Physics Joint component. More...

#include <RRPhysicsJointComponent.h>

Inheritance diagram for URRPhysicsJointComponent:

Collaboration diagram for URRPhysicsJointComponent:

Public Member Functions
	URRPhysicsJointComponent ()

virtual bool	IsValid () override

virtual void	InitializeComponent () override
	Initialize Constraint JointToChildLink and ParentLinkToJoint. More...

virtual void	SetVelocity (const FVector &InLinearVelocity, const FVector &InAngularVelocity) override
	Do nothing since can't set velocity directly to physics joint. More...

virtual void	SetVelocityTarget (const FVector &InLinearVelocity, const FVector &InAngularVelocity) override
	Call SetLinearVelocityTarget and SetAngularVelocityTarget. More...

virtual void	SetPose (const FVector &InPosition, const FRotator &InOrientation) override
	Do nothing since can't set pose directly to physics joint. More...

virtual void	SetPoseTarget (const FVector &InPosition, const FRotator &InOrientation) override
	Call SetLinearPositionTarget and SetAngularOrientationTarget. More...

virtual void	Teleport (const FVector &InPosition, const FRotator &InOrientation) override
	Disable collision and set target pose to given pose. More...

virtual void	MoveToInitPose ()

virtual void	SetJoint ()

Public Member Functions inherited from URRJointComponent
	URRJointComponent ()

virtual void	TickComponent (float DeltaTime, ELevelTick TickType, FActorComponentTickFunction *ThisTickFunction) override
	Call #UpdatePose after update PositionTarget and OrientationTarget with LinearVelocity and AngularVelocity. More...

virtual void	SetSingleLinearVelocityTarget (const float Input)
	Utility wrapper of SetVelocityTarget to provide 1 DoF target orientation. More...

virtual void	SetSingleAngularVelocityTarget (const float Input)
	Utility wrapper of SetVelocityTarget to provide 1 DoF target position. More...

virtual void	SetVelocityTargetWithDelegates (const FVector &InLinearVelocity, const FVector &InAngularVelocity, const FJointCallback &InOnControlSuccessDelegate, const FJointCallback &InOnControlFailDelegate, const float InLinearTolerance=-1.0, const float InAngularTolerance=-1.0, const float InTimeOut=-1.0)
	Set the Velocity Target With Delegates object. More...

virtual void	SetSingleLinearVelocityTargetWithDelegates (const float Input, const FJointCallback &InOnControlSuccessDelegate, const FJointCallback &InOnControlFailDelegate, const float InLinearTolerance=-1.0, const float InTimeOut=-1.0)
	Utility wrapper of SetVelocityTargetWithDelegates to provide 1 DoF targetlinear velocity. More...

virtual void	SetSingleAngularVelocityTargetWithDelegates (const float Input, const FJointCallback &InOnControlSuccessDelegate, const FJointCallback &InOnControlFailDelegate, const float InAngularTolerance=-1.0, const float InTimeOut=-1.0)
	Utility wrapper of SetVelocityTargetWithDelegates to provide 1 DoF target angular velocity. More...

virtual void	SetVelocityWithArray (const TArray< float > &InVelocity)
	Set the Velocity With TArray. More...

virtual void	SetVelocityTargetWithArray (const TArray< float > &InVelocity)
	Set the Velocity Target. More...

virtual void	SetVelocityTargetWithArrayWithDelegates (const TArray< float > &InVelocity, const FJointCallback &InOnControlSuccessDelegate, const FJointCallback &InOnControlFailDelegate, const float InLinearTolerance=-1.0, const float InAngularTolerance=-1.0, const float InTimeOut=-1.0)
	Set the Velocity Target With Array With Delegates object. More...

virtual bool	HasReachedVelocityTarget (const float InLinearTolerance=-1.f, const float InAngularTolerance=-1.f)
	Check Pose reach the target pose. More...

virtual void	SetSinglePositionTarget (const float Input)
	Utility wrapper of SetPoseTarget to provide 1 DoF target orientation. More...

virtual void	SetSingleOrientationTarget (const float Input)
	Utility wrapper of SetPoseTarget to provide 1 DoF target position. More...

virtual void	SetPoseTargetWithDelegates (const FVector &InPosition, const FRotator &InOrientation, const FJointCallback &InOnControlSuccessDelegate, const FJointCallback &InOnControlFailDelegate, const float InPositionTolerance=-1.0, const float InOrientationTolerance=-1.0, const float InTimeOut=-1.0)
	Set Pose Target. More...

