Vkm::Engine::JointConstraint Struct Reference

One joint, resolved to the two solver bodies it constrains. More...

#include <joint_solver.h>

Public Attributes
glm::vec3	anchorA = {0.0f, 0.0f, 0.0f}
	World, relative to A's origin.
glm::vec3	anchorB = {0.0f, 0.0f, 0.0f}
	World, relative to B's origin.
float	distance = -1.0f
	Distance the anchors are held at; negative for a point joint.
bool	solvable = false
	The solve's working state, built once per tick by prepareJoints.
glm::mat3	mass = glm::mat3(0.0f)
	Impulse per unit of relative anchor velocity.
glm::vec3	bias = {0.0f, 0.0f, 0.0f}
	Relative velocity that closes the drift, stiffness applied.
glm::vec3	impulse = {0.0f, 0.0f, 0.0f}
	Accumulated over this tick's passes from last tick's final value, world space.
float	holdTorque = 0.0f
	Joint::holdTorque; 0 leaves the rotation free.
glm::quat	heldRotation = {1.0f, 0.0f, 0.0f, 0.0f}
	B's rotation in A's frame that the hold keeps.
float	holdLimit = 0.0f
	Most angular impulse it carries this tick.
bool	holdSolvable = false
	False when free, or nothing can turn.
glm::mat3	holdMass = glm::mat3(0.0f)
	Angular impulse per unit of relative spin.
glm::vec3	holdBias = {0.0f, 0.0f, 0.0f}
	Relative spin that turns the pair back.
glm::vec3	holdImpulse = {0.0f, 0.0f, 0.0f}
	Accumulated like impulse, world space, within holdLimit.

Detailed Description

One joint, resolved to the two solver bodies it constrains.

The tick's view of a Joint, as ContactManifold is of an overlap: ids and anchors are already body indices and lever arms, so the solver never looks at the scene.

Member Data Documentation

distance

float Vkm::Engine::JointConstraint::distance = -1.0f

Distance the anchors are held at; negative for a point joint.

A point joint removes all three degrees of freedom between the anchors; a distance joint the one along their line.

solvable

bool Vkm::Engine::JointConstraint::solvable = false

The solve's working state, built once per tick by prepareJoints.

Constant across passes. A point joint's mass is the inverse effective mass; a distance joint's is its scalar mass along the line times the projector onto it, leaving every direction across it free. False when nothing can move, or there is no line to hold

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

• system/physics/solver/joint_solver.h