Struct AngularServoFunctions

Namespace

BepuPhysics.Constraints

Assembly

BepuPhysics.dll

public struct AngularServoFunctions : ITwoBodyConstraintFunctions<AngularServoPrestepData, Vector3Wide>

Implements

ITwoBodyConstraintFunctions<AngularServoPrestepData, 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

ApplyImpulse(ref Vector3Wide, ref Vector3Wide, in Symmetric3x3Wide, in Symmetric3x3Wide, in Vector3Wide)

public static void ApplyImpulse(ref Vector3Wide angularVelocityA, ref Vector3Wide angularVelocityB, in Symmetric3x3Wide impulseToVelocityA, in Symmetric3x3Wide negatedImpulseToVelocityB, in Vector3Wide csi)

Parameters

angularVelocityA Vector3Wide

angularVelocityB Vector3Wide

impulseToVelocityA Symmetric3x3Wide

negatedImpulseToVelocityB Symmetric3x3Wide

csi Vector3Wide

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

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

Parameters

dt Vector<float>

wsvA BodyVelocityWide

wsvB BodyVelocityWide

prestepData AngularServoPrestepData

Solve(in Vector3Wide, in QuaternionWide, in BodyInertiaWide, in Vector3Wide, in QuaternionWide, in BodyInertiaWide, float, float, ref AngularServoPrestepData, 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 AngularServoPrestepData 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 AngularServoPrestepData

accumulatedImpulses Vector3Wide

wsvA BodyVelocityWide

wsvB BodyVelocityWide

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

Parameters

positionA Vector3Wide

orientationA QuaternionWide

inertiaA BodyInertiaWide

positionB Vector3Wide

orientationB QuaternionWide

inertiaB BodyInertiaWide

prestep AngularServoPrestepData

accumulatedImpulses Vector3Wide

wsvA BodyVelocityWide

wsvB BodyVelocityWide