virtual void	SetSinglePositionTargetWithDelegates (const float Input, const FJointCallback &InOnControlSuccessDelegate, const FJointCallback &InOnControlFailDelegate, const float InPositionTolerance=-1.0, const float InTimeOut=-1.0)
	Utility wrapper of SetPoseTargetWithDelegates to provide 1 DoF target position. More...

virtual void	SetSingleOrientationTargetWithDelegates (const float Input, const FJointCallback &InOnControlSuccessDelegate, const FJointCallback &InOnControlFailDelegate, const float InOrientationTolerance=-1.0, const float InTimeOut=-1.0)
	Utility wrapper of SetPoseTargetWithDelegates to provide 1 DoF target orientation. More...

virtual bool	HasReachedPoseTarget (const float InPositionTolerance=-1.f, const float InOrientationTolerance=-1.f)
	Check Pose reach the target pose. More...

virtual void	SetPoseWithArray (const TArray< float > &InPose)
	Directly set pose. More...

virtual void	SetPoseTargetWithArray (const TArray< float > &InPose)
	Set Pose Target. More...

virtual void	SetPoseTargetWithArrayWithDelegates (const TArray< float > &InPose, const FJointCallback &InOnControlSuccessDelegate, const FJointCallback &InOnControlFailDelegate, const float InPositionTolerance=-1.0, const float InOrientationTolerance=-1.0, const float InTimeOut=-1.0)
	Set Pose Target. More...

FTransform	GetJointToChildLink ()

FTransform	GetParentLinkToJoint ()

Public Attributes
UPhysicsConstraintComponent *	Constraint = nullptr
	Physics Constraints. More...

bool	bSmoothing = false
	Smoothing TargetPose to Constraint. More...

float	Kvp = 10.f
	Position Velocity Gain used with bSmoothing = false. More...

float	Kva = 10.f
	Angular Velocity Gain used with bSmoothing = false. More...

float	Kip = 0.f
	Position Integral Gain used with bSmoothing = false. More...

float	Kia = 0.f
	Angular Integral Gain used with bSmoothing = false. More...

float	LinearVelocitySmoothingAcc = 10.f
	Acceleration[cm/ss] used by velocity smoothing if #bVelocitySmoothing = true. More...

float	AngularVelocitySmoothingAcc = 10.f
	Acceleration[deg/ss] used by velocity smoothing if #bVelocitySmoothing = true. More...

float	LinearSpring = 1000
	[kg/ss] More...

float	LinearDamper = 10
	[kg/s] More...

float	LinearForceLimit = UE_BIG_NUMBER
	[kg.cm/ss] More...

float	AngularSpring = 100000
	[kg.cm/ss] More...

float	AngularDamper = 10000
	[kg.cm/s] More...

float	AngularForceLimit = UE_BIG_NUMBER
	[kg.deg.deg/ss] More...

bool	bManualConstraintSetting = false
	if false, physics constraints parameters are set from SetJoint . More...

Public Attributes inherited from URRJointComponent
FVector	LinearVelocity = FVector::ZeroVector

FVector	AngularVelocity = FVector::ZeroVector

FVector	LinearVelocityTarget = FVector::ZeroVector

FVector	AngularVelocityTarget = FVector::ZeroVector

FVector	PositionTarget = FVector::ZeroVector

FRotator	OrientationTarget = FRotator::ZeroRotator

FVector	Position = FVector::ZeroVector

FRotator	Orientation = FRotator::ZeroRotator

float	PositionTolerance = 1.f
	[cm] tolerance for control More...

float	OrientationTolerance = 1.f
	[degree] tolerance for control More...

float	LinearVelocityTolerance = 10.f
	[cm/s] tolerance for control More...

float	AngularVelocityTolerance = 10.f
	[degree/s] tolerance for control More...

UStaticMeshComponent *	ParentLink

UStaticMeshComponent *	ChildLink

ERRJointControlType	ControlType = ERRJointControlType::POSITION

uint8	LinearDOF = 0
	Linear Degrees Of Freedom. More...

uint8	RotationalDOF = 1
	Rotational Degrees Of Freedom. More...

FVector	PositionMax = FVector(1000, 1000, 1000)
	Pose Limitations[cm]. More...

FVector	PositionMin = FVector(-1000, -1000, -1000)
	Pose Limitations[cm]. More...

FRotator	OrientationMax = FRotator(180.f)
	Orientation Limitations[deg]. More...

FRotator	OrientationMin = FRotator(-180, -180, -180)
	Orientation Limitations[deg]. More...

