Class PoseIntegration

Namespace

BepuPhysics

Assembly

BepuPhysics.dll

Provides helper functions for integrating body poses.

public static class PoseIntegration

Inheritance

object

PoseIntegration

Inherited Members

object.Equals(object)

object.Equals(object, object)

object.GetHashCode()

object.GetType()

object.MemberwiseClone()

object.ReferenceEquals(object, object)

object.ToString()

Methods

Integrate(in RigidPose, in BodyVelocity, float, out RigidPose)

public static void Integrate(in RigidPose pose, in BodyVelocity velocity, float dt, out RigidPose integratedPose)

Parameters

pose RigidPose

velocity BodyVelocity

dt float

integratedPose RigidPose

Integrate(in QuaternionWide, in Vector3Wide, in Vector<float>, out QuaternionWide)

public static void Integrate(in QuaternionWide start, in Vector3Wide angularVelocity, in Vector<float> halfDt, out QuaternionWide integrated)

Parameters

start QuaternionWide

angularVelocity Vector3Wide

halfDt Vector<float>

integrated QuaternionWide

Integrate(Quaternion, Vector3, float, out Quaternion)

public static void Integrate(Quaternion orientation, Vector3 angularVelocity, float dt, out Quaternion integratedOrientation)

Parameters

orientation Quaternion

angularVelocity Vector3

dt float

integratedOrientation Quaternion

Integrate(Vector3, Vector3, float, out Vector3)

public static void Integrate(Vector3 position, Vector3 linearVelocity, float dt, out Vector3 integratedPosition)

Parameters

position Vector3

linearVelocity Vector3

dt float

integratedPosition Vector3

IntegrateAngularVelocityConserveMomentum(in QuaternionWide, in Symmetric3x3Wide, in Symmetric3x3Wide, ref Vector3Wide)

public static void IntegrateAngularVelocityConserveMomentum(in QuaternionWide previousOrientation, in Symmetric3x3Wide localInverseInertia, in Symmetric3x3Wide worldInverseInertia, ref Vector3Wide angularVelocity)

Parameters

previousOrientation QuaternionWide

localInverseInertia Symmetric3x3Wide

worldInverseInertia Symmetric3x3Wide

angularVelocity Vector3Wide

IntegrateAngularVelocityConserveMomentumWithGyroscopicTorque(in QuaternionWide, in Symmetric3x3Wide, ref Vector3Wide, in Vector<float>)

public static void IntegrateAngularVelocityConserveMomentumWithGyroscopicTorque(in QuaternionWide orientation, in Symmetric3x3Wide localInverseInertia, ref Vector3Wide angularVelocity, in Vector<float> dt)

Parameters

orientation QuaternionWide

localInverseInertia Symmetric3x3Wide

angularVelocity Vector3Wide

dt Vector<float>

RotateInverseInertia(in Symmetric3x3, Quaternion, out Symmetric3x3)

public static void RotateInverseInertia(in Symmetric3x3 localInverseInertiaTensor, Quaternion orientation, out Symmetric3x3 rotatedInverseInertiaTensor)

Parameters

localInverseInertiaTensor Symmetric3x3

orientation Quaternion

rotatedInverseInertiaTensor Symmetric3x3

RotateInverseInertia(in Symmetric3x3Wide, in QuaternionWide, out Symmetric3x3Wide)

public static void RotateInverseInertia(in Symmetric3x3Wide localInverseInertiaTensor, in QuaternionWide orientation, out Symmetric3x3Wide rotatedInverseInertiaTensor)

Parameters

localInverseInertiaTensor Symmetric3x3Wide

orientation QuaternionWide

rotatedInverseInertiaTensor Symmetric3x3Wide