Struct TwistServoFunctions

Namespace

BepuPhysics.Constraints

Assembly

BepuPhysics.dll

public struct TwistServoFunctions : ITwoBodyConstraintFunctions<TwistServoPrestepData, Vector<float>>

Implements

ITwoBodyConstraintFunctions<TwistServoPrestepData, 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

ApplyImpulse(ref Vector3Wide, ref Vector3Wide, in Vector3Wide, in Vector3Wide, in Vector<float>)

public static void ApplyImpulse(ref Vector3Wide angularVelocityA, ref Vector3Wide angularVelocityB, in Vector3Wide impulseToVelocityA, in Vector3Wide negatedImpulseToVelocityB, in Vector<float> csi)

Parameters

angularVelocityA Vector3Wide

angularVelocityB Vector3Wide

impulseToVelocityA Vector3Wide

negatedImpulseToVelocityB Vector3Wide

csi Vector<float>

ComputeCurrentAngle(in Vector3Wide, in Vector3Wide, in Matrix3x3Wide, out Vector<float>)

public static void ComputeCurrentAngle(in Vector3Wide basisBX, in Vector3Wide basisBZ, in Matrix3x3Wide basisA, out Vector<float> angle)

Parameters

basisBX Vector3Wide

basisBZ Vector3Wide

basisA Matrix3x3Wide

angle Vector<float>

ComputeEffectiveMass(float, in SpringSettingsWide, in Symmetric3x3Wide, in Symmetric3x3Wide, in Vector3Wide, out Vector3Wide, out Vector3Wide, out Vector<float>, out Vector<float>, out Vector<float>, out Vector3Wide)

public static void ComputeEffectiveMass(float dt, in SpringSettingsWide springSettings, in Symmetric3x3Wide inverseInertiaA, in Symmetric3x3Wide inverseInertiaB, in Vector3Wide jacobianA, out Vector3Wide impulseToVelocityA, out Vector3Wide negatedImpulseToVelocityB, out Vector<float> positionErrorToVelocity, out Vector<float> softnessImpulseScale, out Vector<float> effectiveMass, out Vector3Wide velocityToImpulseA)

Parameters

dt float

springSettings SpringSettingsWide

inverseInertiaA Symmetric3x3Wide

inverseInertiaB Symmetric3x3Wide

jacobianA Vector3Wide

impulseToVelocityA Vector3Wide

negatedImpulseToVelocityB Vector3Wide

positionErrorToVelocity Vector<float>

softnessImpulseScale Vector<float>

effectiveMass Vector<float>

velocityToImpulseA Vector3Wide

ComputeEffectiveMassContributions(in Symmetric3x3Wide, in Symmetric3x3Wide, in Vector3Wide, out Vector3Wide, out Vector3Wide, out Vector<float>)

public static void ComputeEffectiveMassContributions(in Symmetric3x3Wide inverseInertiaA, in Symmetric3x3Wide inverseInertiaB, in Vector3Wide jacobianA, out Vector3Wide impulseToVelocityA, out Vector3Wide negatedImpulseToVelocityB, out Vector<float> unsoftenedInverseEffectiveMass)

Parameters

inverseInertiaA Symmetric3x3Wide

inverseInertiaB Symmetric3x3Wide

jacobianA Vector3Wide

impulseToVelocityA Vector3Wide

negatedImpulseToVelocityB Vector3Wide

unsoftenedInverseEffectiveMass Vector<float>

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

public static void ComputeJacobian(in QuaternionWide orientationA, in QuaternionWide orientationB, in QuaternionWide localBasisA, in QuaternionWide localBasisB, out Vector3Wide jacobianA)

Parameters

orientationA QuaternionWide

orientationB QuaternionWide

localBasisA QuaternionWide

localBasisB QuaternionWide

jacobianA Vector3Wide

ComputeJacobian(in QuaternionWide, in QuaternionWide, in QuaternionWide, in QuaternionWide, out Vector3Wide, out Vector3Wide, out Matrix3x3Wide, out Vector3Wide)

public static void ComputeJacobian(in QuaternionWide orientationA, in QuaternionWide orientationB, in QuaternionWide localBasisA, in QuaternionWide localBasisB, out Vector3Wide basisBX, out Vector3Wide basisBZ, out Matrix3x3Wide basisA, out Vector3Wide jacobianA)

Parameters

orientationA QuaternionWide

orientationB QuaternionWide

localBasisA QuaternionWide

localBasisB QuaternionWide

basisBX Vector3Wide

basisBZ Vector3Wide

basisA Matrix3x3Wide

jacobianA Vector3Wide

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

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

Parameters

dt Vector<float>

wsvA BodyVelocityWide

wsvB BodyVelocityWide

prestepData TwistServoPrestepData

Solve(in Vector3Wide, in QuaternionWide, in BodyInertiaWide, in Vector3Wide, in QuaternionWide, in BodyInertiaWide, float, float, ref TwistServoPrestepData, 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 TwistServoPrestepData 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 TwistServoPrestepData

accumulatedImpulses Vector<float>

wsvA BodyVelocityWide

wsvB BodyVelocityWide

WarmStart(in Vector3Wide, in QuaternionWide, in BodyInertiaWide, in Vector3Wide, in QuaternionWide, in BodyInertiaWide, ref TwistServoPrestepData, 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 TwistServoPrestepData 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 TwistServoPrestepData

accumulatedImpulses Vector<float>

wsvA BodyVelocityWide

wsvB BodyVelocityWide