FVector	LinearVelMax = FVector(1000, 1000, 1000)
	Linear Velocity Limitations[cm/s]. More...

FVector	AngularVelMax = FVector(180.f)
	Angular Velocity Limitations[deg/s]. More...

bool	bLimitRoll = true

bool	bLimitPitch = true

bool	bLimitYaw = true

FVector	InitialPosition = FVector::ZeroVector

FRotator	InitialOrientation = FRotator::ZeroRotator

Protected Member Functions
virtual void	UpdateState (const float DeltaTime) override

virtual void	UpdateControl (const float DeltaTime) override

virtual void	UpdateIntegral (const FVector &InPositionDiff, const FVector &InOrientationDiff, const float DeltaTime)
	Update LinearVelocityTarget from InPositionDiff and Kvp. More...

virtual void	UpdateVelocityTargetFromPose (const FVector InPositionDiff, const FVector InOrientationDiff)
	Update LinearVelocityTarget from InPositionDiff and Kvp. More...

virtual FRotator	GetOrientationTargetFromEuler (const FVector &InOrientationTarget)
	Get the Orientation Target to SetAngularOrientationTarget from Euler angle. More...

Protected Member Functions inherited from URRJointComponent
virtual void	PoseFromArray (const TArray< float > &InPose, FVector &OutPosition, FRotator &OutOrientation)

virtual void	VelocityFromArray (const TArray< float > &InVelocity, FVector &OutLinearVelocity, FVector &OutAngularVelocity)

virtual void	SetDelegates (const FJointCallback &InOnControlSuccessDelegate, const FJointCallback &InOnControlFailDelegate, const float InPositionTolerance=-1.0, const float InOrientationTolerance=-1.0, const float InLinearTolerance=-1.0, const float InAngularTolerance=-1.0, const float InTimeOut=-1.0f)
	Set Delegates which will be unbounded when move is completed or timeouthappen. More...

virtual void	ResetControl ()

Protected Attributes
FVector	MidLinearVelocityTarget = FVector::ZeroVector
	LinearVelocityTarget for smoothing. More...

FVector	MidAngularVelocityTarget = FVector::ZeroVector
	AngularVelocityTarget for smoothing. More...

FVector	MidPositionTarget = FVector::ZeroVector
	PositionTarget for smoothing. More...

FRotator	MidOrientationTarget = FRotator::ZeroRotator
	OrientationTarget for smoothing. More...

TStaticArray< TwoPointInterpolation, 3 >	PositionTPI
	Position Two Point Interpolation used with bSmoothing = true. More...

TStaticArray< TwoAngleInterpolation, 3 >	OrientationTPI
	Angular Two Point Interpolation used with bSmoothing = true. More...

FVector	PErrInt = FVector::ZeroVector
	Position Error Integral used with bSmoothing = false. More...

FVector	AErrInt = FVector::ZeroVector
	Angular Error Integral used with bSmoothing = false. More...

Protected Attributes inherited from URRJointComponent
FTransform	JointToChildLink = FTransform::Identity

FTransform	ParentLinkToJoint = FTransform::Identity

bool	bMovingToTargetPose = false
	true if joint is moving to target pose More...

bool	bMovingToTargetVelocity = false
	true if joint is moving to target velocity More...

FJointCallback	OnControlSuccessDelegate
	Delegate which is called when joint reach target vel/pose. More...

FJointCallback	OnControlFailDelegate
	Delegate which is called whenjoint failed to reach target vel/pose. More...

float	ControlStartTime = 0.f
	time when target pose/vel are set. More...

float	ControlTimeout = -1.0f
	timeout. If joint can't reach target in this duration, OnControlFailDelegate should be called. More...

Detailed Description

Physics Joint component.

PhysicsConstraintsComponent needs to be defined outside of this class and passed to Constraint in construction.

See also: PhysicsConstraints

UCLASS(ClassGroup = (Custom), meta = (BlueprintSpawnableComponent))

Constructor & Destructor Documentation

◆ URRPhysicsJointComponent()

URRPhysicsJointComponent::URRPhysicsJointComponent ( )

Member Function Documentation

◆ GetOrientationTargetFromEuler()

virtual FRotator URRPhysicsJointComponent::GetOrientationTargetFromEuler ( const FVector & InOrientationTarget )

protectedvirtual

Get the Orientation Target to SetAngularOrientationTarget from Euler angle.

Parameters

InOrientationTarget

Returns: FRotator

UFUNCTION()

◆ InitializeComponent()

virtual void URRPhysicsJointComponent::InitializeComponent ( )

overridevirtual

Initialize Constraint JointToChildLink and ParentLinkToJoint.

