Struct OneBodyAngularServoFunctions

Namespace

BepuPhysics.Constraints

Assembly

BepuPhysics.dll

public struct OneBodyAngularServoFunctions : IOneBodyConstraintFunctions<OneBodyAngularServoPrestepData, Vector3Wide>

Implements

IOneBodyConstraintFunctions<OneBodyAngularServoPrestepData, 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(in Symmetric3x3Wide, in Vector3Wide, ref Vector3Wide)

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

Parameters

inverseInertia Symmetric3x3Wide

csi Vector3Wide

angularVelocity Vector3Wide

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

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

Parameters

dt Vector<float>

wsvA BodyVelocityWide

prestepData OneBodyAngularServoPrestepData

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

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

Parameters

positionA Vector3Wide

orientationA QuaternionWide

inertiaA BodyInertiaWide

dt float

inverseDt float

prestep OneBodyAngularServoPrestepData

accumulatedImpulses Vector3Wide

wsvA BodyVelocityWide

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

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

Parameters

positionA Vector3Wide

orientationA QuaternionWide

inertiaA BodyInertiaWide

prestep OneBodyAngularServoPrestepData

accumulatedImpulses Vector3Wide

wsvA BodyVelocityWide