Struct ContactNonconvexOneBodyFunctions<TPrestep, TAccumulatedImpulses>

Namespace

BepuPhysics.Constraints.Contact

Assembly

BepuPhysics.dll

public struct ContactNonconvexOneBodyFunctions<TPrestep, TAccumulatedImpulses> : IOneBodyConstraintFunctions<TPrestep, TAccumulatedImpulses> where TPrestep : struct, INonconvexContactPrestep<TPrestep> where TAccumulatedImpulses : struct

Type Parameters

TPrestep

TAccumulatedImpulses

Implements

IOneBodyConstraintFunctions<TPrestep, TAccumulatedImpulses>

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

IncrementallyUpdateContactData(in Vector<float>, in BodyVelocityWide, ref TPrestep)

public void IncrementallyUpdateContactData(in Vector<float> dt, in BodyVelocityWide velocity, ref TPrestep prestep)

Parameters

dt Vector<float>

velocity BodyVelocityWide

prestep TPrestep

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

public static void IncrementallyUpdateForSubstep(in Vector<float> dt, in BodyVelocityWide wsvA, ref TPrestep prestep)

Parameters

dt Vector<float>

wsvA BodyVelocityWide

prestep TPrestep

Solve(in Vector3Wide, in QuaternionWide, in BodyInertiaWide, float, float, ref TPrestep, ref TAccumulatedImpulses, ref BodyVelocityWide)

public static void Solve(in Vector3Wide positionA, in QuaternionWide orientationA, in BodyInertiaWide inertiaA, float dt, float inverseDt, ref TPrestep prestep, ref TAccumulatedImpulses accumulatedImpulses, ref BodyVelocityWide wsvA)

Parameters

positionA Vector3Wide

orientationA QuaternionWide

inertiaA BodyInertiaWide

dt float

inverseDt float

prestep TPrestep

accumulatedImpulses TAccumulatedImpulses

wsvA BodyVelocityWide

UpdateForNewPose(in Vector3Wide, in QuaternionWide, in BodyInertiaWide, in BodyVelocityWide, in Vector<float>, in TAccumulatedImpulses, ref TPrestep)

public void UpdateForNewPose(in Vector3Wide positionA, in QuaternionWide orientationA, in BodyInertiaWide inertiaA, in BodyVelocityWide wsvA, in Vector<float> dt, in TAccumulatedImpulses accumulatedImpulses, ref TPrestep prestep)

Parameters

positionA Vector3Wide

orientationA QuaternionWide

inertiaA BodyInertiaWide

wsvA BodyVelocityWide

dt Vector<float>

accumulatedImpulses TAccumulatedImpulses

prestep TPrestep

WarmStart(in Vector3Wide, in QuaternionWide, in BodyInertiaWide, ref TPrestep, ref TAccumulatedImpulses, ref BodyVelocityWide)

public static void WarmStart(in Vector3Wide positionA, in QuaternionWide orientationA, in BodyInertiaWide inertiaA, ref TPrestep prestep, ref TAccumulatedImpulses accumulatedImpulses, ref BodyVelocityWide wsvA)

Parameters

positionA Vector3Wide

orientationA QuaternionWide

inertiaA BodyInertiaWide

prestep TPrestep

accumulatedImpulses TAccumulatedImpulses

wsvA BodyVelocityWide