C# Class BEPUphysics.Constraints.TwoEntity.Motors.TwistMotor

Attempts to achieve some defined relative twist angle between the entities.

Inheritance: BEPUphysics.Constraints.TwoEntity.Motors.Motor, I1DImpulseConstraintWithError, I1DJacobianConstraint

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Protected Properties

Property	Type	Description
biasVelocity	float

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 ( System.Vector3 &jacobian ) : void	Gets the angular jacobian entry for the first connected entity.
GetAngularJacobianB ( System.Vector3 &jacobian ) : void	Gets the angular jacobian entry for the second connected entity.
GetLinearJacobianA ( System.Vector3 &jacobian ) : void	Gets the linear jacobian entry for the first connected entity.
GetLinearJacobianB ( System.Vector3 &jacobian ) : void	Gets the linear jacobian entry for the second connected entity.
GetMassMatrix ( float &outputMassMatrix ) : void	Gets the mass matrix of the constraint.
SetupJointTransforms ( System.Vector3 worldTwistAxisA, System.Vector3 worldTwistAxisB ) : void	Sets up the joint transforms by automatically creating perpendicular vectors to complete the bases.
SolveIteration ( ) : float	Solves for velocity.
TwistMotor ( ) : System	Constructs a new constraint which prevents the connected entities from twisting relative to each other. To finish the initialization, specify the connections (ConnectionA and ConnectionB) as well as the BasisA and BasisB. This constructor sets the constraint's IsActive property to false by default.
TwistMotor ( Entity connectionA, Entity connectionB, System.Vector3 axisA, System.Vector3 axisB ) : System	Constructs a new constraint which prevents the connected entities from twisting relative to each other.
Update ( float dt ) : void	Do any necessary computations to prepare the constraint for this frame.

Private Methods

Method	Description
GetDistanceFromGoal ( float angle ) : float

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 ( System.Vector3 &jacobian ) : void
jacobian	System.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 ( System.Vector3 &jacobian ) : void
jacobian	System.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 ( System.Vector3 &jacobian ) : void
jacobian	System.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 ( System.Vector3 &jacobian ) : void
jacobian	System.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

SetupJointTransforms() public method

Sets up the joint transforms by automatically creating perpendicular vectors to complete the bases.

public SetupJointTransforms ( System.Vector3 worldTwistAxisA, System.Vector3 worldTwistAxisB ) : void
worldTwistAxisA	System.Vector3	Twist axis in world space to attach to entity A.
worldTwistAxisB	System.Vector3	Twist axis in world space to attach to entity B.
return	void

SolveIteration() public method

Solves for velocity.

public SolveIteration ( ) : float
return	float

TwistMotor() public method

Constructs a new constraint which prevents the connected entities from twisting relative to each other. To finish the initialization, specify the connections (ConnectionA and ConnectionB) as well as the BasisA and BasisB. This constructor sets the constraint's IsActive property to false by default.

public TwistMotor ( ) : System
return	System

TwistMotor() public method

Constructs a new constraint which prevents the connected entities from twisting relative to each other.

public TwistMotor ( Entity connectionA, Entity connectionB, System.Vector3 axisA, System.Vector3 axisB ) : System
connectionA	Entity	First connection of the pair.
connectionB	Entity	Second connection of the pair.
axisA	System.Vector3	Twist axis attached to the first connected entity.
axisB	System.Vector3	Twist axis attached to the second connected entity.
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

Property Details

biasVelocity protected_oe property

Velocity needed to get closer to the goal.

protected float biasVelocity
return	float