Interface IOneBodyConstraintFunctions<TPrestepData, TAccumulatedImpulse>

Namespace

BepuPhysics.Constraints

Assembly

BepuPhysics.dll

Prestep, warm start and solve iteration functions for a constraint type.

public interface IOneBodyConstraintFunctions<TPrestepData, TAccumulatedImpulse>

Type Parameters

TPrestepData

Type of the prestep data used by the constraint.

TAccumulatedImpulse

Type 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

bool

Methods

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

public static abstract void IncrementallyUpdateForSubstep(in Vector<float> dt, in BodyVelocityWide velocity, ref TPrestepData prestepData)

Parameters

dt Vector<float>

velocity BodyVelocityWide

prestepData TPrestepData

Solve(in Vector3Wide, in QuaternionWide, in BodyInertiaWide, float, float, ref TPrestepData, ref TAccumulatedImpulse, ref BodyVelocityWide)

public static abstract void Solve(in Vector3Wide positionA, in QuaternionWide orientationA, in BodyInertiaWide inertiaA, float dt, float inverseDt, ref TPrestepData prestep, ref TAccumulatedImpulse accumulatedImpulses, ref BodyVelocityWide wsvA)

Parameters

positionA Vector3Wide

orientationA QuaternionWide

inertiaA BodyInertiaWide

dt float

inverseDt float

prestep TPrestepData

accumulatedImpulses TAccumulatedImpulse

wsvA BodyVelocityWide

WarmStart(in Vector3Wide, in QuaternionWide, in BodyInertiaWide, ref TPrestepData, ref TAccumulatedImpulse, ref BodyVelocityWide)

public static abstract void WarmStart(in Vector3Wide positionA, in QuaternionWide orientationA, in BodyInertiaWide inertiaA, ref TPrestepData prestep, ref TAccumulatedImpulse accumulatedImpulses, ref BodyVelocityWide wsvA)

Parameters

positionA Vector3Wide

orientationA QuaternionWide

inertiaA BodyInertiaWide

prestep TPrestepData

accumulatedImpulses TAccumulatedImpulse

wsvA BodyVelocityWide