Struct TwistMotorFunctions

Namespace

BepuPhysics.Constraints

Assembly

BepuPhysics.dll

public struct TwistMotorFunctions : ITwoBodyConstraintFunctions<TwistMotorPrestepData, Vector<float>>

Implements

ITwoBodyConstraintFunctions<TwistMotorPrestepData, Vector<float>>

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

ComputeJacobian(in QuaternionWide, in QuaternionWide, in Vector3Wide, in Vector3Wide, out Vector3Wide)

public static void ComputeJacobian(in QuaternionWide orientationA, in QuaternionWide orientationB, in Vector3Wide localAxisA, in Vector3Wide localAxisB, out Vector3Wide jacobianA)

Parameters

orientationA QuaternionWide

orientationB QuaternionWide

localAxisA Vector3Wide

localAxisB Vector3Wide

jacobianA Vector3Wide

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

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

Parameters

dt Vector<float>

wsvA BodyVelocityWide

wsvB BodyVelocityWide

prestepData TwistMotorPrestepData

Solve(in Vector3Wide, in QuaternionWide, in BodyInertiaWide, in Vector3Wide, in QuaternionWide, in BodyInertiaWide, float, float, ref TwistMotorPrestepData, ref Vector<float>, 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 TwistMotorPrestepData prestep, ref Vector<float> 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 TwistMotorPrestepData

accumulatedImpulses Vector<float>

wsvA BodyVelocityWide

wsvB BodyVelocityWide

WarmStart(in Vector3Wide, in QuaternionWide, in BodyInertiaWide, in Vector3Wide, in QuaternionWide, in BodyInertiaWide, ref TwistMotorPrestepData, ref Vector<float>, 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 TwistMotorPrestepData prestep, ref Vector<float> accumulatedImpulses, ref BodyVelocityWide wsvA, ref BodyVelocityWide wsvB)

Parameters

positionA Vector3Wide

orientationA QuaternionWide

inertiaA BodyInertiaWide

positionB Vector3Wide

orientationB QuaternionWide

inertiaB BodyInertiaWide

prestep TwistMotorPrestepData

accumulatedImpulses Vector<float>

wsvA BodyVelocityWide

wsvB BodyVelocityWide