Physics.Constraints.Types

Types used in generating and solving contact constraints.

Documentation

type ContactConstraintGen a = Flipping Contact' -> (a, a) -> Constraint

data Processed a

Used by "solution processors", which take a cached solution and a new solution and decide what the new incremental solution should be.

Constructors

Processed

Fields

• _processedToCache :: !a

  the old cached solution + the new incremental solution

• _processedToApply :: !a

  the new incremental solution to apply

Instances

Functor Processed

Methods

fmap :: (a -> b) -> Processed a -> Processed b

(<$) :: a -> Processed b -> Processed a

Applicative Processed

Methods

pure :: a -> Processed a

(<*>) :: Processed (a -> b) -> Processed a -> Processed b

liftA2 :: (a -> b -> c) -> Processed a -> Processed b -> Processed c

(*>) :: Processed a -> Processed b -> Processed b

(<*) :: Processed a -> Processed b -> Processed a

type SolutionProcessor a b = a -> b -> b -> Processed b

Some SolutionProcessors use contextual information. e.g. The SolutionProcessor for friction needs to know the coefficient of friction and the normal force. (Normal force is the solution to the non-penetration constraint.)

data ContactResult a

Used in the constraint solver to cache solutions ('ContactResult Lagrangian') and constraints ('ContactResult Constraint') in unboxed vectors.

Constraints are calculated from contacts, and Lagrangians are calculated from these constraints, which makes both types "results" of a contact.

Constructors

ContactResult

Fields

• _crNonPen :: a

  "result" related to the non-penetration constraint

• _crFriction :: a

  "result" related to the friction constraint

Instances

Functor ContactResult

Methods

fmap :: (a -> b) -> ContactResult a -> ContactResult b

(<$) :: a -> ContactResult b -> ContactResult a

Applicative ContactResult

Methods

pure :: a -> ContactResult a

(<*>) :: ContactResult (a -> b) -> ContactResult a -> ContactResult b

liftA2 :: (a -> b -> c) -> ContactResult a -> ContactResult b -> ContactResult c

(*>) :: ContactResult a -> ContactResult b -> ContactResult b

(<*) :: ContactResult a -> ContactResult b -> ContactResult a

Foldable ContactResult

Methods

fold :: Monoid m => ContactResult m -> m

foldMap :: Monoid m => (a -> m) -> ContactResult a -> m

foldr :: (a -> b -> b) -> b -> ContactResult a -> b

foldr' :: (a -> b -> b) -> b -> ContactResult a -> b

foldl :: (b -> a -> b) -> b -> ContactResult a -> b

foldl' :: (b -> a -> b) -> b -> ContactResult a -> b

foldr1 :: (a -> a -> a) -> ContactResult a -> a

foldl1 :: (a -> a -> a) -> ContactResult a -> a

toList :: ContactResult a -> [a]

null :: ContactResult a -> Bool

length :: ContactResult a -> Int

elem :: Eq a => a -> ContactResult a -> Bool

maximum :: Ord a => ContactResult a -> a

minimum :: Ord a => ContactResult a -> a

sum :: Num a => ContactResult a -> a

product :: Num a => ContactResult a -> a

Unbox a => Vector Vector (ContactResult a)

Methods

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

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

basicLength :: Vector (ContactResult a) -> Int

basicUnsafeSlice :: Int -> Int -> Vector (ContactResult a) -> Vector (ContactResult a)

basicUnsafeIndexM :: Monad m => Vector (ContactResult a) -> Int -> m (ContactResult a)

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

elemseq :: Vector (ContactResult a) -> ContactResult a -> b -> b

Unbox a => MVector MVector (ContactResult a)

Methods

basicLength :: MVector s (ContactResult a) -> Int

basicUnsafeSlice :: Int -> Int -> MVector s (ContactResult a) -> MVector s (ContactResult a)

basicOverlaps :: MVector s (ContactResult a) -> MVector s (ContactResult a) -> Bool

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

basicInitialize :: PrimMonad m => MVector (PrimState m) (ContactResult a) -> m ()

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

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

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

basicClear :: PrimMonad m => MVector (PrimState m) (ContactResult a) -> m ()

basicSet :: PrimMonad m => MVector (PrimState m) (ContactResult a) -> ContactResult a -> m ()

basicUnsafeCopy :: PrimMonad m => MVector (PrimState m) (ContactResult a) -> MVector (PrimState m) (ContactResult a) -> m ()

basicUnsafeMove :: PrimMonad m => MVector (PrimState m) (ContactResult a) -> MVector (PrimState m) (ContactResult a) -> m ()

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

Unbox a => Unbox (ContactResult a)

data MVector s (ContactResult a)

data MVector s (ContactResult a) = MV_ContactResult (MVector s (a, a))

data Vector (ContactResult a)

data Vector (ContactResult a) = V_ContactResult (Vector (a, a))

crNonPen :: forall a. Lens' (ContactResult a) a

crFriction :: forall a. Lens' (ContactResult a) a