Rigidly locks two bodies together (no relative translation or rotation). More...

#include <fixed_joint.hpp>

Inheritance diagram for frcsim::FixedJoint:

Public Member Functions
	FixedJoint (RigidBody body_a, RigidBody body_b)
void	solveConstraint (double dt_s, int iterations) override
double	constraintError () const override
Public Member Functions inherited from frcsim::JointBase
virtual	~JointBase ()=default
JointType	type () const
RigidBody *	bodyA ()
RigidBody *	bodyB ()
const RigidBody *	bodyA () const
const RigidBody *	bodyB () const
const Vector3 &	anchorA () const
const Vector3 &	anchorB () const
void	setAnchorA (const Vector3 &anchor)
void	setAnchorB (const Vector3 &anchor)
bool	isEnabled () const
void	setEnabled (bool enabled)
double	breakForceThreshold () const
void	setBreakForceThreshold (double force_n)
bool	isBroken () const
void	resetBroken ()
virtual void	warmStart ()

Additional Inherited Members
Protected Member Functions inherited from frcsim::JointBase
	JointBase (JointType type, RigidBody body_a, RigidBody body_b)
Protected Attributes inherited from frcsim::JointBase
JointType	type_
RigidBody *	body_a_ {nullptr}
RigidBody *	body_b_ {nullptr}
Vector3	anchor_a_ {}
Vector3	anchor_b_ {}
bool	is_enabled_ {true}
bool	is_broken_ {false}
double	break_force_threshold_ {1e6}

Detailed Description

Rigidly locks two bodies together (no relative translation or rotation).

Physics principle: holonomic rigid constraint. The solver applies impulses to keep the relative transform constant, modeling an infinitely stiff weld in the idealized limit.

Reference: https://en.wikipedia.org/wiki/Holonomic_constraints

Constructor & Destructor Documentation

◆ FixedJoint()

frcsim::FixedJoint::FixedJoint	(	RigidBody *	body_a,
		RigidBody *	body_b )

inline

Member Function Documentation

◆ constraintError()

double frcsim::FixedJoint::constraintError ( ) const

overridevirtual

Implements frcsim::JointBase.

◆ solveConstraint()

void frcsim::FixedJoint::solveConstraint	(	double	dt_s,
		int	iterations )