Class TangentFrictionOneBody

Namespace

BepuPhysics.Constraints.Contact

Assembly

BepuPhysics.dll

Handles the tangent friction implementation for one body contact constraints.

public static class TangentFrictionOneBody

Inheritance

object

TangentFrictionOneBody

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 Vector2Wide, 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 TangentFrictionOneBody.Jacobians jacobians, in BodyInertiaWide inertiaA, in Vector2Wide correctiveImpulse, ref BodyVelocityWide wsvA)

Parameters

jacobians TangentFrictionOneBody.Jacobians

inertiaA BodyInertiaWide

correctiveImpulse Vector2Wide

wsvA BodyVelocityWide

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

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

Parameters

wsvA BodyVelocityWide

effectiveMass Symmetric2x2Wide

jacobians TangentFrictionOneBody.Jacobians

maximumImpulse Vector<float>

accumulatedImpulse Vector2Wide

correctiveCSI Vector2Wide

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

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

Parameters

tangentX Vector3Wide

tangentY Vector3Wide

offsetA Vector3Wide

jacobians TangentFrictionOneBody.Jacobians

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

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

Parameters

tangentX Vector3Wide

tangentY Vector3Wide

offsetToManifoldCenterA Vector3Wide

inertiaA BodyInertiaWide

maximumImpulse Vector<float>

accumulatedImpulse Vector2Wide

wsvA BodyVelocityWide

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

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

Parameters

tangentX Vector3Wide

tangentY Vector3Wide

offsetToManifoldCenterA Vector3Wide

inertiaA BodyInertiaWide

accumulatedImpulse Vector2Wide

wsvA BodyVelocityWide