Struct CenterDistanceConstraintFunctions

Namespace

BepuPhysics.Constraints

Assembly

BepuPhysics.dll

public struct CenterDistanceConstraintFunctions : ITwoBodyConstraintFunctions<CenterDistancePrestepData, Vector<float>>

Implements

ITwoBodyConstraintFunctions<CenterDistancePrestepData, 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 Vector<float>, in Vector<float>, in Vector<float>, ref BodyVelocityWide, ref BodyVelocityWide)

public static void ApplyImpulse(in Vector3Wide jacobianA, in Vector<float> inverseMassA, in Vector<float> inverseMassB, in Vector<float> impulse, ref BodyVelocityWide a, ref BodyVelocityWide b)

Parameters

jacobianA Vector3Wide

inverseMassA Vector<float>

inverseMassB Vector<float>

impulse Vector<float>

a BodyVelocityWide

b BodyVelocityWide

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

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

Parameters

dt Vector<float>

wsvA BodyVelocityWide

wsvB BodyVelocityWide

prestepData CenterDistancePrestepData

Solve(in Vector3Wide, in QuaternionWide, in BodyInertiaWide, in Vector3Wide, in QuaternionWide, in BodyInertiaWide, float, float, ref CenterDistancePrestepData, 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 CenterDistancePrestepData prestep, ref Vector<float> accumulatedImpulse, ref BodyVelocityWide wsvA, ref BodyVelocityWide wsvB)

Parameters

positionA Vector3Wide

orientationA QuaternionWide

inertiaA BodyInertiaWide

positionB Vector3Wide

orientationB QuaternionWide

inertiaB BodyInertiaWide

dt float

inverseDt float

prestep CenterDistancePrestepData

accumulatedImpulse Vector<float>

wsvA BodyVelocityWide

wsvB BodyVelocityWide

WarmStart(in Vector3Wide, in QuaternionWide, in BodyInertiaWide, in Vector3Wide, in QuaternionWide, in BodyInertiaWide, ref CenterDistancePrestepData, 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 CenterDistancePrestepData 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 CenterDistancePrestepData

accumulatedImpulses Vector<float>

wsvA BodyVelocityWide

wsvB BodyVelocityWide