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

A modified distance constraint allowing a range of lengths between two anchor points.

Inheritance: JointLimit, I1DImpulseConstraintWithError, I1DJacobianConstraint

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Protected Properties

Property	Type	Description
maximumLength	float
minimumLength	float

Public Methods

Method	Description
DistanceLimit ( ) : System	Constructs a distance limit joint. To finish the initialization, specify the connections (ConnectionA and ConnectionB) as well as the WorldAnchorA and WorldAnchorB (or their entity-local versions) and the MinimumLength and MaximumLength. This constructor sets the constraint's IsActive property to false by default.
DistanceLimit ( Entity connectionA, Entity connectionB, Vector3 anchorA, Vector3 anchorB, float minimumLength, float maximumLength ) : System	Constructs a distance limit 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 ( 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	Calculates and applies corrective impulses. Called automatically by space.
Update ( float dt ) : void	Calculates necessary information for velocity solving.

Method Details

DistanceLimit() public method

Constructs a distance limit joint. To finish the initialization, specify the connections (ConnectionA and ConnectionB) as well as the WorldAnchorA and WorldAnchorB (or their entity-local versions) and the MinimumLength and MaximumLength. This constructor sets the constraint's IsActive property to false by default.

public DistanceLimit ( ) : System
return	System

DistanceLimit() public method

Constructs a distance limit joint.

public DistanceLimit ( Entity connectionA, Entity connectionB, Vector3 anchorA, Vector3 anchorB, float minimumLength, float maximumLength ) : System
connectionA	Entity	First body connected to the distance limit.
connectionB	Entity	Second body connected to the distance limit.
anchorA	Vector3	Connection to the spring from the first connected body in world space.
anchorB	Vector3	Connection to the spring from the second connected body in world space.
minimumLength	float	Minimum distance maintained between the anchors.
maximumLength	float	Maximum distance allowed between the anchors.
return	System

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

Calculates and applies corrective impulses. Called automatically by space.

public SolveIteration ( ) : float
return	float

Update() public method

Calculates necessary information for velocity solving.

public Update ( float dt ) : void
dt	float	Time in seconds since the last update.
return	void

Property Details

maximumLength protected_oe property

Maximum distance allowed between the anchors.

protected float maximumLength
return	float

minimumLength protected_oe property

Minimum distance maintained between the anchors.

protected float minimumLength
return	float