constraint

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 Go to latest Published: Aug 15, 2024 License: MIT Imports: 3 Imported by: 0

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Index

Constants

This section is empty.

Variables

This section is empty.

Functions

func NewMatchRotation 

func NewMatchRotation() solver.PairConstraint

NewMatchRotation creates a new constraint solver that keeps two bodies oriented in the same direction on all axis.

Types

type Chandelier 

type Chandelier struct {
	// contains filtered or unexported fields
}

Chandelier represents the solution for a constraint that keeps a body hanging off of a fixture location similar to a chandelier.

func NewChandelier 

func NewChandelier() *Chandelier

NewChandelier creates a new Chandelier constraint solver.

func (*Chandelier) ApplyImpulses 

func (s *Chandelier) ApplyImpulses(ctx solver.Context)

ApplyImpulses applies impulses in order to keep the velocity part of the constraint satisfied.

func (*Chandelier) ApplyNudges 

func (s *Chandelier) ApplyNudges(ctx solver.Context)

ApplyNudges applies nudges in order to keep the positional part of the constraint satisfied.

func (*Chandelier) Fixture 

func (s *Chandelier) Fixture() dprec.Vec3

Fixture returns the fixture location for the chandelier hook.

func (*Chandelier) Length 

func (s *Chandelier) Length() float64

Length returns the chandelier length.

func (*Chandelier) Radius 

func (s *Chandelier) Radius() dprec.Vec3

Radius returns the radius vector of the contact point on the object.

The vector is in the object's local space.

func (*Chandelier) Reset 

func (s *Chandelier) Reset(ctx solver.Context)

Reset re-evaluates the constraint.

func (*Chandelier) SetFixture 

func (s *Chandelier) SetFixture(fixture dprec.Vec3) *Chandelier

SetFixture changes the fixture location for the chandelier hook.

func (*Chandelier) SetLength 

func (s *Chandelier) SetLength(length float64) *Chandelier

SetLength changes the chandelier length.

func (*Chandelier) SetRadius 

func (s *Chandelier) SetRadius(radius dprec.Vec3) *Chandelier

SetRadius changes the radius vector of the contact point on the object.

The vector is in the object's local space.

type ClampDirectionOffset 

type ClampDirectionOffset struct {
	// contains filtered or unexported fields
}

ClampDirectionOffset represents the solution for a constraint which ensures that the second body is within certain min and max bounds relative to the first body along a certain direction of the first body.

func NewClampDirectionOffset 

func NewClampDirectionOffset() *ClampDirectionOffset

NewClampDirectionOffset creates a new ClampDirectionOffset constraint solver.

func (*ClampDirectionOffset) ApplyImpulses 

func (s *ClampDirectionOffset) ApplyImpulses(ctx solver.PairContext)

func (*ClampDirectionOffset) ApplyNudges 

func (s *ClampDirectionOffset) ApplyNudges(ctx solver.PairContext)

func (*ClampDirectionOffset) Direction 

func (s *ClampDirectionOffset) Direction() dprec.Vec3

Direction returns the constraint direction, which is in local space of the first body.

func (*ClampDirectionOffset) Max 

func (s *ClampDirectionOffset) Max() float64

Max returns the upper bounds limit.

func (*ClampDirectionOffset) Min 

func (s *ClampDirectionOffset) Min() float64

Min returns the lower bounds limit.

func (*ClampDirectionOffset) Reset 

func (s *ClampDirectionOffset) Reset(ctx solver.PairContext)

func (*ClampDirectionOffset) Restitution 

func (s *ClampDirectionOffset) Restitution() float64

Restitution returns the restitution to be used when adjusting the two bodies when the constraint is not met.

func (*ClampDirectionOffset) SetDirection 

func (s *ClampDirectionOffset) SetDirection(direction dprec.Vec3) *ClampDirectionOffset

SetDirection changes the constraint direction, which must be in local space of the first body.

func (*ClampDirectionOffset) SetMax 

func (s *ClampDirectionOffset) SetMax(max float64) *ClampDirectionOffset

SetMax changes the upper bounds limit.

func (*ClampDirectionOffset) SetMin 

func (s *ClampDirectionOffset) SetMin(min float64) *ClampDirectionOffset

SetMin changes the lower bounds limit.

func (*ClampDirectionOffset) SetRestitution 

func (s *ClampDirectionOffset) SetRestitution(restitution float64) *ClampDirectionOffset

