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

Keeps the angle between the axes attached to two entities below some maximum value.

Inheritance: JointLimit, I1DImpulseConstraintWithError, I1DJacobianConstraint

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Public Methods

Method	Description
ExclusiveUpdate ( ) : void
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	Applies the sequential impulse.
SwingLimit ( ) : System	Constructs a new constraint which attempts to restrict the maximum relative angle of two entities to some value. To finish the initialization, specify the connections (ConnectionA and ConnectionB) as well as the WorldAxisA, WorldAxisB (or their entity-local versions) and the MaximumAngle. This constructor sets the constraint's IsActive property to false by default.
SwingLimit ( Entity connectionA, Entity connectionB, Vector3 axisA, Vector3 axisB, float maximumAngle ) : System	Constructs a new constraint which attempts to restrict the maximum relative angle of two entities to some value.
Update ( float dt ) : void	Initializes the constraint for this frame.

Method Details

ExclusiveUpdate() public method

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

Applies the sequential impulse.

public SolveIteration ( ) : float
return	float

SwingLimit() public method

Constructs a new constraint which attempts to restrict the maximum relative angle of two entities to some value. To finish the initialization, specify the connections (ConnectionA and ConnectionB) as well as the WorldAxisA, WorldAxisB (or their entity-local versions) and the MaximumAngle. This constructor sets the constraint's IsActive property to false by default.

public SwingLimit ( ) : System
return	System

SwingLimit() public method

Constructs a new constraint which attempts to restrict the maximum relative angle of two entities to some value.

public SwingLimit ( Entity connectionA, Entity connectionB, Vector3 axisA, Vector3 axisB, float maximumAngle ) : System
connectionA	Entity	First connection of the pair.
connectionB	Entity	Second connection of the pair.
axisA	Vector3	Axis attached to the first connected entity.
axisB	Vector3	Axis attached to the second connected entity.
maximumAngle	float	Maximum angle between the axes allowed.
return	System

Update() public method

Initializes the constraint for this frame.

public Update ( float dt ) : void
dt	float	Time since the last frame.
return	void