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

Constrains two bodies so that they can rotate relative to each other like a modified door hinge. Instead of removing two degrees of freedom, only one is removed so that the second connection to the constraint can twist.

Inheritance: BEPUphysics.Constraints.TwoEntity.Joints.Joint, I1DImpulseConstraintWithError, I1DJacobianConstraint

Datei anzeigen Open project: Indiefreaks/igf Class Usage Examples

Public Methods

Method	Description
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 ( Vector3 &jacobian ) : void	Gets the angular jacobian entry for the first connected entity.
GetAngularJacobianB ( Vector3 &jacobian ) : void	Gets the angular jacobian entry for the second connected entity.
GetLinearJacobianA ( Vector3 &jacobian ) : void	Gets the linear jacobian entry for the first connected entity.
GetLinearJacobianB ( Vector3 &jacobian ) : void	Gets the linear jacobian entry for the second connected entity.
GetMassMatrix ( float &outputMassMatrix ) : void	Gets the mass matrix of the constraint.
SolveIteration ( ) : float	Solves for velocity.
SwivelHingeAngularJoint ( ) : System	Constructs a new constraint which allows relative angular motion around a hinge axis and a twist axis. To finish the initialization, specify the connections (ConnectionA and ConnectionB) as well as the WorldHingeAxis and WorldTwistAxis (or their entity-local versions). This constructor sets the constraint's IsActive property to false by default.
SwivelHingeAngularJoint ( Entity connectionA, Entity connectionB, Vector3 worldHingeAxis, Vector3 worldTwistAxis ) : System	Constructs a new constraint which allows relative angular motion around a hinge axis and a twist axis.
Update ( float dt ) : void	Do any necessary computations to prepare the constraint for this frame.

Method Details

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 ( Vector3 &jacobian ) : void
jacobian	Vector3	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 ( Vector3 &jacobian ) : void
jacobian	Vector3	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 ( Vector3 &jacobian ) : void
jacobian	Vector3	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 ( Vector3 &jacobian ) : void
jacobian	Vector3	Linear jacobian entry for the second connected entity.
return	void

GetMassMatrix() public method

Gets the mass matrix of the constraint.

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

SolveIteration() public method

Solves for velocity.

public SolveIteration ( ) : float
return	float

SwivelHingeAngularJoint() public method

Constructs a new constraint which allows relative angular motion around a hinge axis and a twist axis. To finish the initialization, specify the connections (ConnectionA and ConnectionB) as well as the WorldHingeAxis and WorldTwistAxis (or their entity-local versions). This constructor sets the constraint's IsActive property to false by default.

public SwivelHingeAngularJoint ( ) : System
return	System

SwivelHingeAngularJoint() public method

Constructs a new constraint which allows relative angular motion around a hinge axis and a twist axis.

public SwivelHingeAngularJoint ( Entity connectionA, Entity connectionB, Vector3 worldHingeAxis, Vector3 worldTwistAxis ) : System
connectionA	Entity	First connection of the pair.
connectionB	Entity	Second connection of the pair.
worldHingeAxis	Vector3	Hinge axis attached to connectionA. /// The connected entities will be able to rotate around this axis relative to each other.
worldTwistAxis	Vector3	Twist axis attached to connectionB. /// The connected entities will be able to rotate around this axis relative to each other.
return	System

Update() public method

Do any necessary computations to prepare the constraint for this frame.

public Update ( float dt ) : void
dt	float	Simulation step length.
return	void