Struct AngularMotorFunctions

Namespace

BepuPhysics.Constraints

Assembly

BepuPhysics.dll

public struct AngularMotorFunctions : ITwoBodyConstraintFunctions<AngularMotorPrestepData, Vector3Wide>

Implements

ITwoBodyConstraintFunctions<AngularMotorPrestepData, Vector3Wide>

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

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

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

Parameters

dt Vector<float>

wsvA BodyVelocityWide

wsvB BodyVelocityWide

prestepData AngularMotorPrestepData

Solve(in Vector3Wide, in QuaternionWide, in BodyInertiaWide, in Vector3Wide, in QuaternionWide, in BodyInertiaWide, float, float, ref AngularMotorPrestepData, ref Vector3Wide, 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 AngularMotorPrestepData prestep, ref Vector3Wide 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 AngularMotorPrestepData

accumulatedImpulses Vector3Wide

wsvA BodyVelocityWide

wsvB BodyVelocityWide

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

Parameters

positionA Vector3Wide

orientationA QuaternionWide

inertiaA BodyInertiaWide

positionB Vector3Wide

orientationB QuaternionWide

inertiaB BodyInertiaWide

prestep AngularMotorPrestepData

accumulatedImpulses Vector3Wide

wsvA BodyVelocityWide

wsvB BodyVelocityWide