Interface ITwoBodyConstraintFunctions<TPrestepData, TAccumulatedImpulse>

Namespace

BepuPhysics.Constraints

Assembly

BepuPhysics.dll

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

public interface ITwoBodyConstraintFunctions<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, in BodyVelocityWide, ref TPrestepData)

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

Parameters

dt Vector<float>

wsvA BodyVelocityWide

wsvB BodyVelocityWide

prestepData TPrestepData

Solve(in Vector3Wide, in QuaternionWide, in BodyInertiaWide, in Vector3Wide, in QuaternionWide, in BodyInertiaWide, float, float, ref TPrestepData, ref TAccumulatedImpulse, 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, float dt, float inverseDt, ref TPrestepData prestep, ref TAccumulatedImpulse 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 TPrestepData

accumulatedImpulses TAccumulatedImpulse

wsvA BodyVelocityWide

wsvB BodyVelocityWide

WarmStart(in Vector3Wide, in QuaternionWide, in BodyInertiaWide, in Vector3Wide, in QuaternionWide, in BodyInertiaWide, ref TPrestepData, ref TAccumulatedImpulse, 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, ref TPrestepData prestep, ref TAccumulatedImpulse accumulatedImpulses, ref BodyVelocityWide wsvA, ref BodyVelocityWide wsvB)

Parameters

positionA Vector3Wide

orientationA QuaternionWide

inertiaA BodyInertiaWide

positionB Vector3Wide

orientationB QuaternionWide

inertiaB BodyInertiaWide

prestep TPrestepData

accumulatedImpulses TAccumulatedImpulse

wsvA BodyVelocityWide

wsvB BodyVelocityWide