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<div class="header">
  <div class="summary">
<a href="#pub-methods">Public Member Functions</a> &#124;
<a href="#pub-attribs">Public Attributes</a> &#124;
<a href="struct_soft_body_shared_settings_1_1_rod_stretch_shear-members.html">List of all members</a>  </div>
  <div class="headertitle"><div class="title">SoftBodySharedSettings::RodStretchShear Struct Reference</div></div>
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<p><code>#include &lt;<a class="el" href="_soft_body_shared_settings_8h_source.html">SoftBodySharedSettings.h</a>&gt;</code></p>
<table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a id="pub-methods" name="pub-methods"></a>
Public Member Functions</h2></td></tr>
<tr class="memitem:a0eabeb5a47a794616c41283fed76010a" id="r_a0eabeb5a47a794616c41283fed76010a"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#a0eabeb5a47a794616c41283fed76010a">RodStretchShear</a> ()=default</td></tr>
<tr class="memdesc:a0eabeb5a47a794616c41283fed76010a"><td class="mdescLeft">&#160;</td><td class="mdescRight">Constructor.  <br /></td></tr>
<tr class="separator:a0eabeb5a47a794616c41283fed76010a"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:abba9a16f2070373e65322cf52124402f" id="r_abba9a16f2070373e65322cf52124402f"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#abba9a16f2070373e65322cf52124402f">RodStretchShear</a> (<a class="el" href="_core_8h.html#a8f95e75e58492e87412191fabadd8ca8">uint32</a> inVertex1, <a class="el" href="_core_8h.html#a8f95e75e58492e87412191fabadd8ca8">uint32</a> inVertex2, float inCompliance=0.0f)</td></tr>
<tr class="separator:abba9a16f2070373e65322cf52124402f"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ac0d05703f78d008ce04083a1f9741568" id="r_ac0d05703f78d008ce04083a1f9741568"><td class="memItemLeft" align="right" valign="top"><a class="el" href="_core_8h.html#a8f95e75e58492e87412191fabadd8ca8">uint32</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#ac0d05703f78d008ce04083a1f9741568">GetMinVertexIndex</a> () const</td></tr>
<tr class="memdesc:ac0d05703f78d008ce04083a1f9741568"><td class="mdescLeft">&#160;</td><td class="mdescRight">Return the lowest vertex index of this constraint.  <br /></td></tr>
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<tr class="heading"><td colspan="2"><h2 class="groupheader"><a id="pub-attribs" name="pub-attribs"></a>
Public Attributes</h2></td></tr>
<tr class="memitem:a911376c4d3e8487d772a6f527fd0df42" id="r_a911376c4d3e8487d772a6f527fd0df42"><td class="memItemLeft" align="right" valign="top"><a class="el" href="_core_8h.html#a8f95e75e58492e87412191fabadd8ca8">uint32</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#a911376c4d3e8487d772a6f527fd0df42">mVertex</a> [2]</td></tr>
<tr class="memdesc:a911376c4d3e8487d772a6f527fd0df42"><td class="mdescLeft">&#160;</td><td class="mdescRight">Indices of the vertices that form the rod.  <br /></td></tr>
<tr class="separator:a911376c4d3e8487d772a6f527fd0df42"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a65a7a1d1aa99a06a0d5ccc476ba71c43" id="r_a65a7a1d1aa99a06a0d5ccc476ba71c43"><td class="memItemLeft" align="right" valign="top">float&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#a65a7a1d1aa99a06a0d5ccc476ba71c43">mLength</a> = 1.0f</td></tr>
<tr class="memdesc:a65a7a1d1aa99a06a0d5ccc476ba71c43"><td class="mdescLeft">&#160;</td><td class="mdescRight">Fixed length of the rod, calculated by CalculateRodProperties.  <br /></td></tr>
