Physics engine agnostic part of track joint logic. More...

#include <C:/Trend/Development/Trax3/Code/trax/rigid/TrackJoint.h>

Inheritance diagram for trax::TrackJoint< Valtype >:

[legend]

Public Member Functions

void SetTimeStep (Time step) noexcept

Sets the time step for this trackjoint.

Time GetTimeStep () const noexcept

bool SetMovingBody (const spat::Frame< Valtype > &bodyFrame) noexcept

Set the global pose of the body moving along the track.

const spat::Frame< Valtype > & GetMovingBody () const noexcept

void SetMovingBodyCOM (const spat::Frame< Valtype > &localCom) noexcept

Set the moving bodie's center of mass relative to the bodie's pose.

bool SetTrackBody (const spat::Frame< Valtype > &bodyFrame) noexcept

Set the global pose of the body moving the track system.

const spat::Frame< Valtype > & GetTrackBody () const noexcept

void SetTrackBodyCOM (const spat::Frame< Valtype > &localCom) noexcept

Set the track bodie's center of mass relative to the track bodie's pose.

void Anchor (const spat::Frame< Valtype > &anchor) noexcept

Sets the anchor on the moving body that is to be aligned with a track position on the track body.

const spat::Frame< Valtype > & Anchor () const noexcept

const spat::Frame< Valtype > & GlobalAnchor () const noexcept

void ThresholdP (Valtype threshold) noexcept

Sets the threshold to switch off the joint when violated.

void ThresholdT (Valtype threshold) noexcept

Sets the threshold to switch off the joint when violated.

void ThresholdN (Valtype threshold) noexcept

Sets the threshold to switch off the joint when violated.

void ThresholdB (Valtype threshold) noexcept

Sets the threshold to switch off the joint when violated.

void Flange (Valtype flange) noexcept

If there is no holding force in binormal direction (BinormalForceLimitMin >= 0) the flange height will be used to switch off the joint's effect if the anchor levitates more than by flange height.

void ErrorReductionParameter (Valtype erp) noexcept

Sets the error reduction parameter for the track joint.

Valtype ErrorReductionParameter () const noexcept

void SetDerailed (bool bDerailed=true) noexcept

Sets the status of the track joint to derailed.

bool IsDerailed () const noexcept

spat::Vector< Valtype > MovingBodyGlobalCOM2AnchorOffset () const noexcept

void Precalculate (const spat::Frame< Valtype > &bodyFrame) noexcept

Set the global pose of the body moving along the track and precalculates internal values like the global anchor.

virtual bool IsMovableBodySleeping () const noexcept=0

virtual void WakeUp () const =0

virtual void UpdateBodies ()=0

virtual void UpdateTrackBody (std::shared_ptr< const struct Body > pToBody)=0

virtual void release ()=0

Force Limits

Specifies the maximal forces to be applied by the physics engine to maintain the constraints that hold the movable object on the track.

Parameters

min	Minimum force or torque to be applied at the movable body, min <= max.
max	Maximum force or torque to be applied at the movable body, min <= max.
targetVelocity	Target velocity of the movable object to be maintained by the engine.

Returns: The respective values returned by the getter methods.

void NormalForceLimits (Valtype min, Valtype max)

Sets the limits for the normal force to be applied at the anchor point.

void BinormalForceLimits (Valtype min, Valtype max)

Sets the limits for the binormal force to be applied at the anchor point.

void NormalTorqueLimit (Valtype max)

Sets the limit for the normal torque to be applied at the anchor point [-max,max].

void TorqueLimit (Valtype max)

Sets the limit for the tangent and binormal torque to be applied at the anchor point [-max,max].

void MotorTarget (Valtype targetVelocity) noexcept

Sets the target velocity of the movable object to be maintained by the engine.

void MotorForceLimits (Valtype min, Valtype max)

Sets the limits for the motor force to be applied at the anchor point.

void MotorForceMax (Valtype max)

Sets the maximum motor force to be applied in order to reach target velocity at the anchor point.

void MotorForceMin (Valtype min)

Sets the minimum motor force to be applied in order to reach target velocity at the anchor point.

Valtype MotorTarget () const noexcept

Valtype MotorForceMax () const noexcept

Valtype MotorForceMin () const noexcept

Constraints

The track joint assembles a set of different constraints to keep the anchor aligned with a track.

Parameters

dim	index for the constraint 0 < dim < DimensionsTotal(). This is the ordinal number of the constraint minus one.

unsigned short DimensionsTotal () const noexcept

bool IsAngularConstraint (unsigned short dim) const noexcept

bool IsDriveConstraint (unsigned short dim) const noexcept

bool IsConstraintLimited (unsigned short dim) const noexcept

void Jacobian (unsigned short dim, spat::Vector< Valtype > &Jm, spat::Vector< Valtype > &Rm, spat::Vector< Valtype > &Jt, spat::Vector< Valtype > &Rt, Valtype &VTarget, Valtype &E, Valtype &fmin, Valtype &fmax) const noexcept

Fills the matrix values for a specific constraint.

