Struct DistanceLimitFunctions

Namespace

BepuPhysics.Constraints

Assembly

BepuPhysics.dll

public struct DistanceLimitFunctions : ITwoBodyConstraintFunctions<DistanceLimitPrestepData, Vector<float>>

Implements

ITwoBodyConstraintFunctions<DistanceLimitPrestepData, Vector<float>>

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

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

public static void ApplyImpulse(in Vector3Wide linearJacobianA, in Vector3Wide angularJacobianA, in Vector3Wide angularJacobianB, in BodyInertiaWide inertiaA, in BodyInertiaWide inertiaB, in Vector<float> csi, ref BodyVelocityWide velocityA, ref BodyVelocityWide velocityB)

Parameters

linearJacobianA Vector3Wide

angularJacobianA Vector3Wide

angularJacobianB Vector3Wide

inertiaA BodyInertiaWide

inertiaB BodyInertiaWide

csi Vector<float>

velocityA BodyVelocityWide

velocityB BodyVelocityWide

ComputeJacobians(in Vector3Wide, in Vector3Wide, in QuaternionWide, in Vector3Wide, in Vector3Wide, in QuaternionWide, in Vector<float>, in Vector<float>, out Vector<int>, out Vector<float>, out Vector3Wide, out Vector3Wide, out Vector3Wide)

public static void ComputeJacobians(in Vector3Wide localOffsetA, in Vector3Wide positionA, in QuaternionWide orientationA, in Vector3Wide localOffsetB, in Vector3Wide positionB, in QuaternionWide orientationB, in Vector<float> minimumDistance, in Vector<float> maximumDistance, out Vector<int> useMinimum, out Vector<float> distance, out Vector3Wide direction, out Vector3Wide angularJA, out Vector3Wide angularJB)

Parameters

localOffsetA Vector3Wide

positionA Vector3Wide

orientationA QuaternionWide

localOffsetB Vector3Wide

positionB Vector3Wide

orientationB QuaternionWide

minimumDistance Vector<float>

maximumDistance Vector<float>

useMinimum Vector<int>

distance Vector<float>

direction Vector3Wide

angularJA Vector3Wide

angularJB Vector3Wide

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

public static void IncrementallyUpdateForSubstep(in Vector<float> dt, in BodyVelocityWide wsvA, in BodyVelocityWide wsvB, ref DistanceLimitPrestepData prestepData)

Parameters

dt Vector<float>

wsvA BodyVelocityWide

wsvB BodyVelocityWide

prestepData DistanceLimitPrestepData

Solve(in Vector3Wide, in QuaternionWide, in BodyInertiaWide, in Vector3Wide, in QuaternionWide, in BodyInertiaWide, float, float, ref DistanceLimitPrestepData, ref Vector<float>, 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 DistanceLimitPrestepData prestep, ref Vector<float> 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 DistanceLimitPrestepData

accumulatedImpulses Vector<float>

wsvA BodyVelocityWide

wsvB BodyVelocityWide

WarmStart(in Vector3Wide, in QuaternionWide, in BodyInertiaWide, in Vector3Wide, in QuaternionWide, in BodyInertiaWide, ref DistanceLimitPrestepData, ref Vector<float>, 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 DistanceLimitPrestepData prestep, ref Vector<float> accumulatedImpulses, ref BodyVelocityWide wsvA, ref BodyVelocityWide wsvB)

Parameters

positionA Vector3Wide

orientationA QuaternionWide

inertiaA BodyInertiaWide

positionB Vector3Wide

orientationB QuaternionWide

inertiaB BodyInertiaWide

prestep DistanceLimitPrestepData

accumulatedImpulses Vector<float>

wsvA BodyVelocityWide

wsvB BodyVelocityWide