<tr class="separator:a65a7a1d1aa99a06a0d5ccc476ba71c43"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:af5a2328e96752c4749c3c581ccf0b5fe" id="r_af5a2328e96752c4749c3c581ccf0b5fe"><td class="memItemLeft" align="right" valign="top">float&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#af5a2328e96752c4749c3c581ccf0b5fe">mInvMass</a> = 1.0f</td></tr>
<tr class="memdesc:af5a2328e96752c4749c3c581ccf0b5fe"><td class="mdescLeft">&#160;</td><td class="mdescRight">Inverse of the mass of the rod (0 for static rods), calculated by CalculateRodProperties but can be overridden afterwards.  <br /></td></tr>
<tr class="separator:af5a2328e96752c4749c3c581ccf0b5fe"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a02a603803bc3d9fda1af73c321be23fe" id="r_a02a603803bc3d9fda1af73c321be23fe"><td class="memItemLeft" align="right" valign="top">float&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#a02a603803bc3d9fda1af73c321be23fe">mCompliance</a> = 0.0f</td></tr>
<tr class="memdesc:a02a603803bc3d9fda1af73c321be23fe"><td class="mdescLeft">&#160;</td><td class="mdescRight">Inverse of the stiffness of the rod.  <br /></td></tr>
<tr class="separator:a02a603803bc3d9fda1af73c321be23fe"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a87a389e4c506510aab1f3324c3112051" id="r_a87a389e4c506510aab1f3324c3112051"><td class="memItemLeft" align="right" valign="top"><a class="el" href="class_quat.html">Quat</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#a87a389e4c506510aab1f3324c3112051">mBishop</a> = <a class="el" href="class_quat.html#aed30764b796cee2d0169b126c3839bc1">Quat::sZero</a>()</td></tr>
<tr class="memdesc:a87a389e4c506510aab1f3324c3112051"><td class="mdescLeft">&#160;</td><td class="mdescRight">The Bishop frame of the rod (the rotation of the rod in its rest pose so that it has zero twist towards adjacent rods), calculated by CalculateRodProperties.  <br /></td></tr>
<tr class="separator:a87a389e4c506510aab1f3324c3112051"><td class="memSeparator" colspan="2">&#160;</td></tr>
</table>
<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
<div class="textblock"><p>A discrete Cosserat rod connects two particles with a rigid rod that has fixed length and inertia. A rod can be used instead of an <a class="el" href="struct_soft_body_shared_settings_1_1_edge.html" title="An edge keeps two vertices at a constant distance using a spring: |x1 - x2| = rest length.">Edge</a> to constraint two vertices. The orientation of the rod can be used to orient geometry attached to the rod (e.g. a plant leaf). Note that each rod needs to be constrained by at least one <a class="el" href="struct_soft_body_shared_settings_1_1_rod_bend_twist.html" title="A constraint that connects two Cosserat rods and limits bend and twist between the rods.">RodBendTwist</a> constraint in order to constrain the rotation of the rod. If you don't do this then the orientation is likely to rotate around the rod axis with constant velocity. Based on "Position and Orientation Based Cosserat Rods" - Kugelstadt and Schoemer - SIGGRAPH 2016 See: <a href="https://www.researchgate.net/publication/325597548_Position_and_Orientation_Based_Cosserat_Rods">https://www.researchgate.net/publication/325597548_Position_and_Orientation_Based_Cosserat_Rods</a> </p>
</div><h2 class="groupheader">Constructor &amp; Destructor Documentation</h2>
<a id="a0eabeb5a47a794616c41283fed76010a" name="a0eabeb5a47a794616c41283fed76010a"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a0eabeb5a47a794616c41283fed76010a">&#9670;&#160;</a></span>RodStretchShear() <span class="overload">[1/2]</span></h2>

