Struct LinearAxisServoFunctions

Namespace

BepuPhysics.Constraints

Assembly

BepuPhysics.dll

public struct LinearAxisServoFunctions : ITwoBodyConstraintFunctions<LinearAxisServoPrestepData, Vector<float>>

Implements

ITwoBodyConstraintFunctions<LinearAxisServoPrestepData, 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(ref BodyVelocityWide, ref BodyVelocityWide, in Vector3Wide, in Vector3Wide, in Vector3Wide, in Vector3Wide, ref Vector<float>)

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

Parameters

velocityA BodyVelocityWide

velocityB BodyVelocityWide

linearImpulseToVelocityA Vector3Wide

angularImpulseToVelocityA Vector3Wide

negatedLinearImpulseToVelocityB Vector3Wide

angularImpulseToVelocityB Vector3Wide

csi Vector<float>

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

public static void ApplyImpulse(in Vector3Wide linearJA, in Vector3Wide angularImpulseToVelocityA, in Vector3Wide angularImpulseToVelocityB, in BodyInertiaWide inertiaA, in BodyInertiaWide inertiaB, in Vector<float> csi, ref BodyVelocityWide velocityA, ref BodyVelocityWide velocityB)

Parameters

linearJA Vector3Wide

angularImpulseToVelocityA Vector3Wide

angularImpulseToVelocityB Vector3Wide

inertiaA BodyInertiaWide

inertiaB BodyInertiaWide

csi Vector<float>

velocityA BodyVelocityWide

velocityB BodyVelocityWide

ComputeCorrectiveImpulse(ref BodyVelocityWide, ref BodyVelocityWide, in Vector3Wide, in Vector3Wide, in Vector3Wide, in Vector<float>, in Vector<float>, in Vector<float>, out Vector<float>)

public static void ComputeCorrectiveImpulse(ref BodyVelocityWide velocityA, ref BodyVelocityWide velocityB, in Vector3Wide linearVelocityToImpulseA, in Vector3Wide angularVelocityToImpulseA, in Vector3Wide angularVelocityToImpulseB, in Vector<float> biasImpulse, in Vector<float> softnessImpulseScale, in Vector<float> accumulatedImpulse, out Vector<float> csi)

Parameters

velocityA BodyVelocityWide

velocityB BodyVelocityWide

linearVelocityToImpulseA Vector3Wide

angularVelocityToImpulseA Vector3Wide

angularVelocityToImpulseB Vector3Wide

biasImpulse Vector<float>

softnessImpulseScale Vector<float>

accumulatedImpulse Vector<float>

csi Vector<float>

ComputeEffectiveMass(in Vector3Wide, in Vector3Wide, in BodyInertiaWide, in BodyInertiaWide, in Vector<float>, out Vector3Wide, out Vector3Wide, out Vector<float>)

public static void ComputeEffectiveMass(in Vector3Wide angularJA, in Vector3Wide angularJB, in BodyInertiaWide inertiaA, in BodyInertiaWide inertiaB, in Vector<float> effectiveMassCFMScale, out Vector3Wide angularImpulseToVelocityA, out Vector3Wide angularImpulseToVelocityB, out Vector<float> effectiveMass)

Parameters

angularJA Vector3Wide

angularJB Vector3Wide

inertiaA BodyInertiaWide

inertiaB BodyInertiaWide

effectiveMassCFMScale Vector<float>

angularImpulseToVelocityA Vector3Wide

angularImpulseToVelocityB Vector3Wide

effectiveMass Vector<float>

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

public static void ComputeJacobians(in Vector3Wide ab, in QuaternionWide orientationA, in QuaternionWide orientationB, in Vector3Wide localPlaneNormalA, in Vector3Wide localOffsetA, in Vector3Wide localOffsetB, out Vector<float> planeNormalDot, out Vector3Wide normal, out Vector3Wide angularJA, out Vector3Wide angularJB)

Parameters

ab Vector3Wide

orientationA QuaternionWide

orientationB QuaternionWide

localPlaneNormalA Vector3Wide

localOffsetA Vector3Wide

localOffsetB Vector3Wide

planeNormalDot Vector<float>

normal Vector3Wide

angularJA Vector3Wide

angularJB Vector3Wide

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

public static void ComputeTransforms<TJacobianModifier>(ref TJacobianModifier jacobianModifier, in Vector3Wide localOffsetA, in Vector3Wide localOffsetB, in Vector3Wide localPlaneNormal, in QuaternionWide orientationA, in BodyInertiaWide inertiaA, in Vector3Wide ab, in QuaternionWide orientationB, in BodyInertiaWide inertiaB, in Vector<float> effectiveMassCFMScale, out Vector3Wide anchorA, out Vector3Wide anchorB, out Vector3Wide normal, out Vector<float> effectiveMass, out Vector3Wide linearVelocityToImpulseA, out Vector3Wide angularVelocityToImpulseA, out Vector3Wide angularVelocityToImpulseB, out Vector3Wide linearImpulseToVelocityA, out Vector3Wide angularImpulseToVelocityA, out Vector3Wide negatedLinearImpulseToVelocityB, out Vector3Wide angularImpulseToVelocityB) where TJacobianModifier : LinearAxisServoFunctions.IJacobianModifier

Parameters

jacobianModifier TJacobianModifier

localOffsetA Vector3Wide

localOffsetB Vector3Wide

localPlaneNormal Vector3Wide

orientationA QuaternionWide

inertiaA BodyInertiaWide

ab Vector3Wide

orientationB QuaternionWide

inertiaB BodyInertiaWide

effectiveMassCFMScale Vector<float>

anchorA Vector3Wide

anchorB Vector3Wide

normal Vector3Wide

effectiveMass Vector<float>

linearVelocityToImpulseA Vector3Wide

angularVelocityToImpulseA Vector3Wide

angularVelocityToImpulseB Vector3Wide

linearImpulseToVelocityA Vector3Wide

angularImpulseToVelocityA Vector3Wide

negatedLinearImpulseToVelocityB Vector3Wide

angularImpulseToVelocityB Vector3Wide

Type Parameters

TJacobianModifier

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

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

Parameters

dt Vector<float>

wsvA BodyVelocityWide

wsvB BodyVelocityWide

prestepData LinearAxisServoPrestepData

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

accumulatedImpulses Vector<float>

wsvA BodyVelocityWide

wsvB BodyVelocityWide

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

accumulatedImpulses Vector<float>

wsvA BodyVelocityWide

wsvB BodyVelocityWide