed (Float elasticity, Float speedZ, Float vc, Float vy)
	Return the elasticity as a function of the incident speed along the normal direction. More...

Public Attributes
ObjectPool< Contact, 8, ContactID, AlignedAllocator< 16 > >	contacts
	A pool of the contacts that are in this constraint. More...

ObjectPool< ContactManifold, 8, ManifoldID >	manifolds
	A pool of the contact manifolds that are in this constraint. More...

HashMap< ObjectPair, ContactManifold * >	manifoldMap
	A map from object pairs to contact manifolds. More...

UInt32	timestamp
	The global time stamp for the most recent simulation step. More...

Static Public Attributes
static const ConstraintType	TYPE
	A constraint type object that represents the type of a contact constraint. More...

static const Size	MAX_MANIFOLD_SIZE = 4
	The maximum number of contacts that can be in a contact manifold. More...

Static Public Attributes inherited from om::physics::constraints::Constraint
static const ResourceType	RESOURCE_TYPE
	The resource type for a constraint. More...

Additional Inherited Members
Protected Member Functions inherited from om::physics::constraints::Constraint
	Constraint (const ConstraintType *newType)
	Create a Constraint object that has the specified type. More...

Protected Member Functions inherited from om::physics::context::PhysicsContextObject
	PhysicsContextObject ()
	Create a new physics context object that doesn't have an associated physics context. More...

	PhysicsContextObject (PhysicsContext *newContext)
	Create a new physics context object that uses the specified context for simulation. More...

Protected Attributes inherited from om::physics::context::PhysicsContextObject
PhysicsContext *	context
	A pointer to the physics context this object is using. More...

Detailed Description

An interface for classes that solves contact constraints between objects in a simulation.

Member Typedef Documentation

typedef UInt32 om::physics::constraints::ContactConstraint::ManifoldID

Define the type to use for a contact manifold ID.

typedef UInt32 om::physics::constraints::ContactConstraint::ContactID

Define the type to use for a contact ID.

Constructor & Destructor Documentation

om::physics::constraints::ContactConstraint::ContactConstraint ( )

Create a new contact constraint with no constraints.

Member Function Documentation

void om::physics::constraints::ContactConstraint::updateContacts ( const CollisionResultSet & collisions )

Update this contact constraint using the specified collision result set.

The results in the result set are matched to existing contacts, and any existing contacts that are not in the result set are removed.

virtual void om::physics::constraints::ContactConstraint::solverStart	(	const ConstraintRequest &	request,
		UInt32	userID,
		Float	dt
	)

virtual

Initialize the constraint solving for the specified constraint ID and timestep.

Implements om::physics::constraints::Constraint.

virtual void om::physics::constraints::ContactConstraint::solverIterate	(	const ConstraintRequest &	request,
		UInt32	userID,
		Float	dt
	)

virtual

Iterate the solution the constraint solving for the specified constraint ID and timestep.

Implements om::physics::constraints::Constraint.

void om::physics::constraints::ContactConstraint::addPointToManifold	(	ContactManifold &	manifold,
		const CollisionPoint &	point
	)

Add a new collision point to the specified contact manifold.

UInt32 om::physics::constraints::ContactConstraint::findWorstContact ( ContactManifold & manifold )

Find the worst contact point in the specified manifold and return its index.

static void om::physics::constraints::ContactConstraint::normalBasis	(	const SIMDFloat4 &	normal,
		SIMDFloat4 &	tangent,
		SIMDFloat4 &	binormal
	)

inlinestatic

Construct an orthonormal basis from a normalized normal vector (z column).

static Float om::physics::constraints::ContactConstraint::getJacobian	(	const SolverFrame &	frame,
		const Contact &	c,
		Float	invMassSum
	)

inlinestatic

static Float om::physics::constraints::ContactConstraint::getRelativeSpeed	(	const SolverFrame &	frame,
		const Contact &	c,
		const VelocityState &	v1,
		const VelocityState &	v2
	)

inlinestatic

Return the relative speed along the solver frame direction for the specified velocity states.

static Float om::physics::constraints::ContactConstraint::getRelativeSpeedBias	(	const SolverFrame &	frame,
		const Contact &	c,
		const VelocityState &	v1,
		const VelocityState &	v2
	)

inlinestatic

Return the relative bias speed along the solver frame direction for the specified velocity states.

static void om::physics::constraints::ContactConstraint::applyImpulses	(	const Contact &	c,
		Float	jXMag,
		Float	jYMag,
		Float	jZMag,
		VelocityState &	v1,
		VelocityState &	v2
	)

inlinestatic

static void om::physics::constraints::ContactConstraint::applyImpulse	(	const SolverFrame &	frame,
		Float	magnitude,
		VelocityState &	v1,
		VelocityState &	v2
	)

inlinestatic

static void om::physics::constraints::ContactConstraint::applyImpulseBias	(	const SolverFrame &	frame,
		Float	magnitude,
		VelocityState &	v1,
		VelocityState &	v2
	)

inlinestatic

static Float om::physics::constraints::ContactConstraint::crossMagnitude	(	const SIMDFloat4 &	v1,
		const SIMDFloat4 &	v2
	)

inlinestatic

static Float om::physics::constraints::ContactConstraint::getElasticityForSpeed	(	Float	elasticity,
		Float	speedZ,
		Float	vc,
		Float	vy
	)

inlinestatic

Return the elasticity as a function of the incident speed along the normal direction.

Member Data Documentation

const ConstraintType om::physics::constraints::ContactConstraint::TYPE

static

A constraint type object that represents the type of a contact constraint.

const Size om::physics::constraints::ContactConstraint::MAX_MANIFOLD_SIZE = 4

static

The maximum number of contacts that can be in a contact manifold.

ObjectPool<Contact,8,ContactID,AlignedAllocator<16> > om::physics::constraints::ContactConstraint::contacts

A pool of the contacts that are in this constraint.

ObjectPool<ContactManifold,8,ManifoldID> om::physics::constraints::ContactConstraint::manifolds

A pool of the contact manifolds that are in this constraint.

HashMap<ObjectPair,ContactManifold*> om::physics::constraints::ContactConstraint::manifoldMap

A map from object pairs to contact manifolds.

UInt32 om::physics::constraints::ContactConstraint::timestamp

The global time stamp for the most recent simulation step.

This value is used to keep track of which constraints have not been updated so that they can be removed from the simulation.

The documentation for this class was generated from the following file:

omPhysicsContactConstraint.h

Classes

Public Types

Public Member Functions

Static Public Member Functions

Public Attributes

Static Public Attributes

Additional Inherited Members

Detailed Description

Member Typedef Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation