Physics.Constraint

Types for describing the motion of physical objects. Functions for solving constraints.

Documentation

data InvMass2

Multiplicative inverse of linear and rotational mass

Constructors

InvMass2

Fields

• _imLin :: Double#
• _imRot :: Double#

Instances

Eq InvMass2

Methods

(==) :: InvMass2 -> InvMass2 -> Bool

(/=) :: InvMass2 -> InvMass2 -> Bool

Show InvMass2

Methods

showsPrec :: Int -> InvMass2 -> ShowS

show :: InvMass2 -> String

showList :: [InvMass2] -> ShowS

NFData InvMass2

Methods

rnf :: InvMass2 -> ()

Unbox InvMass2

Vector Vector InvMass2

Methods

basicUnsafeFreeze :: PrimMonad m => Mutable Vector (PrimState m) InvMass2 -> m (Vector InvMass2)

basicUnsafeThaw :: PrimMonad m => Vector InvMass2 -> m (Mutable Vector (PrimState m) InvMass2)

basicLength :: Vector InvMass2 -> Int

basicUnsafeSlice :: Int -> Int -> Vector InvMass2 -> Vector InvMass2

basicUnsafeIndexM :: Monad m => Vector InvMass2 -> Int -> m InvMass2

basicUnsafeCopy :: PrimMonad m => Mutable Vector (PrimState m) InvMass2 -> Vector InvMass2 -> m ()

elemseq :: Vector InvMass2 -> InvMass2 -> b -> b

MVector MVector InvMass2

Methods

basicLength :: MVector s InvMass2 -> Int

basicUnsafeSlice :: Int -> Int -> MVector s InvMass2 -> MVector s InvMass2

basicOverlaps :: MVector s InvMass2 -> MVector s InvMass2 -> Bool

basicUnsafeNew :: PrimMonad m => Int -> m (MVector (PrimState m) InvMass2)

basicInitialize :: PrimMonad m => MVector (PrimState m) InvMass2 -> m ()

basicUnsafeReplicate :: PrimMonad m => Int -> InvMass2 -> m (MVector (PrimState m) InvMass2)

basicUnsafeRead :: PrimMonad m => MVector (PrimState m) InvMass2 -> Int -> m InvMass2

basicUnsafeWrite :: PrimMonad m => MVector (PrimState m) InvMass2 -> Int -> InvMass2 -> m ()

basicClear :: PrimMonad m => MVector (PrimState m) InvMass2 -> m ()

basicSet :: PrimMonad m => MVector (PrimState m) InvMass2 -> InvMass2 -> m ()

basicUnsafeCopy :: PrimMonad m => MVector (PrimState m) InvMass2 -> MVector (PrimState m) InvMass2 -> m ()

basicUnsafeMove :: PrimMonad m => MVector (PrimState m) InvMass2 -> MVector (PrimState m) InvMass2 -> m ()

basicUnsafeGrow :: PrimMonad m => MVector (PrimState m) InvMass2 -> Int -> m (MVector (PrimState m) InvMass2)

data Vector InvMass2

data Vector InvMass2 = V_InvMass2 (Vector (Double, Double))

data MVector s InvMass2

data MVector s InvMass2 = MV_InvMass2 (MVector s (Double, Double))

data PhysicalObj

The state of motion for a physical body. Rotation is measured in the Z direction (right-handed coordinates).

Constructors

PhysicalObj

Fields

• _physObjVel :: !V2
• _physObjRotVel :: !Double
• _physObjPos :: !V2
• _physObjRotPos :: !Double
• _physObjInvMass :: !InvMass2

Instances

Show PhysicalObj

Methods

showsPrec :: Int -> PhysicalObj -> ShowS

show :: PhysicalObj -> String

showList :: [PhysicalObj] -> ShowS

Generic PhysicalObj

Associated Types

type Rep PhysicalObj :: * -> *

Methods

from :: PhysicalObj -> Rep PhysicalObj x

to :: Rep PhysicalObj x -> PhysicalObj

NFData PhysicalObj

Methods

rnf :: PhysicalObj -> ()

Unbox PhysicalObj

Vector Vector PhysicalObj

Methods

basicUnsafeFreeze :: PrimMonad m => Mutable Vector (PrimState m) PhysicalObj -> m (Vector PhysicalObj)

basicUnsafeThaw :: PrimMonad m => Vector PhysicalObj -> m (Mutable Vector (PrimState m) PhysicalObj)

basicLength :: Vector PhysicalObj -> Int

basicUnsafeSlice :: Int -> Int -> Vector PhysicalObj -> Vector PhysicalObj

basicUnsafeIndexM :: Monad m => Vector PhysicalObj -> Int -> m PhysicalObj

basicUnsafeCopy :: PrimMonad m => Mutable Vector (PrimState m) PhysicalObj -> Vector PhysicalObj -> m ()

