FPBDJointUtilities

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References

Module

Chaos

Header

/Engine/Source/Runtime/Experimental/Chaos/Public/Chaos/PBDJointConstraintUtilities.h

Include

#include "Chaos/PBDJointConstraintUtilities.h"

Syntax

class FPBDJointUtilities

Functions

Name Description

Public function Static

FVec3

 

ConditionInertia

(
    const FVec3 & InI,
    const FReal MaxRatio
)

Increase the lower inertia components to ensure that the maximum ratio between any pair of elements is MaxRatio.

Public function Static

void

 

ConditionInverseMassAndInertia

(
    FReal & InOutInvMParent,
    FReal & InOutInvMChild,
    FVec3 & InOutInvIParent,
    FVec3 & InOutInvIChild,
    const FReal MinParentMassRatio,
    const FReal MaxInertiaRatio
)

Public function Static

FVec3

 

ConditionParentInertia

(
    const FVec3 & IParent,
    const FVec3 & IChild,
    const FReal MinRatio
)

Increase the IParent inertia so that its largest component is at least MinRatio times the largest IChild component.

Public function Static

FReal

 

ConditionParentMass

(
    const FReal MParent,
    const FReal MChild,
    const FReal MinRatio
)

Public function Static

void

 

DecomposeSwingTwistLocal

(
    const FRotation3 & R0,
    const FRotation3 & R1,
    FRotation3 & R01Swing,
    FRotation3 & R01Twist
)

Public function Static

FReal

 

GetAngularPositionCorrection

(
    const FPBDJointSolverSettings & Sol...,
    const FPBDJointSettings & JointSett...
)

Public function Static

FReal

 

GetAngularProjection

(
    const FPBDJointSolverSettings & Sol...,
    const FPBDJointSettings & JointSett...
)

Public function Static

FReal

 

GetAngularSLerpDriveDamping

(
    const FPBDJointSolverSettings & Sol...,
    const FPBDJointSettings & JointSett...
)

Public function Static

FReal

 

GetAngularSLerpDriveStiffness

(
    const FPBDJointSolverSettings & Sol...,
    const FPBDJointSettings & JointSett...
)

Public function Static

bool

 

GetAngularSoftAccelerationMode

(
    const FPBDJointSolverSettings & Sol...,
    const FPBDJointSettings & JointSett...
)

Public function Static

FReal

 

GetAngularSwingDriveDamping

(
    const FPBDJointSolverSettings & Sol...,
    const FPBDJointSettings & JointSett...
)

Public function Static

FReal

 

GetAngularSwingDriveStiffness

(
    const FPBDJointSolverSettings & Sol...,
    const FPBDJointSettings & JointSett...
)

Public function Static

FReal

 

GetAngularTwistDriveDamping

(
    const FPBDJointSolverSettings & Sol...,
    const FPBDJointSettings & JointSett...
)

Public function Static

FReal

 

GetAngularTwistDriveStiffness

(
    const FPBDJointSolverSettings & Sol...,
    const FPBDJointSettings & JointSett...
)

Public function Static

void

 

GetConeAxisAngleLocal

(
    const FRotation3 & R0,
    const FRotation3 & R1,
    const FReal AngleTolerance,
    FVec3 & AxisLocal,
    FReal & Angle
)

Public function Static

FVec3

 

GetCylinderLimitedPositionError

(
    const FVec3 & CX,
    const FVec3 & Axis,
    const FReal Limit,
    const EJointMotionType AxisMotion
)

Public function Static

bool

 

GetDriveAccelerationMode

(
    const FPBDJointSolverSettings & Sol...,
    const FPBDJointSettings & JointSett...
)

Public function Static

void

 

GetDualConeSwingAxisAngle

(
    const FRotation3 & R0,
    const FRotation3 & R1,
    const EJointAngularConstraintIndex ...,
    FVec3 & Axis,
    FReal & Angle
)

Public function Static

FVec3

 

