C# Class BEPUphysics.Constraints.TwoEntity.Joints.BallSocketJoint

Connects two entities with a spherical joint. Acts like an unrestricted shoulder joint.

Inheritance: BEPUphysics.Constraints.TwoEntity.Joints.Joint, I3DImpulseConstraintWithError, I3DJacobianConstraint

Show file Open project: Indiefreaks/igf Class Usage Examples

Public Methods

Method	Description
BallSocketJoint ( ) : System	Constructs a spherical joint. To finish the initialization, specify the connections (ConnectionA and ConnectionB) as well as the offsets (OffsetA, OffsetB or LocalOffsetA, LocalOffsetB). This constructor sets the constraint's IsActive property to false by default.
BallSocketJoint ( Entity connectionA, Entity connectionB, System.Vector3 anchorLocation ) : System	Constructs a spherical joint.
ExclusiveUpdate ( ) : void	Performs any pre-solve iteration work that needs exclusive access to the members of the solver updateable. Usually, this is used for applying warmstarting impulses.
GetAngularJacobianA ( System.Vector3 &jacobianX, System.Vector3 &jacobianY, System.Vector3 &jacobianZ ) : void	Gets the angular jacobian entry for the first connected entity.
GetAngularJacobianB ( System.Vector3 &jacobianX, System.Vector3 &jacobianY, System.Vector3 &jacobianZ ) : void	Gets the angular jacobian entry for the second connected entity.
GetLinearJacobianA ( System.Vector3 &jacobianX, System.Vector3 &jacobianY, System.Vector3 &jacobianZ ) : void	Gets the linear jacobian entry for the first connected entity.
GetLinearJacobianB ( System.Vector3 &jacobianX, System.Vector3 &jacobianY, System.Vector3 &jacobianZ ) : void	Gets the linear jacobian entry for the second connected entity.
GetMassMatrix ( Matrix3x3 &outputMassMatrix ) : void	Gets the mass matrix of the constraint.
SolveIteration ( ) : float	Calculates and applies corrective impulses. Called automatically by space.
Update ( float dt ) : void	Calculates necessary information for velocity solving. Called by preStep(float dt)

Method Details

BallSocketJoint() public method

Constructs a spherical joint. To finish the initialization, specify the connections (ConnectionA and ConnectionB) as well as the offsets (OffsetA, OffsetB or LocalOffsetA, LocalOffsetB). This constructor sets the constraint's IsActive property to false by default.

public BallSocketJoint ( ) : System
return	System

BallSocketJoint() public method

Constructs a spherical joint.

public BallSocketJoint ( Entity connectionA, Entity connectionB, System.Vector3 anchorLocation ) : System
connectionA	Entity	First connected entity.
connectionB	Entity	Second connected entity.
anchorLocation	System.Vector3	Location of the socket.
return	System

ExclusiveUpdate() public method

Performs any pre-solve iteration work that needs exclusive access to the members of the solver updateable. Usually, this is used for applying warmstarting impulses.

public ExclusiveUpdate ( ) : void
return	void

GetAngularJacobianA() public method

Gets the angular jacobian entry for the first connected entity.

public GetAngularJacobianA ( System.Vector3 &jacobianX, System.Vector3 &jacobianY, System.Vector3 &jacobianZ ) : void
jacobianX	System.Vector3	First angular jacobian entry for the first connected entity.
jacobianY	System.Vector3	Second angular jacobian entry for the first connected entity.
jacobianZ	System.Vector3	Third angular jacobian entry for the first connected entity.
return	void

GetAngularJacobianB() public method

Gets the angular jacobian entry for the second connected entity.

public GetAngularJacobianB ( System.Vector3 &jacobianX, System.Vector3 &jacobianY, System.Vector3 &jacobianZ ) : void
jacobianX	System.Vector3	First angular jacobian entry for the second connected entity.
jacobianY	System.Vector3	Second angular jacobian entry for the second connected entity.
jacobianZ	System.Vector3	Third angular jacobian entry for the second connected entity.
return	void

GetLinearJacobianA() public method

Gets the linear jacobian entry for the first connected entity.

public GetLinearJacobianA ( System.Vector3 &jacobianX, System.Vector3 &jacobianY, System.Vector3 &jacobianZ ) : void
jacobianX	System.Vector3	First linear jacobian entry for the first connected entity.
jacobianY	System.Vector3	Second linear jacobian entry for the first connected entity.
jacobianZ	System.Vector3	Third linear jacobian entry for the first connected entity.
return	void

GetLinearJacobianB() public method

Gets the linear jacobian entry for the second connected entity.

public GetLinearJacobianB ( System.Vector3 &jacobianX, System.Vector3 &jacobianY, System.Vector3 &jacobianZ ) : void
jacobianX	System.Vector3	First linear jacobian entry for the second connected entity.
jacobianY	System.Vector3	Second linear jacobian entry for the second connected entity.
jacobianZ	System.Vector3	Third linear jacobian entry for the second connected entity.
return	void

GetMassMatrix() public method

Gets the mass matrix of the constraint.

public GetMassMatrix ( Matrix3x3 &outputMassMatrix ) : void
outputMassMatrix	BEPUutilities.Matrix3x3	Constraint's mass matrix.
return	void

SolveIteration() public method

Calculates and applies corrective impulses. Called automatically by space.

public SolveIteration ( ) : float
return	float

Update() public method

Calculates necessary information for velocity solving. Called by preStep(float dt)

public Update ( float dt ) : void
dt	float	Time in seconds since the last update.
return	void