Struct PointOnLineServoFunctions

Namespace

BepuPhysics.Constraints

Assembly

BepuPhysics.dll

public struct PointOnLineServoFunctions : ITwoBodyConstraintFunctions<PointOnLineServoPrestepData, Vector2Wide>

Implements

ITwoBodyConstraintFunctions<PointOnLineServoPrestepData, Vector2Wide>

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 Matrix2x3Wide, in Matrix2x3Wide, in Matrix2x3Wide, in BodyInertiaWide, in BodyInertiaWide, ref Vector2Wide)

public static void ApplyImpulse(ref BodyVelocityWide velocityA, ref BodyVelocityWide velocityB, in Matrix2x3Wide linearJacobian, in Matrix2x3Wide angularJacobianA, in Matrix2x3Wide angularJacobianB, in BodyInertiaWide inertiaA, in BodyInertiaWide inertiaB, ref Vector2Wide csi)

Parameters

velocityA BodyVelocityWide

velocityB BodyVelocityWide

linearJacobian Matrix2x3Wide

angularJacobianA Matrix2x3Wide

angularJacobianB Matrix2x3Wide

inertiaA BodyInertiaWide

inertiaB BodyInertiaWide

csi Vector2Wide

ComputeJacobians(in Vector3Wide, in QuaternionWide, in QuaternionWide, in Vector3Wide, in Vector3Wide, in Vector3Wide, out Vector3Wide, out Matrix2x3Wide, out Matrix2x3Wide, out Matrix2x3Wide)

public static void ComputeJacobians(in Vector3Wide ab, in QuaternionWide orientationA, in QuaternionWide orientationB, in Vector3Wide localDirection, in Vector3Wide localOffsetA, in Vector3Wide localOffsetB, out Vector3Wide anchorOffset, out Matrix2x3Wide linearJacobian, out Matrix2x3Wide angularJA, out Matrix2x3Wide angularJB)

Parameters

ab Vector3Wide

orientationA QuaternionWide

orientationB QuaternionWide

localDirection Vector3Wide

localOffsetA Vector3Wide

localOffsetB Vector3Wide

anchorOffset Vector3Wide

linearJacobian Matrix2x3Wide

angularJA Matrix2x3Wide

angularJB Matrix2x3Wide

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

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

Parameters

dt Vector<float>

wsvA BodyVelocityWide

wsvB BodyVelocityWide

prestepData PointOnLineServoPrestepData

Solve(in Vector3Wide, in QuaternionWide, in BodyInertiaWide, in Vector3Wide, in QuaternionWide, in BodyInertiaWide, float, float, ref PointOnLineServoPrestepData, ref Vector2Wide, 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 PointOnLineServoPrestepData prestep, ref Vector2Wide 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 PointOnLineServoPrestepData

accumulatedImpulses Vector2Wide

wsvA BodyVelocityWide

wsvB BodyVelocityWide

WarmStart(in Vector3Wide, in QuaternionWide, in BodyInertiaWide, in Vector3Wide, in QuaternionWide, in BodyInertiaWide, ref PointOnLineServoPrestepData, ref Vector2Wide, 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 PointOnLineServoPrestepData prestep, ref Vector2Wide accumulatedImpulses, ref BodyVelocityWide wsvA, ref BodyVelocityWide wsvB)

Parameters

positionA Vector3Wide

orientationA QuaternionWide

inertiaA BodyInertiaWide

positionB Vector3Wide

orientationB QuaternionWide

inertiaB BodyInertiaWide

prestep PointOnLineServoPrestepData

accumulatedImpulses Vector2Wide

wsvA BodyVelocityWide

wsvB BodyVelocityWide