GetLimitedPositionError

(
    const FPBDJointSettings & JointSett...,
    const FRotation3 & R0,
    const FVec3 & CX
)

Public function Static

FReal

 

GetLinearDriveDamping

(
    const FPBDJointSolverSettings & Sol...,
    const FPBDJointSettings & JointSett...
)

Public function Static

FReal

 

GetLinearDriveStiffness

(
    const FPBDJointSolverSettings & Sol...,
    const FPBDJointSettings & JointSett...
)

Public function Static

FReal

 

GetLinearProjection

(
    const FPBDJointSolverSettings & Sol...,
    const FPBDJointSettings & JointSett...
)

Public function Static

bool

 

GetLinearSoftAccelerationMode

(
    const FPBDJointSolverSettings & Sol...,
    const FPBDJointSettings & JointSett...
)

Public function Static

FReal

 

GetLinearStiffness

(
    const FPBDJointSolverSettings & Sol...,
    const FPBDJointSettings & JointSett...
)

Public function Static

FVec3

 

GetLineLimitedPositionError

(
    const FVec3 & CX,
    const FVec3 & Axis,
    const FReal Limit,
    const EJointMotionType AxisMotion
)

Public function Static

void

 

GetLockedAxes

(
    const FRotation3 & R0,
    const FRotation3 & R1,
    FVec3 & Axis0,
    FVec3 & Axis1,
    FVec3 & Axis2
)

Public function Static

void

 

GetLockedSwingAxisAngle

(
    const FRotation3 & R0,
    const FRotation3 & R1,
    const EJointAngularConstraintIndex ...,
    FVec3 & Axis,
    FReal & Angle
)

Public function Static

FReal

 

GetSoftLinearDamping

(
    const FPBDJointSolverSettings & Sol...,
    const FPBDJointSettings & JointSett...
)

Public function Static

FReal

 

GetSoftLinearStiffness

(
    const FPBDJointSolverSettings & Sol...,
    const FPBDJointSettings & JointSett...
)

Public function Static

FReal

 

GetSoftSwingDamping

(
    const FPBDJointSolverSettings & Sol...,
    const FPBDJointSettings & JointSett...
)

Public function Static

FReal

 

GetSoftSwingStiffness

(
    const FPBDJointSolverSettings & Sol...,
    const FPBDJointSettings & JointSett...
)

Public function Static

FReal

 

GetSoftTwistDamping

(
    const FPBDJointSolverSettings & Sol...,
    const FPBDJointSettings & JointSett...
)

Public function Static

FReal

 

GetSoftTwistStiffness

(
    const FPBDJointSolverSettings & Sol...,
    const FPBDJointSettings & JointSett...
)

Public function Static

FVec3

 

GetSphereLimitedPositionError

(
    const FVec3 & CX,
    const FReal Radius
)

Public function Static

void

 

GetSwingAxisAngle

(
    const FRotation3 & R0,
    const FRotation3 & R1,
    const FReal AngleTolerance,
    const EJointAngularConstraintIndex ...,
    FVec3 & Axis,
    FReal & Angle
)

Public function Static

FReal

 

GetSwingStiffness

(
    const FPBDJointSolverSettings & Sol...,
    const FPBDJointSettings & JointSett...
)

Public function Static

void

 

GetSwingTwistAngles

(
    const FRotation3 & R0,
    const FRotation3 & R1,
    FReal & TwistAngle,
    FReal & Swing1Angle,
    FReal & Swing2Angle
)

Public function Static

FReal

 

GetTwistAngle

(
    const FRotation3 & InTwist
)

Public function Static

void

 

GetTwistAxisAngle

(
    const FRotation3 & R0,
    const FRotation3 & R1,
    FVec3 & Axis,
    FReal & Angle
)

Public function Static

FReal

 

GetTwistStiffness

(
    const FPBDJointSolverSettings & Sol...,
    const FPBDJointSettings & JointSett...
)

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