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

Constrains the relative orientation of two entities to within an ellipse.

Inheritance: JointLimit, I1DImpulseConstraintWithError, I1DJacobianConstraint

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Public Methods

Method	Description
EllipseSwingLimit ( ) : System	Constructs a new swing limit. To finish the initialization, specify the connections (ConnectionA and ConnectionB) as well as the TwistAxis (or its entity-local version), the MaximumAngleX and MaximumAngleY, and the Basis. This constructor sets the constraint's IsActive property to false by default.
EllipseSwingLimit ( Entity connectionA, Entity connectionB ) : System	Constructs a new swing limit. Using this constructor will leave the limit uninitialized. Before using the limit in a simulation, be sure to set the basis axes using limit.basis.setLocalAxes or limit.basis.setWorldAxes and b's twist axis using the localTwistAxisB or twistAxisB properties.
EllipseSwingLimit ( Entity connectionA, Entity connectionB, System.Vector3 twistAxis, float maximumAngleX, float maximumAngleY ) : System	Constructs a new swing limit.
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 twistAxis ) : void	Sets up the joint transforms by automatically creating perpendicular vectors to complete the bases.
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.

Method Details

EllipseSwingLimit() public method

Constructs a new swing limit. To finish the initialization, specify the connections (ConnectionA and ConnectionB) as well as the TwistAxis (or its entity-local version), the MaximumAngleX and MaximumAngleY, and the Basis. This constructor sets the constraint's IsActive property to false by default.

public EllipseSwingLimit ( ) : System
return	System

EllipseSwingLimit() public method

Constructs a new swing limit. Using this constructor will leave the limit uninitialized. Before using the limit in a simulation, be sure to set the basis axes using limit.basis.setLocalAxes or limit.basis.setWorldAxes and b's twist axis using the localTwistAxisB or twistAxisB properties.

public EllipseSwingLimit ( Entity connectionA, Entity connectionB ) : System
connectionA	Entity	First entity connected by the constraint.
connectionB	Entity	Second entity connected by the constraint.
return	System

EllipseSwingLimit() public method

Constructs a new swing limit.

public EllipseSwingLimit ( Entity connectionA, Entity connectionB, System.Vector3 twistAxis, float maximumAngleX, float maximumAngleY ) : System
connectionA	Entity	First entity connected by the constraint.
connectionB	Entity	Second entity connected by the constraint.
twistAxis	System.Vector3	Axis in world space to use as the initial unrestricted twist direction. /// This direction will be transformed to entity A's local space to form the basis's primary axis /// and to entity B's local space to form its twist axis. /// The basis's x and y axis are automatically created from the twist axis.
maximumAngleX	float	Maximum angle of rotation around the basis X axis.
maximumAngleY	float	Maximum angle of rotation around the basis Y axis.
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 ( 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 twistAxis ) : void
twistAxis	System.Vector3	Axis around which rotation is allowed.
return	void

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