Public Member Functions inherited from trax::TrackData< Valtype >

TrackData (const TrackData &)=default

TrackData (TrackData &&)=default

TrackData (spat::Frame< Valtype > _F, spat::Frame< Valtype > _wF, Valtype _c, Valtype _t)

TrackData & operator= (const TrackData &)=default

TrackData & operator= (TrackData &&)=default

template<typename Valtype2>

TrackData & operator= (const TrackData< Valtype2 > &)

void Init () noexcept

Initializes all values.

virtual bool SetValues (const TrackData &td) noexcept

Sets the curve values for calculating the contraint.

template<typename Valtype2>

TrackData< Valtype > & operator= (const TrackData< Valtype2 > &td)

Protected Member Functions
virtual void	markDirty () noexcept=0

Additional Inherited Members
Public Attributes inherited from trax::TrackData< Valtype >
spat::Frame< Valtype >	F
	TNB Frame of the curve.
spat::Frame< Valtype >	wF
	twisted TNB Frame
Valtype	c
	curvature
Valtype	t
	torsion

Detailed Description

template<typename Valtype>
class trax::TrackJoint< Valtype >

Physics engine agnostic part of track joint logic.

Implemented are the case for static tracks as well as the case were the track system is attached to a moving body. E.g. turn tables and the like.

Member Function Documentation

◆ Anchor() [1/2]

template<typename Valtype>

const spat::Frame< Valtype > & trax::TrackJoint< Valtype >::Anchor ( ) const

inlinenoexcept

Returns: The anchor of the moving body in local coordinates

◆ Anchor() [2/2]

template<typename Valtype>

void trax::TrackJoint< Valtype >::Anchor ( const spat::Frame< Valtype > & anchor )

inlinenoexcept

Sets the anchor on the moving body that is to be aligned with a track position on the track body.

Parameters

anchor Anchor of the moving body in local coordinates

◆ DimensionsTotal()

template<typename Valtype>

unsigned short trax::TrackJoint< Valtype >::DimensionsTotal ( ) const

inlinenoexcept

Returns: the number of active constraints.

◆ ErrorReductionParameter() [1/2]

template<typename Valtype>

Valtype trax::TrackJoint< Valtype >::ErrorReductionParameter ( ) const

inlinenoexcept

Returns: the error reduction parameter for the track joint.

◆ ErrorReductionParameter() [2/2]

template<typename Valtype>

void trax::TrackJoint< Valtype >::ErrorReductionParameter ( Valtype erp )

inlinenoexcept

Sets the error reduction parameter for the track joint.

With the track joint comes a mechanism that handles translational or angular aberrations of the anchor from the track. The erp specifies what fraction of the error should be corrected in the next simulation step. 1 would mean all of the error (not recommended) and 0 means no correction (also not recommended). The default value is 0.25. In connection with other joints and under certain mass conditions it might happen that the error correction of two or more joints interfere in an unfortunate way, so the simualtion becomes instable. This can be cured by choosing a different erp.

Parameters

erp	Error reduction parameter. The value should be between 0 and 1.

◆ Flange()

template<typename Valtype>

void trax::TrackJoint< Valtype >::Flange ( Valtype flange )

inlinenoexcept

If there is no holding force in binormal direction (BinormalForceLimitMin >= 0) the flange height will be used to switch off the joint's effect if the anchor levitates more than by flange height.

Note that error correction stays in effect while still in the flange range. This makes the trackjoint a bit sticky while in flange range. So flange should be typically a small value to achieve realistic levitating.

◆ GetMovingBody()

template<typename Valtype>

const spat::Frame< Valtype > & trax::TrackJoint< Valtype >::GetMovingBody ( ) const

inlinenoexcept

Returns: The global pose of the body moving along the track

◆ GetTimeStep()

template<typename Valtype>

Time trax::TrackJoint< Valtype >::GetTimeStep ( ) const

inlinenoexcept

Returns: the time step used by this joint.

◆ GetTrackBody()

template<typename Valtype>

const spat::Frame< Valtype > & trax::TrackJoint< Valtype >::GetTrackBody ( ) const

inlinenoexcept

Returns: The global pose of the body moving the track system.

◆ GlobalAnchor()

template<typename Valtype>

const spat::Frame< Valtype > & trax::TrackJoint< Valtype >::GlobalAnchor ( ) const

inlinenoexcept

Returns: The anchor of the moving body in global coordinates

◆ IsAngularConstraint()

template<typename Valtype>

bool trax::TrackJoint< Valtype >::IsAngularConstraint ( unsigned short dim ) const

inlinenoexcept

Returns: true if the constraint involves a rotational dimension.

