FJointSolverJointState

Body and joint state required during a joint's solve (used by all sub-constraints in the joint)

Windows
MacOS
Linux

References

Module

Chaos

Header

/Engine/Source/Runtime/Experimental/Chaos/Public/Chaos/Joint/JointSolverConstraints.h

Include

#include "Chaos/Joint/JointSolverConstraints.h"

Syntax

class FJointSolverJointState

Remarks

Body and joint state required during a joint's solve (used by all sub-constraints in the joint)

Variables

Name Description

Public variable

FReal

 

AngleTolerance

Public variable

FVec3[MaxConstr...

 

DPs

Public variable

FVec3[MaxConstr...

 

DRs

Public variable

FVec3[MaxConstr...

 

InvILs

Public variable

FMatrix33[MaxCo...

 

InvIs

Public variable

FReal[MaxConstr...

 

InvMs

Public variable

FReal

 

PositionTolerance

Public variable

FVec3[MaxConstr...

 

PrevPs

XPBD initial world-space body state (start of each tick, not each sub-tick iteration)

Public variable

FRotation3[MaxC...

 

PrevQs

Public variable

FVec3[MaxConstr...

 

PrevXs

Public variable

FVec3[MaxConstr...

 

Ps

World-space body state.

Public variable

FRotation3[MaxC...

 

Qs

Public variable

FRotation3[MaxC...

 

Rs

Public variable

FRigidTransform...

 

XLs

Local-space constraint settings.

Public variable

FVec3[MaxConstr...

 

Xs

World-space constraint state.

Functions

Name Description

Public function

void

 

ApplyDelta

(
    const FVec3& DP0,
    const FVec3& DR0,
    const FVec3& DP1,
    const FVec3& DR1
)

Public function

void

 

ApplyRotationDelta

(
    const FVec3& DR0,
    const FVec3& DR1
)

Public function

void

 

Init

(
    const FPBDJointSolverSettings& Sol...,
    const FPBDJointSettings& JointSett...,
    const FVec3& PrevP0,
    const FRotation3& PrevQ0,
    const FVec3& PrevP1,
    const FRotation3& PrevQ1,
    const FReal InvM0,
    const FVec3& InvIL0,
    const FReal InvM1,
    const FVec3& InvIL1,
    const FRigidTransform3& XL0,
    const FRigidTransform3& XL1
)

Public function

void

 

InitDerivedState()

Public function

void

 

Update

(
    const FVec3& P0,
    const FRotation3& Q0,
    const FVec3& P1,
    const FRotation3& Q1
)

Public function

void

 

UpdateDerivedState()

Constants

Name

Description

MaxConstrainedBodies
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