SetRestitution changes the restitution to be used when adjusting the two bodies when the constraint is not met.

type Coilover 

type Coilover struct {
	// contains filtered or unexported fields
}

Coilover represents the solution for a constraint that immitates a car coilover through a damped harmonic oscillator.

func NewCoilover 

func NewCoilover() *Coilover

NewCoilover creates a new Coilover constraint solver.

func (*Coilover) ApplyImpulses 

func (s *Coilover) ApplyImpulses(ctx solver.PairContext)

func (*Coilover) ApplyNudges 

func (s *Coilover) ApplyNudges(ctx solver.PairContext)

func (*Coilover) Damping 

func (s *Coilover) Damping() float64

Damping returns the damping ratio of the damped harmonic oscillator that represents this coilover.

func (*Coilover) Frequency 

func (s *Coilover) Frequency() float64

Frequency returns the frequency (in Hz) of the damped harmonic oscillator that represents this coilover.

func (*Coilover) PrimaryRadius 

func (s *Coilover) PrimaryRadius() dprec.Vec3

PrimaryRadius returns the radius vector of the contact point on the primary object.

The vector is in the object's local space.

func (*Coilover) Reset 

func (s *Coilover) Reset(ctx solver.PairContext)

func (*Coilover) SecondaryRadius 

func (s *Coilover) SecondaryRadius() dprec.Vec3

SecondaryRadius returns the radius vector of the contact point on the secondary object.

The vector is in the object's local space.

func (*Coilover) SetDamping 

func (s *Coilover) SetDamping(damping float64) *Coilover

SetDamping changes the damping ratio of the damped harmonic oscillator that represents this coilover.

func (*Coilover) SetFrequency 

func (s *Coilover) SetFrequency(frequency float64) *Coilover

SetFrequency changes the frequency (in Hz) of the damped harmonic oscillator that represents this coilover.

func (*Coilover) SetPrimaryRadius 

func (s *Coilover) SetPrimaryRadius(radius dprec.Vec3) *Coilover

SetPrimaryRadius changes the radius vector of the contact point on the primary object.

The vector is in the object's local space.

func (*Coilover) SetSecondaryRadius 

func (s *Coilover) SetSecondaryRadius(radius dprec.Vec3) *Coilover

SetSecondaryRadius changes the radius vector of the contact point on the secondary object.

The vector is in the object's local space.

type Collision 

type Collision struct {
	// contains filtered or unexported fields
}

func (*Collision) ApplyImpulses 

func (s *Collision) ApplyImpulses(ctx solver.Context)

func (*Collision) ApplyNudges 

func (s *Collision) ApplyNudges(ctx solver.Context)

func (*Collision) Init 

func (s *Collision) Init(state CollisionState)

func (*Collision) Reset 

func (s *Collision) Reset(ctx solver.Context)

type CollisionState 

type CollisionState struct {
	PropFrictionCoefficient    float64
	PropRestitutionCoefficient float64

	BodyNormal                 dprec.Vec3
	BodyPoint                  dprec.Vec3
	BodyFrictionCoefficient    float64
	BodyRestitutionCoefficient float64

	Depth float64
}

type Combined 

type Combined struct {
	// contains filtered or unexported fields
}

Combined is a single-object solver that delegates its logic to a number of sub-solvers.

func NewCombined 

func NewCombined(delegates ...solver.Constraint) *Combined

NewCombined creates a new Combined solver based on the specified sub-solvers.

func (*Combined) ApplyImpulses 

func (s *Combined) ApplyImpulses(ctx solver.Context)

func (*Combined) ApplyNudges 

func (s *Combined) ApplyNudges(ctx solver.Context)

func (*Combined) Reset 

func (s *Combined) Reset(ctx solver.Context)

type CopyDirection 

type CopyDirection struct {
	// contains filtered or unexported fields
}

CopyDirection ensures that the second body has the same direction as the first one. This solver is immediate - it does not use impulses or nudges.

func NewCopyDirection 

func NewCopyDirection() *CopyDirection

NewCopyDirection creates a new CopyDirection constraint solver.

func (*CopyDirection) ApplyImpulses 

func (s *CopyDirection) ApplyImpulses(ctx solver.PairContext)

func (*CopyDirection) ApplyNudges 

func (s *CopyDirection) ApplyNudges(ctx solver.PairContext)

func (*CopyDirection) PrimaryDirection 

func (s *CopyDirection) PrimaryDirection() dprec.Vec3

PrimaryDirection returns the direction of the primary body.

