Physics.Constraints.Contact

Generate and solve all contact constraints for pairs of colliding objects.

Documentation

data ObjectFeatureKey k

Indicates a specific pair of "features" on a specific pair of objects that are touching. This is how we check if we can reuse a cached solution from the previous frame. (We can reuse the cached solution if it has the same ObjectFeatureKey)

Constructors

ObjectFeatureKey

Fields

• _ofkObjKeys :: (k, k)

  (first shape's key, second shape's key)

• _ofkFeatKeys :: (Int, Int)

  (first shape's feature's key, second shape's feature's key)

Instances

Unbox k => Vector Vector (ObjectFeatureKey k)

Methods

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

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

basicLength :: Vector (ObjectFeatureKey k) -> Int

basicUnsafeSlice :: Int -> Int -> Vector (ObjectFeatureKey k) -> Vector (ObjectFeatureKey k)

basicUnsafeIndexM :: Monad m => Vector (ObjectFeatureKey k) -> Int -> m (ObjectFeatureKey k)

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

elemseq :: Vector (ObjectFeatureKey k) -> ObjectFeatureKey k -> b -> b

Unbox k => MVector MVector (ObjectFeatureKey k)

Methods

basicLength :: MVector s (ObjectFeatureKey k) -> Int

basicUnsafeSlice :: Int -> Int -> MVector s (ObjectFeatureKey k) -> MVector s (ObjectFeatureKey k)

basicOverlaps :: MVector s (ObjectFeatureKey k) -> MVector s (ObjectFeatureKey k) -> Bool

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

basicInitialize :: PrimMonad m => MVector (PrimState m) (ObjectFeatureKey k) -> m ()

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

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

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

basicClear :: PrimMonad m => MVector (PrimState m) (ObjectFeatureKey k) -> m ()

basicSet :: PrimMonad m => MVector (PrimState m) (ObjectFeatureKey k) -> ObjectFeatureKey k -> m ()

basicUnsafeCopy :: PrimMonad m => MVector (PrimState m) (ObjectFeatureKey k) -> MVector (PrimState m) (ObjectFeatureKey k) -> m ()

basicUnsafeMove :: PrimMonad m => MVector (PrimState m) (ObjectFeatureKey k) -> MVector (PrimState m) (ObjectFeatureKey k) -> m ()

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

Eq k => Eq (ObjectFeatureKey k)

Methods

(==) :: ObjectFeatureKey k -> ObjectFeatureKey k -> Bool

(/=) :: ObjectFeatureKey k -> ObjectFeatureKey k -> Bool

Ord k => Ord (ObjectFeatureKey k)

Methods

compare :: ObjectFeatureKey k -> ObjectFeatureKey k -> Ordering

(<) :: ObjectFeatureKey k -> ObjectFeatureKey k -> Bool

(<=) :: ObjectFeatureKey k -> ObjectFeatureKey k -> Bool

(>) :: ObjectFeatureKey k -> ObjectFeatureKey k -> Bool

(>=) :: ObjectFeatureKey k -> ObjectFeatureKey k -> Bool

max :: ObjectFeatureKey k -> ObjectFeatureKey k -> ObjectFeatureKey k

min :: ObjectFeatureKey k -> ObjectFeatureKey k -> ObjectFeatureKey k

Show k => Show (ObjectFeatureKey k)

Methods

showsPrec :: Int -> ObjectFeatureKey k -> ShowS

show :: ObjectFeatureKey k -> String

showList :: [ObjectFeatureKey k] -> ShowS

Generic (ObjectFeatureKey k)

Associated Types

type Rep (ObjectFeatureKey k) :: * -> *

Methods

from :: ObjectFeatureKey k -> Rep (ObjectFeatureKey k) x

to :: Rep (ObjectFeatureKey k) x -> ObjectFeatureKey k

NFData k => NFData (ObjectFeatureKey k)

Methods

rnf :: ObjectFeatureKey k -> ()

Unbox k => Unbox (ObjectFeatureKey k)

data MVector s (ObjectFeatureKey k)

data MVector s (ObjectFeatureKey k) = MV_ObjectFeatureKey (MVector s ((k, k), (Int, Int)))

type Rep (ObjectFeatureKey k)

type Rep (ObjectFeatureKey k) = D1 * (MetaData "ObjectFeatureKey" "Physics.Constraints.Contact" "shapes-0.1.0.0-E6UUiYRpOc15rGTlEn6KOE" False) (C1 * (MetaCons "ObjectFeatureKey" PrefixI True) ((:*:) * (S1 * (MetaSel (Just Symbol "_ofkObjKeys") NoSourceUnpackedness NoSourceStrictness DecidedLazy) (Rec0 * (k, k))) (S1 * (MetaSel (Just Symbol "_ofkFeatKeys") NoSourceUnpackedness NoSourceStrictness DecidedLazy) (Rec0 * (Int, Int)))))

data Vector (ObjectFeatureKey k)

data Vector (ObjectFeatureKey k) = V_ObjectFeatureKey (Vector ((k, k), (Int, Int)))

ofkObjKeys :: forall k k. Lens (ObjectFeatureKey k) (ObjectFeatureKey k) (k, k) (k, k)

ofkFeatKeys :: forall k. Lens' (ObjectFeatureKey k) (Int, Int)

keyedContacts :: (k, k) -> (Shape, Shape) -> Descending (ObjectFeatureKey k, Flipping Contact')

Calculate all contacts between a pair of shapes.

constraintGen :: ContactBehavior -> Double -> Flipping Contact' -> (PhysicalObj, PhysicalObj) -> ContactResult Constraint

Build a constraint from a pair of shapes and a contact between them.

solutionProcessor

Arguments

:: (Double, Double)

coefficients of friction for a pair of shapes (a, b)

-> ContactResult Lagrangian

cached solution

-> ContactResult Lagrangian

new incremental solution

-> Processed (ContactResult Lagrangian)

1. incremental solution to actually apply, 2. new cached solution

Given an already-applied Lagrangian and the newly-calculated Lagrangian, figure out what portion of the newly-calculated Lagrangian should actually be applied.