Reimplemented from URRJointComponent.

◆ IsValid()

virtual bool URRPhysicsJointComponent::IsValid ( )

overridevirtual

Reimplemented from URRJointComponent.

◆ MoveToInitPose()

virtual void URRPhysicsJointComponent::MoveToInitPose ( )

virtual

UFUNCTION(BlueprintCallable)

Reimplemented from URRJointComponent.

◆ SetJoint()

virtual void URRPhysicsJointComponent::SetJoint ( )

virtual

Set joints parameter and etc

UFUNCTION(BlueprintCallable)

◆ SetPose()

virtual void URRPhysicsJointComponent::SetPose	(	const FVector &	InPosition,
		const FRotator &	InOrientation
	)

overridevirtual

Do nothing since can't set pose directly to physics joint.

Parameters

InPosition
InOrientation

Reimplemented from URRJointComponent.

◆ SetPoseTarget()

virtual void URRPhysicsJointComponent::SetPoseTarget	(	const FVector &	InPosition,
		const FRotator &	InOrientation
	)

overridevirtual

Call SetLinearPositionTarget and SetAngularOrientationTarget.

See also: SetLinearPositionTarget; SetAngularVelocityTarget

Reimplemented from URRJointComponent.

◆ SetVelocity()

virtual void URRPhysicsJointComponent::SetVelocity	(	const FVector &	InLinearVelocity,
		const FVector &	InAngularVelocity
	)

overridevirtual

Do nothing since can't set velocity directly to physics joint.

Parameters

InLinearVelocity
InAngularVelocity

Reimplemented from URRJointComponent.

◆ SetVelocityTarget()

virtual void URRPhysicsJointComponent::SetVelocityTarget	(	const FVector &	InLinearVelocity,
		const FVector &	InAngularVelocity
	)

overridevirtual

Call SetLinearVelocityTarget and SetAngularVelocityTarget.

See also: SetLinearVelocityTarget; SetAngularVelocityTarget

Reimplemented from URRJointComponent.

◆ Teleport()

virtual void URRPhysicsJointComponent::Teleport	(	const FVector &	InPosition,
		const FRotator &	InOrientation
	)

overridevirtual

Disable collision and set target pose to given pose.

Note: temporary implementation. it should teleported target pose instantly.

Parameters

InPosition
InOrientation

Reimplemented from URRJointComponent.

◆ UpdateControl()

virtual void URRPhysicsJointComponent::UpdateControl ( const float DeltaTime )

overrideprotectedvirtual

UFUNCTION()

Reimplemented from URRJointComponent.

◆ UpdateIntegral()

virtual void URRPhysicsJointComponent::UpdateIntegral	(	const FVector &	InPositionDiff,
		const FVector &	InOrientationDiff,
		const float	DeltaTime
	)

protectedvirtual

Update LinearVelocityTarget from InPositionDiff and Kvp.

UFUNCTION() And update AngularVelocityTarget from InOrientationDiff and Kva.

Parameters

InPositionDiff
InPositionDiff
InOrientationDiff
DeltaTime

◆ UpdateState()

virtual void URRPhysicsJointComponent::UpdateState ( const float DeltaTime )

overrideprotectedvirtual

UFUNCTION()

Reimplemented from URRJointComponent.

◆ UpdateVelocityTargetFromPose()

virtual void URRPhysicsJointComponent::UpdateVelocityTargetFromPose	(	const FVector	InPositionDiff,
		const FVector	InOrientationDiff
	)

protectedvirtual

Update LinearVelocityTarget from InPositionDiff and Kvp.

And update AngularVelocityTarget from InOrientationDiff and Kva.

Parameters

InPositionDiff
InOrientationDiff

UFUNCTION()

Member Data Documentation

◆ AErrInt

FVector URRPhysicsJointComponent::AErrInt = FVector::ZeroVector

protected

Angular Error Integral used with bSmoothing = false.

UPROPERTY(VisibleAnywhere)

◆ AngularDamper

float URRPhysicsJointComponent::AngularDamper = 10000

[kg.cm/s]

UPROPERTY(EditAnywhere, BlueprintReadWrite)

◆ AngularForceLimit

float URRPhysicsJointComponent::AngularForceLimit = UE_BIG_NUMBER

[kg.deg.deg/ss]

UPROPERTY(EditAnywhere, BlueprintReadWrite)

◆ AngularSpring

float URRPhysicsJointComponent::AngularSpring = 100000

[kg.cm/ss]

UPROPERTY(EditAnywhere, BlueprintReadWrite)

◆ AngularVelocitySmoothingAcc

float URRPhysicsJointComponent::AngularVelocitySmoothingAcc = 10.f

Acceleration[deg/ss] used by velocity smoothing if #bVelocitySmoothing = true.