func (*CopyDirection) Reset 

func (s *CopyDirection) Reset(ctx solver.PairContext)

func (*CopyDirection) SecondaryDirection 

func (s *CopyDirection) SecondaryDirection() dprec.Vec3

SecondaryDirection returns the direction of the secondary body.

func (*CopyDirection) SetPrimaryDirection 

func (s *CopyDirection) SetPrimaryDirection(direction dprec.Vec3) *CopyDirection

SetPrimaryDirection changes the direction of the primary body.

func (*CopyDirection) SetSecondaryDirection 

func (s *CopyDirection) SetSecondaryDirection(direction dprec.Vec3) *CopyDirection

SetSecondaryDirection changes the direction of the secondary body.

type CopyPosition 

type CopyPosition struct{}

CopyPosition ensures that the target object has the same position as the source one.

This solver is immediate - it converges in a single step.

func NewCopyPosition 

func NewCopyPosition() *CopyPosition

NewCopyPosition creates a new CopyPosition constraint solver.

func (*CopyPosition) ApplyImpulses 

func (s *CopyPosition) ApplyImpulses(ctx solver.PairContext)

func (*CopyPosition) ApplyNudges 

func (s *CopyPosition) ApplyNudges(ctx solver.PairContext)

func (*CopyPosition) Reset 

func (s *CopyPosition) Reset(ctx solver.PairContext)

type CopyRotation 

type CopyRotation struct{}

CopyRotation ensures that the target body has exactly the same rotation as the source one.

This solver is immediate - it converges in a single step.

func NewCopyRotation 

func NewCopyRotation() *CopyRotation

NewCopyRotation creates a new CopyRotation constraint solver.

func (*CopyRotation) ApplyImpulses 

func (s *CopyRotation) ApplyImpulses(ctx solver.PairContext)

func (*CopyRotation) ApplyNudges 

func (s *CopyRotation) ApplyNudges(ctx solver.PairContext)

func (*CopyRotation) Reset 

func (s *CopyRotation) Reset(ctx solver.PairContext)

type Differential 

type Differential struct {
	// contains filtered or unexported fields
}

Differential represents the solution for a constraint that keeps two objects from rotating too much relative to one another over the local X axis.

func NewDifferential 

func NewDifferential() *Differential

NewDifferential creates a new Differential constraint solver.

func (*Differential) ApplyImpulses 

func (d *Differential) ApplyImpulses(ctx solver.PairContext)

func (*Differential) ApplyNudges 

func (d *Differential) ApplyNudges(ctx solver.PairContext)

func (*Differential) MaxDelta 

func (d *Differential) MaxDelta() float64

MaxDelta returns the maximum difference in velocity that is allowed.

func (*Differential) Reset 

func (d *Differential) Reset(ctx solver.PairContext)

func (*Differential) SetMaxDelta 

func (d *Differential) SetMaxDelta(maxDelta float64) *Differential

SetMaxDelta changes the maximum difference in velocity that is allowed.

type HingedRod 

type HingedRod struct {
	// contains filtered or unexported fields
}

HingedRod represents the solution for a constraint that keeps two bodies tied together with a hard link of specific length.

func NewHingedRod 

func NewHingedRod() *HingedRod

NewHingedRod creates a new HingedRod constraint solver.

func (*HingedRod) ApplyImpulses 

func (s *HingedRod) ApplyImpulses(ctx solver.PairContext)

ApplyImpulses applies impulses in order to keep the velocity part of the constraint satisfied.

func (*HingedRod) ApplyNudges 

func (s *HingedRod) ApplyNudges(ctx solver.PairContext)

ApplyNudges applies nudges in order to keep the positional part of the constraint satisfied.

func (*HingedRod) Length 

func (s *HingedRod) Length() float64

Length returns the link length.

func (*HingedRod) PrimaryRadius 

func (s *HingedRod) PrimaryRadius() dprec.Vec3

PrimaryRadius returns the radius vector of the contact point on the primary object.

The vector is in the object's local space.

func (*HingedRod) Reset 

func (s *HingedRod) Reset(ctx solver.PairContext)

Reset re-evaluates the constraint.

func (*HingedRod) SecondaryRadius 

func (s *HingedRod) SecondaryRadius() dprec.Vec3

SecondaryRadius returns the radius vector of the contact point on the secondary object.

