A sliding joint with limits and motor control. More...

#include <Joints.h>

Inheritance diagram for FxPrismaticJoint:

Collaboration diagram for FxPrismaticJoint:

Public Member Functions
	FxPrismaticJoint (const std::string &name, const std::shared_ptr< FxEntity > &e1, const std::shared_ptr< FxEntity > &e2, const FxVec2f &local_axis, float position_min=-1000.0f, float position_max=1000.0f)

bool	is_prismatic () const override

void	set_position (float position, bool instant=true)

void	set_velocity (float velocity, bool instant=true)

void	set_force (float force)

float	get_position () const

float	get_velocity () const

void	set_max_force (float max_force)

float	get_max_force () const

void	apply_controls (double dt) override

Public Member Functions inherited from FxJoint
	FxJoint (const std::string &name, const std::shared_ptr< FxEntity > &e1, const std::shared_ptr< FxEntity > &e2)

virtual	~FxJoint ()=default

const std::string &	get_name () const

void	reset ()

const std::shared_ptr< FxEntity > &	get_entity1 () const

const std::shared_ptr< FxEntity > &	get_entity2 () const

std::string	get_entity1_name () const

std::string	get_entity2_name () const

const std::vector< std::shared_ptr< FxConstraint > > &	get_constraints () const

void	set_pid (const FxVec3f &pid)

FxVec3f	get_pid () const

void	set_p (float p)

void	set_i (float i)

void	set_d (float d)

float	get_p () const

float	get_i () const

float	get_d () const

void	set_instant (bool instant)

bool	get_instant () const

void	set_effort (float effort)

float	get_effort () const

void	set_max_effort (float max_effort)

float	get_max_effort () const

void	set_control_mode (ControlMode mode)

ControlMode	get_control_mode () const

virtual bool	is_revolute () const

Additional Inherited Members
Public Attributes inherited from FxJoint
bool	enabled = true

bool	entities_collide = false

Protected Member Functions inherited from FxJoint
void	namespace_constraints ()

void	reset_pid_state ()

void	wake_entities ()

float	eval_pid (float error, double dt)

float	clamp_effort (float effort) const

Protected Attributes inherited from FxJoint
std::shared_ptr< FxEntity >	entity1

std::shared_ptr< FxEntity >	entity2

std::string	m_name

std::vector< std::shared_ptr< FxConstraint > >	m_constraints

FxVec3f	m_pid {1.0f, 0.0f, 0.0f}

float	m_integral = 0.0f

float	m_previous_error = 0.0f

float	m_target_effort = 0.0f

bool	m_instant = true

Detailed Description

A sliding joint with limits and motor control.

Definition at line 126 of file Joints.h.

Constructor & Destructor Documentation

◆ FxPrismaticJoint()

FxPrismaticJoint::FxPrismaticJoint	(	const std::string &	name,
		const std::shared_ptr< FxEntity > &	e1,
		const std::shared_ptr< FxEntity > &	e2,
		const FxVec2f &	local_axis,
		float	position_min = `-1000.0f`,
		float	position_max = `1000.0f`
	)

Member Function Documentation

◆ apply_controls()

void FxPrismaticJoint::apply_controls ( double dt )

overridevirtual

Implements FxJoint.

◆ get_max_force()

float FxPrismaticJoint::get_max_force ( ) const

inline

Definition at line 153 of file Joints.h.

◆ get_position()

float FxPrismaticJoint::get_position ( ) const

◆ get_velocity()

float FxPrismaticJoint::get_velocity ( ) const

◆ is_prismatic()

bool FxPrismaticJoint::is_prismatic ( ) const

inlineoverridevirtual

Reimplemented from FxJoint.

Definition at line 142 of file Joints.h.

◆ set_force()

void FxPrismaticJoint::set_force ( float force )

◆ set_max_force()

void FxPrismaticJoint::set_max_force ( float max_force )