Struct AngularHingeFunctions

Namespace

BepuPhysics.Constraints

Assembly

BepuPhysics.dll

public struct AngularHingeFunctions : ITwoBodyConstraintFunctions<AngularHingePrestepData, Vector2Wide>

Implements

ITwoBodyConstraintFunctions<AngularHingePrestepData, Vector2Wide>

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

GetErrorAngles(in Vector3Wide, in Vector3Wide, in Matrix2x3Wide, out Vector2Wide)

public static void GetErrorAngles(in Vector3Wide hingeAxisA, in Vector3Wide hingeAxisB, in Matrix2x3Wide jacobianA, out Vector2Wide errorAngles)

Parameters

hingeAxisA Vector3Wide

hingeAxisB Vector3Wide

jacobianA Matrix2x3Wide

errorAngles Vector2Wide

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

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

Parameters

dt Vector<float>

wsvA BodyVelocityWide

wsvB BodyVelocityWide

prestepData AngularHingePrestepData

Solve(in Vector3Wide, in QuaternionWide, in BodyInertiaWide, in Vector3Wide, in QuaternionWide, in BodyInertiaWide, float, float, ref AngularHingePrestepData, ref Vector2Wide, 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 AngularHingePrestepData prestep, ref Vector2Wide 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 AngularHingePrestepData

accumulatedImpulses Vector2Wide

wsvA BodyVelocityWide

wsvB BodyVelocityWide

WarmStart(in Vector3Wide, in QuaternionWide, in BodyInertiaWide, in Vector3Wide, in QuaternionWide, in BodyInertiaWide, ref AngularHingePrestepData, ref Vector2Wide, 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 AngularHingePrestepData prestep, ref Vector2Wide accumulatedImpulses, ref BodyVelocityWide wsvA, ref BodyVelocityWide wsvB)

Parameters

positionA Vector3Wide

orientationA QuaternionWide

inertiaA BodyInertiaWide

positionB Vector3Wide

orientationB QuaternionWide

inertiaB BodyInertiaWide

prestep AngularHingePrestepData

accumulatedImpulses Vector2Wide

wsvA BodyVelocityWide

wsvB BodyVelocityWide