Struct AngularAxisMotorFunctions

Namespace

BepuPhysics.Constraints

Assembly

BepuPhysics.dll

public struct AngularAxisMotorFunctions : ITwoBodyConstraintFunctions<AngularAxisMotorPrestepData, Vector<float>>

Implements

ITwoBodyConstraintFunctions<AngularAxisMotorPrestepData, Vector<float>>

Inherited Members

ValueType.Equals(object)

ValueType.GetHashCode()

ValueType.ToString()

object.Equals(object, object)

object.GetType()

object.ReferenceEquals(object, object)

Properties

RequiresIncrementalSubstepUpdates

Gets whether this constraint type requires incremental updates for each substep taken beyond the first.

public static bool RequiresIncrementalSubstepUpdates { get; }

Property Value

bool

Methods

ApplyImpulse(in Vector3Wide, in Vector3Wide, in Vector<float>, ref Vector3Wide, ref Vector3Wide)

public static void ApplyImpulse(in Vector3Wide impulseToVelocityA, in Vector3Wide negatedImpulseToVelocityB, in Vector<float> csi, ref Vector3Wide angularVelocityA, ref Vector3Wide angularVelocityB)

Parameters

impulseToVelocityA Vector3Wide

negatedImpulseToVelocityB Vector3Wide

csi Vector<float>

angularVelocityA Vector3Wide

angularVelocityB Vector3Wide

IncrementallyUpdateForSubstep(in Vector<float>, in BodyVelocityWide, in BodyVelocityWide, ref AngularAxisMotorPrestepData)

public static void IncrementallyUpdateForSubstep(in Vector<float> dt, in BodyVelocityWide wsvA, in BodyVelocityWide wsvB, ref AngularAxisMotorPrestepData prestepData)

Parameters

dt Vector<float>

wsvA BodyVelocityWide

wsvB BodyVelocityWide

prestepData AngularAxisMotorPrestepData

Solve(in Vector3Wide, in QuaternionWide, in BodyInertiaWide, in Vector3Wide, in QuaternionWide, in BodyInertiaWide, float, float, ref AngularAxisMotorPrestepData, ref Vector<float>, ref BodyVelocityWide, ref BodyVelocityWide)

public static void Solve(in Vector3Wide positionA, in QuaternionWide orientationA, in BodyInertiaWide inertiaA, in Vector3Wide positionB, in QuaternionWide orientationB, in BodyInertiaWide inertiaB, float dt, float inverseDt, ref AngularAxisMotorPrestepData prestep, ref Vector<float> accumulatedImpulses, ref BodyVelocityWide wsvA, ref BodyVelocityWide wsvB)

Parameters

positionA Vector3Wide

orientationA QuaternionWide

inertiaA BodyInertiaWide

positionB Vector3Wide

orientationB QuaternionWide

inertiaB BodyInertiaWide

dt float

inverseDt float

prestep AngularAxisMotorPrestepData

accumulatedImpulses Vector<float>

wsvA BodyVelocityWide

wsvB BodyVelocityWide

WarmStart(in Vector3Wide, in QuaternionWide, in BodyInertiaWide, in Vector3Wide, in QuaternionWide, in BodyInertiaWide, ref AngularAxisMotorPrestepData, ref Vector<float>, ref BodyVelocityWide, ref BodyVelocityWide)

public static void WarmStart(in Vector3Wide positionA, in QuaternionWide orientationA, in BodyInertiaWide inertiaA, in Vector3Wide positionB, in QuaternionWide orientationB, in BodyInertiaWide inertiaB, ref AngularAxisMotorPrestepData prestep, ref Vector<float> accumulatedImpulses, ref BodyVelocityWide wsvA, ref BodyVelocityWide wsvB)

Parameters

positionA Vector3Wide

orientationA QuaternionWide

inertiaA BodyInertiaWide

positionB Vector3Wide

orientationB QuaternionWide

inertiaB BodyInertiaWide

prestep AngularAxisMotorPrestepData

accumulatedImpulses Vector<float>

wsvA BodyVelocityWide

wsvB BodyVelocityWide