Struct TwistServo

Namespace

BepuPhysics.Constraints

Assembly

BepuPhysics.dll

Constrains two bodies to maintain a target twist angle around body-attached axes.

public struct TwistServo : ITwoBodyConstraintDescription<TwistServo>, IConstraintDescription<TwistServo>

Implements

ITwoBodyConstraintDescription<TwistServo>

IConstraintDescription<TwistServo>

Inherited Members

ValueType.Equals(object)

ValueType.GetHashCode()

ValueType.ToString()

object.Equals(object, object)

object.GetType()

object.ReferenceEquals(object, object)

Fields

LocalBasisA

Local space basis attached to body A against which to measure body B's transformed axis. Expressed as a 3x3 rotation matrix, the X axis corresponds with 0 degrees, the Y axis corresponds to 90 degrees, and the -Z axis is the twist axis. When viewed along the twist axis, positive change in angle causes counterclockwise rotation in right handed coordinates.

public Quaternion LocalBasisA

Field Value

Quaternion

LocalBasisB

Local space basis attached to body B that will be measured against body A's basis. Expressed as a 3x3 rotation matrix, the transformed X axis will be measured against A's X and Y axes. The Z axis is the twist axis.

public Quaternion LocalBasisB

Field Value

Quaternion

ServoSettings

Servo control parameters.

public ServoSettings ServoSettings

Field Value

ServoSettings

SpringSettings

Spring frequency and damping parameters.

public SpringSettings SpringSettings

Field Value

SpringSettings

TargetAngle

Target angle between B's axis to measure and A's measurement axis.

public float TargetAngle

Field Value

float

Properties

ConstraintTypeId

Gets the type id of the constraint that this is a description of.

public static int ConstraintTypeId { get; }

Property Value

int

TypeProcessorType

Gets the type of the type batch which contains described constraints.

public static Type TypeProcessorType { get; }

Property Value

Type

Methods

ApplyDescription(ref TypeBatch, int, int)

Changes the batch-held memory at a given location to match the given description.

public readonly void ApplyDescription(ref TypeBatch batch, int bundleIndex, int innerIndex)

Parameters

batch TypeBatch

Batch to modify.

bundleIndex int

Index of the target constraint's bundle.

innerIndex int

Index of the target constraint within its bundle.

BuildDescription(ref TypeBatch, int, int, out TwistServo)

Creates a description from the batch-held memory at a given location.

public static void BuildDescription(ref TypeBatch batch, int bundleIndex, int innerIndex, out TwistServo description)

Parameters

batch TypeBatch

Batch to read.

bundleIndex int

Index of the source constraint's bundle.

innerIndex int

Index of the source constraint within its bundle.

description TwistServo

Description of the constraint.

CreateTypeProcessor()

Creates a type processor for this constraint type.

public static TypeProcessor CreateTypeProcessor()

Returns

TypeProcessor