elemseq :: Vector PhysicalObj -> PhysicalObj -> b -> b

MVector MVector PhysicalObj

Methods

basicLength :: MVector s PhysicalObj -> Int

basicUnsafeSlice :: Int -> Int -> MVector s PhysicalObj -> MVector s PhysicalObj

basicOverlaps :: MVector s PhysicalObj -> MVector s PhysicalObj -> Bool

basicUnsafeNew :: PrimMonad m => Int -> m (MVector (PrimState m) PhysicalObj)

basicInitialize :: PrimMonad m => MVector (PrimState m) PhysicalObj -> m ()

basicUnsafeReplicate :: PrimMonad m => Int -> PhysicalObj -> m (MVector (PrimState m) PhysicalObj)

basicUnsafeRead :: PrimMonad m => MVector (PrimState m) PhysicalObj -> Int -> m PhysicalObj

basicUnsafeWrite :: PrimMonad m => MVector (PrimState m) PhysicalObj -> Int -> PhysicalObj -> m ()

basicClear :: PrimMonad m => MVector (PrimState m) PhysicalObj -> m ()

basicSet :: PrimMonad m => MVector (PrimState m) PhysicalObj -> PhysicalObj -> m ()

basicUnsafeCopy :: PrimMonad m => MVector (PrimState m) PhysicalObj -> MVector (PrimState m) PhysicalObj -> m ()

basicUnsafeMove :: PrimMonad m => MVector (PrimState m) PhysicalObj -> MVector (PrimState m) PhysicalObj -> m ()

basicUnsafeGrow :: PrimMonad m => MVector (PrimState m) PhysicalObj -> Int -> m (MVector (PrimState m) PhysicalObj)

type Rep PhysicalObj

type Rep PhysicalObj = D1 * (MetaData "PhysicalObj" "Physics.Constraint" "shapes-0.1.0.0-E6UUiYRpOc15rGTlEn6KOE" False) (C1 * (MetaCons "PhysicalObj" PrefixI True) ((:*:) * ((:*:) * (S1 * (MetaSel (Just Symbol "_physObjVel") NoSourceUnpackedness SourceStrict DecidedStrict) (Rec0 * V2)) (S1 * (MetaSel (Just Symbol "_physObjRotVel") NoSourceUnpackedness SourceStrict DecidedStrict) (Rec0 * Double))) ((:*:) * (S1 * (MetaSel (Just Symbol "_physObjPos") NoSourceUnpackedness SourceStrict DecidedStrict) (Rec0 * V2)) ((:*:) * (S1 * (MetaSel (Just Symbol "_physObjRotPos") NoSourceUnpackedness SourceStrict DecidedStrict) (Rec0 * Double)) (S1 * (MetaSel (Just Symbol "_physObjInvMass") NoSourceUnpackedness SourceStrict DecidedStrict) (Rec0 * InvMass2))))))

data Vector PhysicalObj

data Vector PhysicalObj = V_PhysicalObj (Vector (V2, Double, V2, Double, InvMass2))

data MVector s PhysicalObj

data MVector s PhysicalObj = MV_PhysicalObj (MVector s (V2, Double, V2, Double, InvMass2))

physObjVel :: Lens' PhysicalObj V2

physObjRotVel :: Lens' PhysicalObj Double

physObjRotPos :: Lens' PhysicalObj Double

physObjPos :: Lens' PhysicalObj V2

physObjInvMass :: Lens' PhysicalObj InvMass2

_physObjVel3 :: PhysicalObj -> V3

physObjVel3 :: Functor f => (V3 -> f V3) -> PhysicalObj -> f PhysicalObj

Lens for 3D velocity vector: (v_x, v_y, v_rot)

toInvMass2 :: (Double, Double) -> InvMass2

Convert (linear mass, rotational inertia) into InvMass2. Use 0 for infinite mass (non-translating/non-rotating objects).

data Constraint

A constraint equation between two objects to be solved using the objects' state of motion

Constructors

Constraint

Fields

• _constraintJ :: !V6

  Jacobian - coordinate transform to the constraint space

• _constraintB :: !Double

  extra term

Instances

Show Constraint

Methods

showsPrec :: Int -> Constraint -> ShowS

show :: Constraint -> String

showList :: [Constraint] -> ShowS

Unbox Constraint

Flippable Constraint

Methods

flipp :: Constraint -> Constraint

Vector Vector Constraint

Methods

basicUnsafeFreeze :: PrimMonad m => Mutable Vector (PrimState m) Constraint -> m (Vector Constraint)

basicUnsafeThaw :: PrimMonad m => Vector Constraint -> m (Mutable Vector (PrimState m) Constraint)

basicLength :: Vector Constraint -> Int

basicUnsafeSlice :: Int -> Int -> Vector Constraint -> Vector Constraint

basicUnsafeIndexM :: Monad m => Vector Constraint -> Int -> m Constraint

basicUnsafeCopy :: PrimMonad m => Mutable Vector (PrimState m) Constraint -> Vector Constraint -> m ()