UPROPERTY(EditAnywhere, BlueprintReadWrite)

◆ bManualConstraintSetting

bool URRPhysicsJointComponent::bManualConstraintSetting = false

if false, physics constraints parameters are set from SetJoint .

Plese set true if you want to set physics constraints parameter manually.

UPROPERTY(EditAnywhere, BlueprintReadWrite)

◆ bSmoothing

bool URRPhysicsJointComponent::bSmoothing = false

Smoothing TargetPose to Constraint.

If this is false, step pose target are used by SetPoseTarget If this is true, pose target changes linearly with max vel in TickComponent

UPROPERTY(EditAnywhere, BlueprintReadWrite)

◆ Constraint

UPhysicsConstraintComponent* URRPhysicsJointComponent::Constraint = nullptr

Physics Constraints.

UPROPERTY(EditAnywhere, BlueprintReadWrite)

◆ Kia

float URRPhysicsJointComponent::Kia = 0.f

Angular Integral Gain used with bSmoothing = false.

UPROPERTY(EditAnywhere, BlueprintReadWrite)

◆ Kip

float URRPhysicsJointComponent::Kip = 0.f

Position Integral Gain used with bSmoothing = false.

UPROPERTY(EditAnywhere, BlueprintReadWrite)

◆ Kva

float URRPhysicsJointComponent::Kva = 10.f

Angular Velocity Gain used with bSmoothing = false.

UPROPERTY(EditAnywhere, BlueprintReadWrite)

◆ Kvp

float URRPhysicsJointComponent::Kvp = 10.f

Position Velocity Gain used with bSmoothing = false.

UPROPERTY(EditAnywhere, BlueprintReadWrite)

◆ LinearDamper

float URRPhysicsJointComponent::LinearDamper = 10

[kg/s]

UPROPERTY(EditAnywhere, BlueprintReadWrite)

◆ LinearForceLimit

float URRPhysicsJointComponent::LinearForceLimit = UE_BIG_NUMBER

[kg.cm/ss]

UPROPERTY(EditAnywhere, BlueprintReadWrite)

◆ LinearSpring

float URRPhysicsJointComponent::LinearSpring = 1000

[kg/ss]

UPROPERTY(EditAnywhere, BlueprintReadWrite)

TStaticArray<TwoAngleInterpolation, 3> URRPhysicsJointComponent::OrientationTPI

protected

Angular Two Point Interpolation used with bSmoothing = true.

◆ PErrInt

FVector URRPhysicsJointComponent::PErrInt = FVector::ZeroVector

protected

Position Error Integral used with bSmoothing = false.

UPROPERTY(VisibleAnywhere)

◆ PositionTPI

TStaticArray<TwoPointInterpolation, 3> URRPhysicsJointComponent::PositionTPI

protected

Position Two Point Interpolation used with bSmoothing = true.

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

/home/docs/checkouts/readthedocs.org/user_builds/rapyutasimulationplugins/checkouts/devel/Source/RapyutaSimulationPlugins/Public/Drives/RRPhysicsJointComponent.h

Public Member Functions

Public Attributes

Protected Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

◆ URRPhysicsJointComponent()

Member Function Documentation

◆ GetOrientationTargetFromEuler()

◆ InitializeComponent()

◆ IsValid()

◆ MoveToInitPose()

◆ SetJoint()

◆ SetPose()

◆ SetPoseTarget()

◆ SetVelocity()

◆ SetVelocityTarget()

◆ Teleport()

◆ UpdateControl()

◆ UpdateIntegral()

◆ UpdateState()

◆ UpdateVelocityTargetFromPose()

Member Data Documentation

◆ AErrInt

◆ AngularDamper

◆ AngularForceLimit

◆ AngularSpring

◆ AngularVelocitySmoothingAcc

◆ bManualConstraintSetting

◆ bSmoothing

◆ Constraint

◆ Kia

◆ Kip

◆ Kva

◆ Kvp

◆ LinearDamper

◆ LinearForceLimit

◆ LinearSpring

◆ LinearVelocitySmoothingAcc

◆ MidAngularVelocityTarget

◆ MidLinearVelocityTarget

◆ MidOrientationTarget

◆ MidPositionTarget

◆ OrientationTPI

◆ PErrInt

◆ PositionTPI