Struct DistanceServoFunctions

Namespace

BepuPhysics.Constraints

Assembly

BepuPhysics.dll

public struct DistanceServoFunctions : ITwoBodyConstraintFunctions<DistanceServoPrestepData, Vector<float>>

Implements

ITwoBodyConstraintFunctions<DistanceServoPrestepData, 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 Vector<float>, in Vector<float>, in Vector3Wide, in Vector3Wide, in Vector3Wide, in Vector<float>, ref BodyVelocityWide, ref BodyVelocityWide)

public static void ApplyImpulse(in Vector<float> inverseMassA, in Vector<float> inverseMassB, in Vector3Wide direction, in Vector3Wide angularImpulseToVelocityA, in Vector3Wide angularImpulseToVelocityB, in Vector<float> csi, ref BodyVelocityWide velocityA, ref BodyVelocityWide velocityB)

Parameters

inverseMassA Vector<float>

inverseMassB Vector<float>

direction Vector3Wide

angularImpulseToVelocityA Vector3Wide

angularImpulseToVelocityB Vector3Wide

csi Vector<float>

velocityA BodyVelocityWide

velocityB BodyVelocityWide

ComputeJacobian(in Vector<float>, in Vector3Wide, in Vector3Wide, ref Vector3Wide, out Vector3Wide, out Vector3Wide)

public static void ComputeJacobian(in Vector<float> distance, in Vector3Wide anchorOffsetA, in Vector3Wide anchorOffsetB, ref Vector3Wide direction, out Vector3Wide angularJA, out Vector3Wide angularJB)

Parameters

distance Vector<float>

anchorOffsetA Vector3Wide

anchorOffsetB Vector3Wide

direction Vector3Wide

angularJA Vector3Wide

angularJB Vector3Wide

ComputeTransforms(in BodyInertiaWide, in BodyInertiaWide, in Vector3Wide, in Vector3Wide, in Vector<float>, ref Vector3Wide, float, in SpringSettingsWide, out Vector<float>, out Vector<float>, out Vector<float>, out Vector3Wide, out Vector3Wide, out Vector3Wide, out Vector3Wide)

public static void ComputeTransforms(in BodyInertiaWide inertiaA, in BodyInertiaWide inertiaB, in Vector3Wide anchorOffsetA, in Vector3Wide anchorOffsetB, in Vector<float> distance, ref Vector3Wide direction, float dt, in SpringSettingsWide springSettings, out Vector<float> positionErrorToVelocity, out Vector<float> softnessImpulseScale, out Vector<float> effectiveMass, out Vector3Wide angularJA, out Vector3Wide angularJB, out Vector3Wide angularImpulseToVelocityA, out Vector3Wide angularImpulseToVelocityB)

Parameters

inertiaA BodyInertiaWide

inertiaB BodyInertiaWide

anchorOffsetA Vector3Wide

anchorOffsetB Vector3Wide

distance Vector<float>

direction Vector3Wide

dt float

springSettings SpringSettingsWide

positionErrorToVelocity Vector<float>

softnessImpulseScale Vector<float>

effectiveMass Vector<float>

angularJA Vector3Wide

angularJB Vector3Wide

angularImpulseToVelocityA Vector3Wide

angularImpulseToVelocityB Vector3Wide

GetDistance(in QuaternionWide, in Vector3Wide, in QuaternionWide, in Vector3Wide, in Vector3Wide, out Vector3Wide, out Vector3Wide, out Vector3Wide, out Vector<float>)

public static void GetDistance(in QuaternionWide orientationA, in Vector3Wide ab, in QuaternionWide orientationB, in Vector3Wide localOffsetA, in Vector3Wide localOffsetB, out Vector3Wide anchorOffsetA, out Vector3Wide anchorOffsetB, out Vector3Wide anchorOffset, out Vector<float> distance)

Parameters

orientationA QuaternionWide

ab Vector3Wide

orientationB QuaternionWide

localOffsetA Vector3Wide

localOffsetB Vector3Wide

anchorOffsetA Vector3Wide

anchorOffsetB Vector3Wide

anchorOffset Vector3Wide

distance Vector<float>

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

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

Parameters

dt Vector<float>

wsvA BodyVelocityWide

wsvB BodyVelocityWide

prestepData DistanceServoPrestepData

Solve(in Vector3Wide, in QuaternionWide, in BodyInertiaWide, in Vector3Wide, in QuaternionWide, in BodyInertiaWide, float, float, ref DistanceServoPrestepData, 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 DistanceServoPrestepData 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 DistanceServoPrestepData

accumulatedImpulses Vector<float>

wsvA BodyVelocityWide

wsvB BodyVelocityWide

WarmStart(in Vector3Wide, in QuaternionWide, in BodyInertiaWide, in Vector3Wide, in QuaternionWide, in BodyInertiaWide, ref DistanceServoPrestepData, 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 DistanceServoPrestepData 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 DistanceServoPrestepData

accumulatedImpulses Vector<float>

wsvA BodyVelocityWide

wsvB BodyVelocityWide