Class TangentFriction

Namespace

BepuPhysics.Constraints.Contact

Assembly

BepuPhysics.dll

Handles the tangent friction implementation.

public static class TangentFriction

Inheritance

object

TangentFriction

Inherited Members

object.Equals(object)

object.Equals(object, object)

object.GetHashCode()

object.GetType()

object.MemberwiseClone()

object.ReferenceEquals(object, object)

object.ToString()

Methods

ApplyImpulse(in Jacobians, in BodyInertiaWide, in BodyInertiaWide, in Vector2Wide, ref BodyVelocityWide, ref BodyVelocityWide)

Transforms an impulse from constraint space to world space, uses it to modify the cached world space velocities of the bodies.

public static void ApplyImpulse(in TangentFriction.Jacobians jacobians, in BodyInertiaWide inertiaA, in BodyInertiaWide inertiaB, in Vector2Wide correctiveImpulse, ref BodyVelocityWide wsvA, ref BodyVelocityWide wsvB)

Parameters

jacobians TangentFriction.Jacobians

inertiaA BodyInertiaWide

inertiaB BodyInertiaWide

correctiveImpulse Vector2Wide

wsvA BodyVelocityWide

wsvB BodyVelocityWide

ComputeCorrectiveImpulse(in BodyVelocityWide, in BodyVelocityWide, in Symmetric2x2Wide, in Jacobians, in Vector<float>, ref Vector2Wide, out Vector2Wide)

public static void ComputeCorrectiveImpulse(in BodyVelocityWide wsvA, in BodyVelocityWide wsvB, in Symmetric2x2Wide effectiveMass, in TangentFriction.Jacobians jacobians, in Vector<float> maximumImpulse, ref Vector2Wide accumulatedImpulse, out Vector2Wide correctiveCSI)

Parameters

wsvA BodyVelocityWide

wsvB BodyVelocityWide

effectiveMass Symmetric2x2Wide

jacobians TangentFriction.Jacobians

maximumImpulse Vector<float>

accumulatedImpulse Vector2Wide

correctiveCSI Vector2Wide

ComputeJacobians(in Vector3Wide, in Vector3Wide, in Vector3Wide, in Vector3Wide, out Jacobians)

public static void ComputeJacobians(in Vector3Wide tangentX, in Vector3Wide tangentY, in Vector3Wide offsetA, in Vector3Wide offsetB, out TangentFriction.Jacobians jacobians)

Parameters

tangentX Vector3Wide

tangentY Vector3Wide

offsetA Vector3Wide

offsetB Vector3Wide

jacobians TangentFriction.Jacobians

Solve(in Vector3Wide, in Vector3Wide, in Vector3Wide, in Vector3Wide, in BodyInertiaWide, in BodyInertiaWide, in Vector<float>, ref Vector2Wide, ref BodyVelocityWide, ref BodyVelocityWide)

public static void Solve(in Vector3Wide tangentX, in Vector3Wide tangentY, in Vector3Wide offsetToManifoldCenterA, in Vector3Wide offsetToManifoldCenterB, in BodyInertiaWide inertiaA, in BodyInertiaWide inertiaB, in Vector<float> maximumImpulse, ref Vector2Wide accumulatedImpulse, ref BodyVelocityWide wsvA, ref BodyVelocityWide wsvB)

Parameters

tangentX Vector3Wide

tangentY Vector3Wide

offsetToManifoldCenterA Vector3Wide

offsetToManifoldCenterB Vector3Wide

inertiaA BodyInertiaWide

inertiaB BodyInertiaWide

maximumImpulse Vector<float>

accumulatedImpulse Vector2Wide

wsvA BodyVelocityWide

wsvB BodyVelocityWide

WarmStart(in Vector3Wide, in Vector3Wide, in Vector3Wide, in Vector3Wide, in BodyInertiaWide, in BodyInertiaWide, in Vector2Wide, ref BodyVelocityWide, ref BodyVelocityWide)

public static void WarmStart(in Vector3Wide tangentX, in Vector3Wide tangentY, in Vector3Wide offsetToManifoldCenterA, in Vector3Wide offsetToManifoldCenterB, in BodyInertiaWide inertiaA, in BodyInertiaWide inertiaB, in Vector2Wide accumulatedImpulse, ref BodyVelocityWide wsvA, ref BodyVelocityWide wsvB)

Parameters

tangentX Vector3Wide

tangentY Vector3Wide

offsetToManifoldCenterA Vector3Wide

offsetToManifoldCenterB Vector3Wide

inertiaA BodyInertiaWide

inertiaB BodyInertiaWide

accumulatedImpulse Vector2Wide

wsvA BodyVelocityWide

wsvB BodyVelocityWide