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          <td class="memname">SoftBodySharedSettings::RodStretchShear::RodStretchShear </td>
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<p>Constructor. </p>

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<h2 class="memtitle"><span class="permalink"><a href="#abba9a16f2070373e65322cf52124402f">&#9670;&#160;</a></span>RodStretchShear() <span class="overload">[2/2]</span></h2>

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          <td class="memname">SoftBodySharedSettings::RodStretchShear::RodStretchShear </td>
          <td>(</td>
          <td class="paramtype"><a class="el" href="_core_8h.html#a8f95e75e58492e87412191fabadd8ca8">uint32</a></td>          <td class="paramname"><span class="paramname"><em>inVertex1</em></span>, </td>
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          <td class="paramtype"><a class="el" href="_core_8h.html#a8f95e75e58492e87412191fabadd8ca8">uint32</a></td>          <td class="paramname"><span class="paramname"><em>inVertex2</em></span>, </td>
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          <td class="paramtype">float</td>          <td class="paramname"><span class="paramname"><em>inCompliance</em></span><span class="paramdefsep"> = </span><span class="paramdefval">0.0f</span>&#160;)</td>
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<h2 class="groupheader">Member Function Documentation</h2>
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<h2 class="memtitle"><span class="permalink"><a href="#ac0d05703f78d008ce04083a1f9741568">&#9670;&#160;</a></span>GetMinVertexIndex()</h2>

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          <td class="memname"><a class="el" href="_core_8h.html#a8f95e75e58492e87412191fabadd8ca8">uint32</a> SoftBodySharedSettings::RodStretchShear::GetMinVertexIndex </td>
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<p>Return the lowest vertex index of this constraint. </p>

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<h2 class="groupheader">Member Data Documentation</h2>
<a id="a87a389e4c506510aab1f3324c3112051" name="a87a389e4c506510aab1f3324c3112051"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a87a389e4c506510aab1f3324c3112051">&#9670;&#160;</a></span>mBishop</h2>

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          <td class="memname"><a class="el" href="class_quat.html">Quat</a> SoftBodySharedSettings::RodStretchShear::mBishop = <a class="el" href="class_quat.html#aed30764b796cee2d0169b126c3839bc1">Quat::sZero</a>()</td>
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<p>The Bishop frame of the rod (the rotation of the rod in its rest pose so that it has zero twist towards adjacent rods), calculated by CalculateRodProperties. </p>

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<h2 class="memtitle"><span class="permalink"><a href="#a02a603803bc3d9fda1af73c321be23fe">&#9670;&#160;</a></span>mCompliance</h2>

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          <td class="memname">float SoftBodySharedSettings::RodStretchShear::mCompliance = 0.0f</td>
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<p>Inverse of the stiffness of the rod. </p>

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<h2 class="memtitle"><span class="permalink"><a href="#af5a2328e96752c4749c3c581ccf0b5fe">&#9670;&#160;</a></span>mInvMass</h2>

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          <td class="memname">float SoftBodySharedSettings::RodStretchShear::mInvMass = 1.0f</td>
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<p>Inverse of the mass of the rod (0 for static rods), calculated by CalculateRodProperties but can be overridden afterwards. </p>

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<h2 class="memtitle"><span class="permalink"><a href="#a65a7a1d1aa99a06a0d5ccc476ba71c43">&#9670;&#160;</a></span>mLength</h2>

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          <td class="memname">float SoftBodySharedSettings::RodStretchShear::mLength = 1.0f</td>
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<p>Fixed length of the rod, calculated by CalculateRodProperties. </p>

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<h2 class="memtitle"><span class="permalink"><a href="#a911376c4d3e8487d772a6f527fd0df42">&#9670;&#160;</a></span>mVertex</h2>

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          <td class="memname"><a class="el" href="_core_8h.html#a8f95e75e58492e87412191fabadd8ca8">uint32</a> SoftBodySharedSettings::RodStretchShear::mVertex[2]</td>
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<p>Indices of the vertices that form the rod. </p>

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<hr/>The documentation for this struct was generated from the following file:<ul>
<li>Jolt/Physics/SoftBody/<a class="el" href="_soft_body_shared_settings_8h_source.html">SoftBodySharedSettings.h</a></li>
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