Struct ServoSettings

Namespace

BepuPhysics.Constraints

Assembly

BepuPhysics.dll

Describes how a quickly and strongly a servo constraint should move towards a position target.

public struct ServoSettings

Inherited Members

ValueType.Equals(object)

ValueType.GetHashCode()

ValueType.ToString()

object.Equals(object, object)

object.GetType()

object.ReferenceEquals(object, object)

Remarks

The constraint will attempt to reach a speed between BaseSpeed and MaximumSpeed using a force no greater than MaximumForce. The speed that the constraint will attempt to use before clamping is based on its spring settings.

Note that a 'position' target for the purposes of this type could also be an orientation target. For those constraints, speeds/forces are in terms of angular speed and torque.

Constructors

ServoSettings(float, float, float)

Creates a new servo settings instance with the specified properties.

public ServoSettings(float maximumSpeed, float baseSpeed, float maximumForce)

Parameters

maximumSpeed float

Sets the MaximumSpeed property.

baseSpeed float

Sets the BaseSpeed property.

maximumForce float

Sets the MaximumForce property.

Fields

BaseSpeed

Minimum speed that the constraint will try to use to move towards the target. If the speed implied by the spring configuration is higher than this, the servo will attempt to use the higher speed. Will be clamped by the MaximumSpeed.

public float BaseSpeed

Field Value

float

MaximumForce

The maximum force that the constraint can apply to move towards the target.

public float MaximumForce

Field Value

float

Remarks

This value is specified in terms of force: a change in momentum over time. It is approximated as a maximum impulse (an instantaneous change in momentum) on a per-substep basis. In other words, for a given velocity iteration, the constraint's impulse can be no larger than MaximumForce * dt where dt is the substep duration.

MaximumSpeed

Maximum speed that the constraint can try to use to move towards the target.

public float MaximumSpeed

Field Value

float

Properties

Default

Gets settings representing a servo with unlimited force, speed, and no base speed. A servo with these settings will behave like a conventional position-level constraint.

public static ServoSettings Default { get; }

Property Value

ServoSettings

Methods

Validate(in ServoSettings)

Checks servo settings to ensure valid values.

public static bool Validate(in ServoSettings settings)

Parameters

settings ServoSettings

Settings to check.

Returns

bool

True if the settings contain valid values, false otherwise.