Interface IFourBodyConstraintFunctions<TPrestepData, TAccumulatedImpulse>
- Namespace
- BepuPhysics.Constraints
- Assembly
- BepuPhysics.dll
Prestep, warm start and solve iteration functions for a four body constraint type.
public interface IFourBodyConstraintFunctions<TPrestepData, TAccumulatedImpulse>Type Parameters
TPrestepDataType of the prestep data used by the constraint.
TAccumulatedImpulseType of the accumulated impulses used by the constraint.
Properties
RequiresIncrementalSubstepUpdates
Gets whether this constraint type requires incremental updates for each substep taken beyond the first.
public static abstract bool RequiresIncrementalSubstepUpdates { get; }Property Value
Methods
IncrementallyUpdateForSubstep(in Vector<float>, in BodyVelocityWide, in BodyVelocityWide, in BodyVelocityWide, in BodyVelocityWide, ref TPrestepData)
public static abstract void IncrementallyUpdateForSubstep(in Vector<float> dt, in BodyVelocityWide wsvA, in BodyVelocityWide wsvB, in BodyVelocityWide wsvC, in BodyVelocityWide wsvD, ref TPrestepData prestepData)Parameters
dtVector<float>wsvABodyVelocityWidewsvBBodyVelocityWidewsvCBodyVelocityWidewsvDBodyVelocityWideprestepDataTPrestepData
Solve(in Vector3Wide, in QuaternionWide, in BodyInertiaWide, in Vector3Wide, in QuaternionWide, in BodyInertiaWide, in Vector3Wide, in QuaternionWide, in BodyInertiaWide, in Vector3Wide, in QuaternionWide, in BodyInertiaWide, float, float, ref TPrestepData, ref TAccumulatedImpulse, ref BodyVelocityWide, ref BodyVelocityWide, ref BodyVelocityWide, ref BodyVelocityWide)
public static abstract void Solve(in Vector3Wide positionA, in QuaternionWide orientationA, in BodyInertiaWide inertiaA, in Vector3Wide positionB, in QuaternionWide orientationB, in BodyInertiaWide inertiaB, in Vector3Wide positionC, in QuaternionWide orientationC, in BodyInertiaWide inertiaC, in Vector3Wide positionD, in QuaternionWide orientationD, in BodyInertiaWide inertiaD, float dt, float inverseDt, ref TPrestepData prestep, ref TAccumulatedImpulse accumulatedImpulses, ref BodyVelocityWide wsvA, ref BodyVelocityWide wsvB, ref BodyVelocityWide wsvC, ref BodyVelocityWide wsvD)Parameters
positionAVector3WideorientationAQuaternionWideinertiaABodyInertiaWidepositionBVector3WideorientationBQuaternionWideinertiaBBodyInertiaWidepositionCVector3WideorientationCQuaternionWideinertiaCBodyInertiaWidepositionDVector3WideorientationDQuaternionWideinertiaDBodyInertiaWidedtfloatinverseDtfloatprestepTPrestepDataaccumulatedImpulsesTAccumulatedImpulsewsvABodyVelocityWidewsvBBodyVelocityWidewsvCBodyVelocityWidewsvDBodyVelocityWide
WarmStart(in Vector3Wide, in QuaternionWide, in BodyInertiaWide, in Vector3Wide, in QuaternionWide, in BodyInertiaWide, in Vector3Wide, in QuaternionWide, in BodyInertiaWide, in Vector3Wide, in QuaternionWide, in BodyInertiaWide, ref TPrestepData, ref TAccumulatedImpulse, ref BodyVelocityWide, ref BodyVelocityWide, ref BodyVelocityWide, ref BodyVelocityWide)
public static abstract void WarmStart(in Vector3Wide positionA, in QuaternionWide orientationA, in BodyInertiaWide inertiaA, in Vector3Wide positionB, in QuaternionWide orientationB, in BodyInertiaWide inertiaB, in Vector3Wide positionC, in QuaternionWide orientationC, in BodyInertiaWide inertiaC, in Vector3Wide positionD, in QuaternionWide orientationD, in BodyInertiaWide inertiaD, ref TPrestepData prestep, ref TAccumulatedImpulse accumulatedImpulses, ref BodyVelocityWide wsvA, ref BodyVelocityWide wsvB, ref BodyVelocityWide wsvC, ref BodyVelocityWide wsvD)Parameters
positionAVector3WideorientationAQuaternionWideinertiaABodyInertiaWidepositionBVector3WideorientationBQuaternionWideinertiaBBodyInertiaWidepositionCVector3WideorientationCQuaternionWideinertiaCBodyInertiaWidepositionDVector3WideorientationDQuaternionWideinertiaDBodyInertiaWideprestepTPrestepDataaccumulatedImpulsesTAccumulatedImpulsewsvABodyVelocityWidewsvBBodyVelocityWidewsvCBodyVelocityWidewsvDBodyVelocityWide