C# Class BEPUphysics.Constraints.TwoEntity.JointLimits.TwistLimit

Prevents the connected entities from twisting relative to each other beyond given limits.
Inheritance: JointLimit, I1DImpulseConstraintWithError, I1DJacobianConstraint
Mostra file Open project: Indiefreaks/igf Class Usage Examples

Protected Properties

Property Type Description
maximumAngle float
minimumAngle 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 ( 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.

SetupJointTransforms ( Vector3 worldTwistAxisA, Vector3 worldTwistAxisB ) : void

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

SolveIteration ( ) : float

Solves for velocity.

TwistLimit ( ) : System

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

TwistLimit ( Entity connectionA, Entity connectionB, Vector3 axisA, Vector3 axisB, float minimumAngle, float maximumAngle ) : System

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

Update ( float dt ) : void

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

Private Methods

Method Description
ComputeAngleError ( float distanceFromCurrent, float distanceFromMaximum ) : float
GetDistanceFromMinimum ( float angle ) : float
IsAngleValid ( float currentAngle, float &distanceFromCurrent, float &distanceFromMaximum ) : bool

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

SetupJointTransforms() public method

Sets up the joint transforms by automatically creating perpendicular vectors to complete the bases.
public SetupJointTransforms ( Vector3 worldTwistAxisA, Vector3 worldTwistAxisB ) : void
worldTwistAxisA Vector3 Twist axis in world space to attach to entity A.
worldTwistAxisB Vector3 Twist axis in world space to attach to entity B.
return void

SolveIteration() public method

Solves for velocity.
public SolveIteration ( ) : float
return float

TwistLimit() public method

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

TwistLimit() public method

Constructs a new constraint which prevents the connected entities from twisting relative to each other beyond given limits.
public TwistLimit ( Entity connectionA, Entity connectionB, Vector3 axisA, Vector3 axisB, float minimumAngle, float maximumAngle ) : System
connectionA Entity First connection of the pair.
connectionB Entity Second connection of the pair.
axisA Vector3 Twist axis attached to the first connected entity.
axisB Vector3 Twist axis attached to the second connected entity.
minimumAngle float Minimum twist angle allowed.
maximumAngle float Maximum twist angle allowed.
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

maximumAngle protected_oe property

Naximum angle that entities can twist.
protected float maximumAngle
return float

minimumAngle protected_oe property

Minimum angle that entities can twist.
protected float minimumAngle
return float