elemseq :: Vector Constraint -> Constraint -> b -> b

MVector MVector Constraint

Methods

basicLength :: MVector s Constraint -> Int

basicUnsafeSlice :: Int -> Int -> MVector s Constraint -> MVector s Constraint

basicOverlaps :: MVector s Constraint -> MVector s Constraint -> Bool

basicUnsafeNew :: PrimMonad m => Int -> m (MVector (PrimState m) Constraint)

basicInitialize :: PrimMonad m => MVector (PrimState m) Constraint -> m ()

basicUnsafeReplicate :: PrimMonad m => Int -> Constraint -> m (MVector (PrimState m) Constraint)

basicUnsafeRead :: PrimMonad m => MVector (PrimState m) Constraint -> Int -> m Constraint

basicUnsafeWrite :: PrimMonad m => MVector (PrimState m) Constraint -> Int -> Constraint -> m ()

basicClear :: PrimMonad m => MVector (PrimState m) Constraint -> m ()

basicSet :: PrimMonad m => MVector (PrimState m) Constraint -> Constraint -> m ()

basicUnsafeCopy :: PrimMonad m => MVector (PrimState m) Constraint -> MVector (PrimState m) Constraint -> m ()

basicUnsafeMove :: PrimMonad m => MVector (PrimState m) Constraint -> MVector (PrimState m) Constraint -> m ()

basicUnsafeGrow :: PrimMonad m => MVector (PrimState m) Constraint -> Int -> m (MVector (PrimState m) Constraint)

data Vector Constraint

data Vector Constraint = V_Constraint (Vector (V6, Double))

data MVector s Constraint

data MVector s Constraint = MV_Constraint (MVector s (V6, Double))

type Constraint' p = (p, p) -> Constraint

Generates a constraint equation from a pair of objects

type PhysObjChanged = PhysicalObj -> PhysicalObj -> Bool

Are these two different motion states? Used to determine whether the constraint solver has converged.

_constrainedVel6 :: (PhysicalObj, PhysicalObj) -> V6

Get a 6D velocity vector for a pair of objects. (a_vx, a_vy, a_vr, b_vx, b_vy, b_vr)

Called "constrained" because it's used with objects constrained together.

constrainedVel6 :: Functor f => (V6 -> f V6) -> (PhysicalObj, PhysicalObj) -> f (PhysicalObj, PhysicalObj)

Lens for 6D velocity vector (_constrainedVel6)

invMassM2 :: InvMass2 -> InvMass2 -> Diag6

6x6 diagonal matrix of inverse mass

invMassM2 (InvMass2 ma ia) (InvMass2 mb ib) = Diag6 (V6 ma ma ia mb mb ib)

isStatic :: InvMass2 -> Bool

Is this object completely static (unmoving)?

isStaticLin :: InvMass2 -> Bool

Is this object non-translating (no center-of-mass movement)?

isStaticRot :: InvMass2 -> Bool

Is this object non-rotating?

_constrainedInvMassM2 :: (PhysicalObj, PhysicalObj) -> Diag6

see invMassM2

_physObjTransform :: PhysicalObj -> WorldTransform

Get WorldTransform from origin to the current position (translation & rotation) of an object.

velocity2 :: PhysicalObj -> PhysicalObj -> V6

Get a 6D velocity vector for a pair of objects. Same as _constrainedVel6

lagrangian2 :: (PhysicalObj, PhysicalObj) -> Constraint -> Lagrangian

Use objects' current state of motion to solve their constraint equation.

The Lagrangian multiplier is the (signed) magnitude of the constraint impulse along the constraint axis.

effMassM2

Arguments

:: V6

Jacobian

-> PhysicalObj

-> PhysicalObj

-> Double

Inverse of effective mass

The inverse effective mass of a pair of objects along the constraint axis

constraintImpulse2

Arguments

:: V6

Jacobian

-> Lagrangian

-> V6

6D constraint impulse vector

Get the impulse that solves a constraint equation.

updateVelocity2_

Arguments

:: V6

6D velocity for two objects

-> Diag6

Inverse mass for two objects

-> V6

6D constraint impulse

-> V6

New 6D velocity

Apply a constraint impulse to two objects.

applyLagrangian2

Arguments

:: Diag6

Inverse mass

-> V6

Jacobian

-> Lagrangian

-> (PhysicalObj, PhysicalObj)

-> (PhysicalObj, PhysicalObj)

Use a Lagrangian multiplier to update a pair of objects.

solveConstraint

Arguments

:: Constraint

Constraint equation

-> (PhysicalObj, PhysicalObj)

-> (PhysicalObj, PhysicalObj)

Updated state of motion

Solve a constraint between two objects.

applyLagrangian

Arguments

:: Lagrangian

Lagrangian multiplier from solving the constraint

-> Constraint

The constraint equation

-> (PhysicalObj, PhysicalObj)

-> (PhysicalObj, PhysicalObj)

Updated state of motion

Use a Lagrangian multiplier to update a pair of objects.

advanceObj :: PhysicalObj -> Double -> PhysicalObj

Advance the position (translation & rotation) of an object by applying its velocity over a time delta.

module Physics.Constraint.Types