The vector is in the object's local space.

func (*HingedRod) SetLength 

func (s *HingedRod) SetLength(length float64) *HingedRod

SetLength changes the link length.

func (*HingedRod) SetPrimaryRadius 

func (s *HingedRod) SetPrimaryRadius(radius dprec.Vec3) *HingedRod

SetPrimaryRadius changes the attachment point of the link on the primary body.

func (*HingedRod) SetSecondaryRadius 

func (s *HingedRod) SetSecondaryRadius(radius dprec.Vec3) *HingedRod

SetSecondaryRadius changes the radius vector of the contact point on the secondary object.

The vector is in the object's local space.

type MatchDirectionOffset 

type MatchDirectionOffset struct {
	// contains filtered or unexported fields
}

MatchDirectionOffset represents the solution for a constraint which ensures that the second body is at an exact distance away from the first body along some direction of the first body.

func NewMatchDirectionOffset 

func NewMatchDirectionOffset() *MatchDirectionOffset

NewMatchDirectionOffset creates a new MatchDirectionOffset constraint solver.

func (*MatchDirectionOffset) ApplyImpulses 

func (s *MatchDirectionOffset) ApplyImpulses(ctx solver.PairContext)

func (*MatchDirectionOffset) ApplyNudges 

func (s *MatchDirectionOffset) ApplyNudges(ctx solver.PairContext)

func (*MatchDirectionOffset) Direction 

func (s *MatchDirectionOffset) Direction() dprec.Vec3

Direction returns the constraint direction, which is in local space of the first body.

func (*MatchDirectionOffset) Offset 

func (s *MatchDirectionOffset) Offset() float64

Offset returns the directional offset.

func (*MatchDirectionOffset) PrimaryRadius 

func (s *MatchDirectionOffset) PrimaryRadius() dprec.Vec3

PrimaryRadius returns the radius vector of the contact point on the primary object.

The vector is in the object's local space.

func (*MatchDirectionOffset) Reset 

func (s *MatchDirectionOffset) Reset(ctx solver.PairContext)

func (*MatchDirectionOffset) SecondaryRadius 

func (s *MatchDirectionOffset) SecondaryRadius() dprec.Vec3

SecondaryRadius returns the radius vector of the contact point on the secondary object.

The vector is in the object's local space.

func (*MatchDirectionOffset) SetDirection 

func (s *MatchDirectionOffset) SetDirection(direction dprec.Vec3) *MatchDirectionOffset

SetDirection changes the constraint direction, which must be in local space of the first body.

func (*MatchDirectionOffset) SetOffset 

func (s *MatchDirectionOffset) SetOffset(offset float64) *MatchDirectionOffset

SetOffset changes the directional offset.

func (*MatchDirectionOffset) SetPrimaryRadius 

func (s *MatchDirectionOffset) SetPrimaryRadius(radius dprec.Vec3) *MatchDirectionOffset

SetPrimaryRadius changes the attachment point of the link on the primary body.

func (*MatchDirectionOffset) SetSecondaryRadius 

func (s *MatchDirectionOffset) SetSecondaryRadius(radius dprec.Vec3) *MatchDirectionOffset

SetSecondaryRadius changes the radius vector of the contact point on the secondary object.

The vector is in the object's local space.

type MatchDirections 

type MatchDirections struct {
	// contains filtered or unexported fields
}

MatchDirections represents the solution for a constraint that keeps the direction of two bodies pointing in the same direction.

func NewMatchDirections 

func NewMatchDirections() *MatchDirections

NewMatchDirections creates a new MatchDirections constraint solver.

func (*MatchDirections) ApplyImpulses 

func (s *MatchDirections) ApplyImpulses(ctx solver.PairContext)

func (*MatchDirections) ApplyNudges 

func (s *MatchDirections) ApplyNudges(ctx solver.PairContext)

func (*MatchDirections) PrimaryDirection 

func (s *MatchDirections) PrimaryDirection() dprec.Vec3

PrimaryDirection returns the direction of the primary body that will be used in the alignment.

func (*MatchDirections) Reset 

func (s *MatchDirections) Reset(ctx solver.PairContext)

func (*MatchDirections) SecondaryDirection 

func (s *MatchDirections) SecondaryDirection() dprec.Vec3

SecondaryDirection returns the direction of the secondary body that will be used in the alignment.

