Struct Contact2Functions

Namespace

BepuPhysics.Constraints.Contact

Assembly

BepuPhysics.dll

public struct Contact2Functions : ITwoBodyConstraintFunctions<Contact2PrestepData, Contact2AccumulatedImpulses>

Implements

ITwoBodyConstraintFunctions<Contact2PrestepData, Contact2AccumulatedImpulses>

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 Contact2PrestepData)

public static void IncrementallyUpdateForSubstep(in Vector<float> dt, in BodyVelocityWide velocityA, in BodyVelocityWide velocityB, ref Contact2PrestepData prestep)

Parameters

dt Vector<float>

velocityA BodyVelocityWide

velocityB BodyVelocityWide

prestep Contact2PrestepData

Solve(in Vector3Wide, in QuaternionWide, in BodyInertiaWide, in Vector3Wide, in QuaternionWide, in BodyInertiaWide, float, float, ref Contact2PrestepData, ref Contact2AccumulatedImpulses, 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 Contact2PrestepData prestep, ref Contact2AccumulatedImpulses 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 Contact2PrestepData

accumulatedImpulses Contact2AccumulatedImpulses

wsvA BodyVelocityWide

wsvB BodyVelocityWide

WarmStart(in Vector3Wide, in QuaternionWide, in BodyInertiaWide, in Vector3Wide, in QuaternionWide, in BodyInertiaWide, ref Contact2PrestepData, ref Contact2AccumulatedImpulses, 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 Contact2PrestepData prestep, ref Contact2AccumulatedImpulses accumulatedImpulses, ref BodyVelocityWide wsvA, ref BodyVelocityWide wsvB)

Parameters

positionA Vector3Wide

orientationA QuaternionWide

inertiaA BodyInertiaWide

positionB Vector3Wide

orientationB QuaternionWide

inertiaB BodyInertiaWide

prestep Contact2PrestepData

accumulatedImpulses Contact2AccumulatedImpulses

wsvA BodyVelocityWide

wsvB BodyVelocityWide