Struct OneBodyLinearServoFunctions

Namespace

BepuPhysics.Constraints

Assembly

BepuPhysics.dll

public struct OneBodyLinearServoFunctions : IOneBodyConstraintFunctions<OneBodyLinearServoPrestepData, Vector3Wide>

Implements

IOneBodyConstraintFunctions<OneBodyLinearServoPrestepData, 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 Vector3Wide, in BodyInertiaWide, ref BodyVelocityWide, in Vector3Wide)

public static void ApplyImpulse(in Vector3Wide offset, in BodyInertiaWide inertia, ref BodyVelocityWide velocityA, in Vector3Wide csi)

Parameters

offset Vector3Wide

inertia BodyInertiaWide

velocityA BodyVelocityWide

csi Vector3Wide

ComputeTransforms(in Vector3Wide, in QuaternionWide, in Vector<float>, in BodyInertiaWide, out Vector3Wide, out Symmetric3x3Wide)

public static void ComputeTransforms(in Vector3Wide localOffset, in QuaternionWide orientation, in Vector<float> effectiveMassCFMScale, in BodyInertiaWide inertia, out Vector3Wide offset, out Symmetric3x3Wide effectiveMass)

Parameters

localOffset Vector3Wide

orientation QuaternionWide

effectiveMassCFMScale Vector<float>

inertia BodyInertiaWide

offset Vector3Wide

effectiveMass Symmetric3x3Wide

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

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

Parameters

dt Vector<float>

wsvA BodyVelocityWide

prestepData OneBodyLinearServoPrestepData

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

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

Parameters

positionA Vector3Wide

orientationA QuaternionWide

inertiaA BodyInertiaWide

dt float

inverseDt float

prestep OneBodyLinearServoPrestepData

accumulatedImpulses Vector3Wide

wsvA BodyVelocityWide

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

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

Parameters

positionA Vector3Wide

orientationA QuaternionWide

inertiaA BodyInertiaWide

prestep OneBodyLinearServoPrestepData

accumulatedImpulses Vector3Wide

wsvA BodyVelocityWide