Struct OneBodyAngularMotorFunctions

Namespace

BepuPhysics.Constraints

Assembly

BepuPhysics.dll

public struct OneBodyAngularMotorFunctions : IOneBodyConstraintFunctions<OneBodyAngularMotorPrestepData, Vector3Wide>

Implements

IOneBodyConstraintFunctions<OneBodyAngularMotorPrestepData, Vector3Wide>

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 Vector3Wide, in Symmetric3x3Wide, in Vector3Wide)

public static void ApplyImpulse(ref Vector3Wide angularVelocity, in Symmetric3x3Wide impulseToVelocity, in Vector3Wide csi)

Parameters

angularVelocity Vector3Wide

impulseToVelocity Symmetric3x3Wide

csi Vector3Wide

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

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

Parameters

dt Vector<float>

wsvA BodyVelocityWide

prestepData OneBodyAngularMotorPrestepData

Solve(in Vector3Wide, in QuaternionWide, in BodyInertiaWide, float, float, ref OneBodyAngularMotorPrestepData, ref Vector3Wide, ref BodyVelocityWide)

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

Parameters

positionA Vector3Wide

orientationA QuaternionWide

inertiaA BodyInertiaWide

dt float

inverseDt float

prestep OneBodyAngularMotorPrestepData

accumulatedImpulses Vector3Wide

wsvA BodyVelocityWide

WarmStart(in Vector3Wide, in QuaternionWide, in BodyInertiaWide, ref OneBodyAngularMotorPrestepData, ref Vector3Wide, ref BodyVelocityWide)

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

Parameters

positionA Vector3Wide

orientationA QuaternionWide

inertiaA BodyInertiaWide

prestep OneBodyAngularMotorPrestepData

accumulatedImpulses Vector3Wide

wsvA BodyVelocityWide