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

Afficher le fichier Open project: Indiefreaks/igf Class Usage Examples

Méthodes publiques

Méthode	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 méthode

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
Résultat	System

BallSocketJoint() public méthode

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.
Résultat	System

ExclusiveUpdate() public méthode

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
Résultat	void

GetAngularJacobianA() public méthode

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.
Résultat	void

GetAngularJacobianB() public méthode

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.
Résultat	void

GetLinearJacobianA() public méthode

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.
Résultat	void

GetLinearJacobianB() public méthode

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.
Résultat	void

GetMassMatrix() public méthode

Gets the mass matrix of the constraint.

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

SolveIteration() public méthode

Calculates and applies corrective impulses. Called automatically by space.

public SolveIteration ( ) : float
Résultat	float

Update() public méthode

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.
Résultat	void