Safe Haskell	None
Language	Haskell2010

Physics.Constraint

Description

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

Synopsis

Documentation

data InvMass2 Source #

Multiplicative inverse of linear and rotational mass

Constructors

InvMass2
Fields _imLin :: Double# _imRot :: Double#

Instances

Eq InvMass2 Source #
Methods (==) :: InvMass2 -> InvMass2 -> Bool # (/=) :: InvMass2 -> InvMass2 -> Bool #
Show InvMass2 Source #
Methods showsPrec :: Int -> InvMass2 -> ShowS # show :: InvMass2 -> String # showList :: [InvMass2] -> ShowS #
NFData InvMass2 Source #
Methods rnf :: InvMass2 -> () #
Unbox InvMass2 Source #

Vector Vector InvMass2 Source #
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 Source #
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 Source #
data Vector InvMass2 = V_InvMass2 (Vector (Double, Double))
data MVector s InvMass2 Source #
data MVector s InvMass2 = MV_InvMass2 (MVector s (Double, Double))

data PhysicalObj Source #

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 Source #
Methods showsPrec :: Int -> PhysicalObj -> ShowS # show :: PhysicalObj -> String # showList :: [PhysicalObj] -> ShowS #
Generic PhysicalObj Source #
Associated Types type Rep PhysicalObj :: * -> * # Methods from :: PhysicalObj -> Rep PhysicalObj x # to :: Rep PhysicalObj x -> PhysicalObj #
NFData PhysicalObj Source #
Methods rnf :: PhysicalObj -> () #
Unbox PhysicalObj Source #

Vector Vector PhysicalObj Source #
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 Source #
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 Source #
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 Source #
data Vector PhysicalObj = V_PhysicalObj (Vector (V2, Double, V2, Double, InvMass2))
data MVector s PhysicalObj Source #
data MVector s PhysicalObj = MV_PhysicalObj (MVector s (V2, Double, V2, Double, InvMass2))

physObjVel :: Lens' PhysicalObj V2 Source #

physObjRotVel :: Lens' PhysicalObj Double Source #

physObjRotPos :: Lens' PhysicalObj Double Source #

physObjPos :: Lens' PhysicalObj V2 Source #

physObjInvMass :: Lens' PhysicalObj InvMass2 Source #

_physObjVel3 :: PhysicalObj -> V3 Source #

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

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

toInvMass2 :: (Double, Double) -> InvMass2 Source #

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

data Constraint Source #

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 Source #
Methods showsPrec :: Int -> Constraint -> ShowS # show :: Constraint -> String # showList :: [Constraint] -> ShowS #
Unbox Constraint Source #

Flippable Constraint Source #
Methods flipp :: Constraint -> Constraint Source #
Vector Vector Constraint Source #
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 Source #
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 Source #
data Vector Constraint = V_Constraint (Vector (V6, Double))
data MVector s Constraint Source #
data MVector s Constraint = MV_Constraint (MVector s (V6, Double))

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

Generates a constraint equation from a pair of objects

type PhysObjChanged = PhysicalObj -> PhysicalObj -> Bool Source #

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

_constrainedVel6 :: (PhysicalObj, PhysicalObj) -> V6 Source #

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) Source #

Lens for 6D velocity vector (_constrainedVel6)

invMassM2 :: InvMass2 -> InvMass2 -> Diag6 Source #

6x6 diagonal matrix of inverse mass

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

isStatic :: InvMass2 -> Bool Source #

Is this object completely static (unmoving)?

isStaticLin :: InvMass2 -> Bool Source #

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

isStaticRot :: InvMass2 -> Bool Source #

Is this object non-rotating?

_constrainedInvMassM2 :: (PhysicalObj, PhysicalObj) -> Diag6 Source #

see invMassM2

_physObjTransform :: PhysicalObj -> WorldTransform Source #

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

velocity2 :: PhysicalObj -> PhysicalObj -> V6 Source #

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

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

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 Source #

Arguments

:: V6	Jacobian
-> PhysicalObj
-> PhysicalObj
-> Double	Inverse of effective mass

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

constraintImpulse2 Source #

Arguments

:: V6	Jacobian
-> Lagrangian
-> V6	6D constraint impulse vector

Get the impulse that solves a constraint equation.

updateVelocity2_ Source #

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 Source #

Arguments

:: Diag6	Inverse mass
-> V6	Jacobian
-> Lagrangian
-> (PhysicalObj, PhysicalObj)
-> (PhysicalObj, PhysicalObj)

Use a Lagrangian multiplier to update a pair of objects.

solveConstraint Source #

Arguments

:: Constraint	Constraint equation
-> (PhysicalObj, PhysicalObj)
-> (PhysicalObj, PhysicalObj)	Updated state of motion

Solve a constraint between two objects.

applyLagrangian Source #

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 Source #

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

module Physics.Constraint.Types