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

Constrains two entities to rotate only around a single axis. Acts like the angular portion of a hinge joint.

Inheritance: BEPUphysics.Constraints.TwoEntity.Joints.Joint, I2DImpulseConstraintWithError, I2DJacobianConstraint

ファイルを表示 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 ( System.Vector3 &jacobianX, System.Vector3 &jacobianY ) : void	Gets the angular jacobian entry for the first connected entity.
GetAngularJacobianB ( System.Vector3 &jacobianX, System.Vector3 &jacobianY ) : void	Gets the angular jacobian entry for the second connected entity.
GetLinearJacobianA ( System.Vector3 &jacobianX, System.Vector3 &jacobianY ) : void	Gets the linear jacobian entry for the first connected entity.
GetLinearJacobianB ( System.Vector3 &jacobianX, System.Vector3 &jacobianY ) : void	Gets the linear jacobian entry for the second connected entity.
GetMassMatrix ( Matrix2x2 &massMatrix ) : void	Gets the mass matrix of the constraint.
RevoluteAngularJoint ( ) : System	Constructs a new orientation joint. Orientation joints can be used to simulate the angular portion of a hinge. Orientation joints allow rotation around only a single axis. To finish the initialization, specify the connections (ConnectionA and ConnectionB) as well as the WorldFreeAxisA and WorldFreeAxisB (or their entity-local versions). This constructor sets the constraint's IsActive property to false by default.
RevoluteAngularJoint ( Entity connectionA, Entity connectionB, System.Vector3 freeAxis ) : System	Constructs a new orientation joint. Orientation joints can be used to simulate the angular portion of a hinge. Orientation joints allow rotation around only a single axis.
SolveIteration ( ) : float	Computes one iteration of the constraint to meet the solver updateable's goal.
Update ( float dt ) : void	Performs the frame's configuration step.

Private Methods

Method	Description
UpdateRestrictedAxes ( ) : void

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 &jacobianX, System.Vector3 &jacobianY ) : 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.
return	void

GetAngularJacobianB() public method

Gets the angular jacobian entry for the second connected entity.

public GetAngularJacobianB ( System.Vector3 &jacobianX, System.Vector3 &jacobianY ) : 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.
return	void

GetLinearJacobianA() public method

Gets the linear jacobian entry for the first connected entity.

public GetLinearJacobianA ( System.Vector3 &jacobianX, System.Vector3 &jacobianY ) : 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.
return	void

GetLinearJacobianB() public method

Gets the linear jacobian entry for the second connected entity.

public GetLinearJacobianB ( System.Vector3 &jacobianX, System.Vector3 &jacobianY ) : 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.
return	void

GetMassMatrix() public method

Gets the mass matrix of the constraint.

public GetMassMatrix ( Matrix2x2 &massMatrix ) : void
massMatrix	BEPUutilities.Matrix2x2	Constraint's mass matrix.
return	void

RevoluteAngularJoint() public method

Constructs a new orientation joint. Orientation joints can be used to simulate the angular portion of a hinge. Orientation joints allow rotation around only a single axis. To finish the initialization, specify the connections (ConnectionA and ConnectionB) as well as the WorldFreeAxisA and WorldFreeAxisB (or their entity-local versions). This constructor sets the constraint's IsActive property to false by default.

public RevoluteAngularJoint ( ) : System
return	System

RevoluteAngularJoint() public method

Constructs a new orientation joint. Orientation joints can be used to simulate the angular portion of a hinge. Orientation joints allow rotation around only a single axis.

public RevoluteAngularJoint ( Entity connectionA, Entity connectionB, System.Vector3 freeAxis ) : System
connectionA	Entity	First entity connected in the orientation joint.
connectionB	Entity	Second entity connected in the orientation joint.
freeAxis	System.Vector3	Axis allowed to rotate freely in world space.
return	System

SolveIteration() public method

Computes one iteration of the constraint to meet the solver updateable's goal.

public SolveIteration ( ) : float
return	float

Update() public method

Performs the frame's configuration step.

public Update ( float dt ) : void
dt	float	Timestep duration.
return	void