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

Constraint which prevents the connected entities from rotating relative to each other around an axis beyond given limits.

Inheritance: JointLimit, I2DImpulseConstraintWithError, I2DJacobianConstraint

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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 &jacobianX, Vector3 &jacobianY ) : void	Gets the angular jacobian entry for the first connected entity.
GetAngularJacobianB ( Vector3 &jacobianX, Vector3 &jacobianY ) : void	Gets the angular jacobian entry for the second connected entity.
GetLinearJacobianA ( Vector3 &jacobianX, Vector3 &jacobianY ) : void	Gets the linear jacobian entry for the first connected entity.
GetLinearJacobianB ( Vector3 &jacobianX, Vector3 &jacobianY ) : void	Gets the linear jacobian entry for the second connected entity.
GetMassMatrix ( Matrix2x2 &massMatrix ) : void	Gets the mass matrix of the revolute limit. The revolute limit is special; in terms of solving, it is actually sometimes TWO constraints; a minimum plane, and a maximum plane. The M11 field represents the minimum plane mass matrix and the M22 field represents the maximum plane mass matrix.
RevoluteLimit ( ) : System	Constructs a new constraint which prevents the connected entities from rotating relative to each other around an axis beyond given limits. To finish the initialization, specify the connections (ConnectionA and ConnectionB) as well as the TestAxis (or its entity-local version) and the Basis. This constructor sets the constraint's IsActive property to false by default.
RevoluteLimit ( Entity connectionA, Entity connectionB ) : System	Constructs a new constraint which prevents the connected entities from rotating relative to each other around an axis beyond given limits. Using this constructor will leave the limit uninitialized. Before using the limit in a simulation, be sure to set the basis axes using Basis.SetLocalAxes or Basis.SetWorldAxes and the test axis using the LocalTestAxis or TestAxis properties.
RevoluteLimit ( Entity connectionA, Entity connectionB, Vector3 limitedAxis, Vector3 testAxis, float minimumAngle, float maximumAngle ) : System	Constructs a new constraint which prevents the connected entities from rotating relative to each other around an axis beyond given limits.
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
GetDistanceFromMinimum ( float angle ) : float

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 &jacobianX, Vector3 &jacobianY ) : void
jacobianX	Vector3	First angular jacobian entry for the first connected entity.
jacobianY	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 ( Vector3 &jacobianX, Vector3 &jacobianY ) : void
jacobianX	Vector3	First angular jacobian entry for the second connected entity.
jacobianY	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 ( Vector3 &jacobianX, Vector3 &jacobianY ) : void
jacobianX	Vector3	First linear jacobian entry for the first connected entity.
jacobianY	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 ( Vector3 &jacobianX, Vector3 &jacobianY ) : void
jacobianX	Vector3	First linear jacobian entry for the second connected entity.
jacobianY	Vector3	Second linear jacobian entry for the second connected entity.
return	void

GetMassMatrix() public method

Gets the mass matrix of the revolute limit. The revolute limit is special; in terms of solving, it is actually sometimes TWO constraints; a minimum plane, and a maximum plane. The M11 field represents the minimum plane mass matrix and the M22 field represents the maximum plane mass matrix.

public GetMassMatrix ( Matrix2x2 &massMatrix ) : void
massMatrix	BEPUutilities.Matrix2x2	Mass matrix of the constraint.
return	void

RevoluteLimit() public method

Constructs a new constraint which prevents the connected entities from rotating relative to each other around an axis beyond given limits. To finish the initialization, specify the connections (ConnectionA and ConnectionB) as well as the TestAxis (or its entity-local version) and the Basis. This constructor sets the constraint's IsActive property to false by default.

public RevoluteLimit ( ) : System
return	System

RevoluteLimit() public method

Constructs a new constraint which prevents the connected entities from rotating relative to each other around an axis beyond given limits. Using this constructor will leave the limit uninitialized. Before using the limit in a simulation, be sure to set the basis axes using Basis.SetLocalAxes or Basis.SetWorldAxes and the test axis using the LocalTestAxis or TestAxis properties.

public RevoluteLimit ( Entity connectionA, Entity connectionB ) : System
connectionA	Entity	First connection of the pair.
connectionB	Entity	Second connection of the pair.
return	System

RevoluteLimit() public method

Constructs a new constraint which prevents the connected entities from rotating relative to each other around an axis beyond given limits.

public RevoluteLimit ( Entity connectionA, Entity connectionB, Vector3 limitedAxis, Vector3 testAxis, float minimumAngle, float maximumAngle ) : System
connectionA	Entity	First connection of the pair.
connectionB	Entity	Second connection of the pair.
limitedAxis	Vector3	Axis of rotation to be limited.
testAxis	Vector3	Axis attached to connectionB that is tested to determine the current angle. /// Will also be used as the base rotation axis representing 0 degrees.
minimumAngle	float	Minimum twist angle allowed.
maximumAngle	float	Maximum twist angle allowed.
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

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