func (*MatchDirections) SetPrimaryDirection 

func (s *MatchDirections) SetPrimaryDirection(direction dprec.Vec3) *MatchDirections

SetPrimaryDirection changes the direction of the primary body to be used in the alignment.

func (*MatchDirections) SetSecondaryDirection 

func (s *MatchDirections) SetSecondaryDirection(direction dprec.Vec3) *MatchDirections

SetSecondaryDirection changes the direction of the secondary body to be used in the alignment.

type PairCollision 

type PairCollision struct {
	// contains filtered or unexported fields
}

func (*PairCollision) ApplyImpulses 

func (s *PairCollision) ApplyImpulses(ctx solver.PairContext)

func (*PairCollision) ApplyNudges 

func (s *PairCollision) ApplyNudges(ctx solver.PairContext)

func (*PairCollision) Init 

func (s *PairCollision) Init(state PairCollisionState)

func (*PairCollision) Reset 

func (s *PairCollision) Reset(ctx solver.PairContext)

type PairCollisionState 

type PairCollisionState struct {
	PrimaryNormal                 dprec.Vec3
	PrimaryPoint                  dprec.Vec3
	PrimaryFrictionCoefficient    float64
	PrimaryRestitutionCoefficient float64

	SecondaryNormal                 dprec.Vec3
	SecondaryPoint                  dprec.Vec3
	SecondaryFrictionCoefficient    float64
	SecondaryRestitutionCoefficient float64

	Depth float64
}

type PairCombined 

type PairCombined struct {
	// contains filtered or unexported fields
}

PairCombined is a double-object solver that delegates its logic to a number of sub-solvers.

func NewPairCombined 

func NewPairCombined(delegates ...solver.PairConstraint) *PairCombined

NewPairCombined creates a new PairCombined solver based on the specified sub-solvers.

func (*PairCombined) ApplyImpulses 

func (s *PairCombined) ApplyImpulses(ctx solver.PairContext)

func (*PairCombined) ApplyNudges 

func (s *PairCombined) ApplyNudges(ctx solver.PairContext)

func (*PairCombined) Reset 

func (s *PairCombined) Reset(ctx solver.PairContext)

type StaticPosition 

type StaticPosition struct {
	// contains filtered or unexported fields
}

StaticPosition represents the solution for a constraint that keeps a body positioned at the specified fixture location.

This solver is immediate - it converges in a single step.

func NewStaticPosition 

func NewStaticPosition() *StaticPosition

NewStaticPosition creates a new StaticPosition constraint solver.

func (*StaticPosition) ApplyImpulses 

func (s *StaticPosition) ApplyImpulses(ctx solver.Context)

func (*StaticPosition) ApplyNudges 

func (s *StaticPosition) ApplyNudges(ctx solver.Context)

func (*StaticPosition) Position 

func (t *StaticPosition) Position() dprec.Vec3

Position returns the location to which the body will be constrained.

func (*StaticPosition) Reset 

func (s *StaticPosition) Reset(ctx solver.Context)

func (*StaticPosition) SetPosition 

func (t *StaticPosition) SetPosition(position dprec.Vec3) *StaticPosition

SetPosition changes the location to which the body will be constrained.

type StaticRotation 

type StaticRotation struct {
	// contains filtered or unexported fields
}

StaticRotation represents the solution for a constraint that keeps a body positioned at the specified fixture location.

This solver is immediate - it converges in a single step.

func NewStaticRotation 

func NewStaticRotation() *StaticRotation

NewStaticRotation creates a new StaticRotation constraint solver.

func (*StaticRotation) ApplyImpulses 

func (s *StaticRotation) ApplyImpulses(ctx solver.Context)

func (*StaticRotation) ApplyNudges 

func (s *StaticRotation) ApplyNudges(ctx solver.Context)

func (*StaticRotation) Reset 

func (s *StaticRotation) Reset(ctx solver.Context)

func (*StaticRotation) Rotation 

func (t *StaticRotation) Rotation() dprec.Quat

Rotation returns the orientation to which the body will be constrained.

func (*StaticRotation) SetRotation 

func (t *StaticRotation) SetRotation(rotation dprec.Quat) *StaticRotation

SetRotation changes the orientation to which the body will be constrained.

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