Class TwistFrictionOneBody

Namespace

BepuPhysics.Constraints.Contact

Assembly

BepuPhysics.dll

Handles the tangent friction implementation.

public static class TwistFrictionOneBody

Inheritance

object

TwistFrictionOneBody

Inherited Members

object.Equals(object)

object.Equals(object, object)

object.GetHashCode()

object.GetType()

object.MemberwiseClone()

object.ReferenceEquals(object, object)

object.ToString()

Methods

ApplyImpulse(in Vector3Wide, in BodyInertiaWide, in Vector<float>, 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 Vector3Wide angularJacobianA, in BodyInertiaWide inertiaA, in Vector<float> correctiveImpulse, ref BodyVelocityWide wsvA)

Parameters

angularJacobianA Vector3Wide

inertiaA BodyInertiaWide

correctiveImpulse Vector<float>

wsvA BodyVelocityWide

ComputeCorrectiveImpulse(in Vector3Wide, in Vector<float>, in BodyVelocityWide, in Vector<float>, ref Vector<float>, out Vector<float>)

public static void ComputeCorrectiveImpulse(in Vector3Wide angularJacobianA, in Vector<float> effectiveMass, in BodyVelocityWide wsvA, in Vector<float> maximumImpulse, ref Vector<float> accumulatedImpulse, out Vector<float> correctiveCSI)

Parameters

angularJacobianA Vector3Wide

effectiveMass Vector<float>

wsvA BodyVelocityWide

maximumImpulse Vector<float>

accumulatedImpulse Vector<float>

correctiveCSI Vector<float>

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

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

Parameters

angularJacobianA Vector3Wide

inertiaA BodyInertiaWide

maximumImpulse Vector<float>

accumulatedImpulse Vector<float>

wsvA BodyVelocityWide

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

public static void WarmStart(in Vector3Wide angularJacobianA, in BodyInertiaWide inertiaA, in Vector<float> accumulatedImpulse, ref BodyVelocityWide wsvA)

Parameters

angularJacobianA Vector3Wide

inertiaA BodyInertiaWide

accumulatedImpulse Vector<float>

wsvA BodyVelocityWide