◆ IsConstraintLimited()

template<typename Valtype>

bool trax::TrackJoint< Valtype >::IsConstraintLimited ( unsigned short dim ) const

inlinenoexcept

Returns: true if the constraint's maximum or minimum force or torque is not infinite.

◆ IsDerailed()

template<typename Valtype>

bool trax::TrackJoint< Valtype >::IsDerailed ( ) const

noexcept

Returns: true if the track joint is set for derailment.

◆ IsDriveConstraint()

template<typename Valtype>

bool trax::TrackJoint< Valtype >::IsDriveConstraint ( unsigned short dim ) const

inlinenoexcept

Returns: true if the constraint is amotor constraint.

◆ MotorForceMax()

template<typename Valtype>

Valtype trax::TrackJoint< Valtype >::MotorForceMax ( ) const

inlinenoexcept

Returns: The maximum motor force to be applied at the anchor point.

◆ MotorForceMin()

template<typename Valtype>

Valtype trax::TrackJoint< Valtype >::MotorForceMin ( ) const

inlinenoexcept

Returns: The minimum motor force to be applied at the anchor point.

◆ MotorTarget()

template<typename Valtype>

Valtype trax::TrackJoint< Valtype >::MotorTarget ( ) const

inlinenoexcept

Returns: The minimum motor force to be applied at the anchor point.

◆ MovingBodyGlobalCOM2AnchorOffset()

template<typename Valtype>

spat::Vector< Valtype > trax::TrackJoint< Valtype >::MovingBodyGlobalCOM2AnchorOffset ( ) const

inlinenoexcept

Returns: The vector from the center of mass (COM) to the anchor for the moving body in global coordinates

◆ SetDerailed()

template<typename Valtype>

void trax::TrackJoint< Valtype >::SetDerailed ( bool bDerailed = true )

noexcept

Sets the status of the track joint to derailed.

A derailed trackjoint will not influence the simulation anymore. If derailment is a permanent situation it is recommended to remove the joint from the simulation completely, since a derailed joint will still consume some resources.

◆ SetTimeStep()

template<typename Valtype>

void trax::TrackJoint< Valtype >::SetTimeStep ( Time step )

inlinenoexcept

Sets the time step for this trackjoint.

Influences force and torque strengthes. This should be called on using non-fixed timesteps. Default is fixed_timestep.

◆ ThresholdB()

template<typename Valtype>

void trax::TrackJoint< Valtype >::ThresholdB ( Valtype threshold )

inlinenoexcept

Sets the threshold to switch off the joint when violated.

The threshold sets the angle in radiants, so that a violation of the joint conditions greater than that will result in the joint having no effect any more.

Parameters

threshold Angular threshold for rotations around binormal B.

◆ ThresholdN()

template<typename Valtype>

void trax::TrackJoint< Valtype >::ThresholdN ( Valtype threshold )

inlinenoexcept

Sets the threshold to switch off the joint when violated.

The threshold sets the angle in radiants, so that a violation of the joint conditions greater than that will result in the joint having no effect any more.

Parameters

threshold Angular threshold for rotations around normal N.

◆ ThresholdP()

template<typename Valtype>

void trax::TrackJoint< Valtype >::ThresholdP ( Valtype threshold )

inlinenoexcept

Sets the threshold to switch off the joint when violated.

The threshold gives the distance from the TBN frame position to the real body position from wich on the joint will have no effect any more.

Parameters

threshold linear threshold distance.

◆ ThresholdT()

template<typename Valtype>

void trax::TrackJoint< Valtype >::ThresholdT ( Valtype threshold )

inlinenoexcept

Sets the threshold to switch off the joint when violated.

The threshold sets the angle in radiants, so that a violation of the joint conditions greater than that will result in the joint having no effect any more. This will not work for T, if tilting is enabled.

Parameters

threshold Angular threshold for rotations around tangent T.

The documentation for this class was generated from the following files:

C:/Trend/Development/Trax3/Code/trax/Interfaces.h
C:/Trend/Development/Trax3/Code/trax/rigid/TrackJoint.h

Public Member Functions

Protected Member Functions

Additional Inherited Members

Detailed Description

Member Function Documentation

◆ Anchor() [1/2]

◆ Anchor() [2/2]

◆ DimensionsTotal()

◆ ErrorReductionParameter() [1/2]

◆ ErrorReductionParameter() [2/2]

◆ Flange()

◆ GetMovingBody()

◆ GetTimeStep()

◆ GetTrackBody()

◆ GlobalAnchor()

◆ IsAngularConstraint()

◆ IsConstraintLimited()

◆ IsDerailed()

◆ IsDriveConstraint()

◆ MotorForceMax()

◆ MotorForceMin()

◆ MotorTarget()

◆ MovingBodyGlobalCOM2AnchorOffset()

◆ SetDerailed()

◆ SetTimeStep()

◆ ThresholdB()

◆ ThresholdN()

◆ ThresholdP()

◆ ThresholdT()