C# Класс BEPUphysics.Constraints.TwoEntity.Motors.TwistMotor

Attempts to achieve some defined relative twist angle between the entities.

Наследование: BEPUphysics.Constraints.TwoEntity.Motors.Motor, I1DImpulseConstraintWithError, I1DJacobianConstraint

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Защищенные свойства (Protected)

Свойство	Тип	Описание
biasVelocity	float

Открытые методы

Метод	Описание
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 worldTwistAxisA, System.Vector3 worldTwistAxisB ) : void	Sets up the joint transforms by automatically creating perpendicular vectors to complete the bases.
SolveIteration ( ) : float	Solves for velocity.
TwistMotor ( ) : System	Constructs a new constraint which prevents the connected entities from twisting relative to each other. To finish the initialization, specify the connections (ConnectionA and ConnectionB) as well as the BasisA and BasisB. This constructor sets the constraint's IsActive property to false by default.
TwistMotor ( Entity connectionA, Entity connectionB, System.Vector3 axisA, System.Vector3 axisB ) : System	Constructs a new constraint which prevents the connected entities from twisting relative to each other.
Update ( float dt ) : void	Do any necessary computations to prepare the constraint for this frame.

Приватные методы

Метод	Описание
GetDistanceFromGoal ( float angle ) : float

Описание методов

ExclusiveUpdate() публичный метод

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
Результат	void

GetAngularJacobianA() публичный метод

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.
Результат	void

GetAngularJacobianB() публичный метод

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.
Результат	void

GetLinearJacobianA() публичный метод

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.
Результат	void

GetLinearJacobianB() публичный метод

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.
Результат	void

GetMassMatrix() публичный метод

Gets the mass matrix of the constraint.

public GetMassMatrix ( float &outputMassMatrix ) : void
outputMassMatrix	float	Constraint's mass matrix.
Результат	void

SetupJointTransforms() публичный метод

Sets up the joint transforms by automatically creating perpendicular vectors to complete the bases.

public SetupJointTransforms ( System.Vector3 worldTwistAxisA, System.Vector3 worldTwistAxisB ) : void
worldTwistAxisA	System.Vector3	Twist axis in world space to attach to entity A.
worldTwistAxisB	System.Vector3	Twist axis in world space to attach to entity B.
Результат	void

SolveIteration() публичный метод

Solves for velocity.

public SolveIteration ( ) : float
Результат	float

TwistMotor() публичный метод

Constructs a new constraint which prevents the connected entities from twisting relative to each other. To finish the initialization, specify the connections (ConnectionA and ConnectionB) as well as the BasisA and BasisB. This constructor sets the constraint's IsActive property to false by default.

public TwistMotor ( ) : System
Результат	System

TwistMotor() публичный метод

Constructs a new constraint which prevents the connected entities from twisting relative to each other.

public TwistMotor ( Entity connectionA, Entity connectionB, System.Vector3 axisA, System.Vector3 axisB ) : System
connectionA	Entity	First connection of the pair.
connectionB	Entity	Second connection of the pair.
axisA	System.Vector3	Twist axis attached to the first connected entity.
axisB	System.Vector3	Twist axis attached to the second connected entity.
Результат	System

Update() публичный метод

Do any necessary computations to prepare the constraint for this frame.

public Update ( float dt ) : void
dt	float	Simulation step length.
Результат	void

Описание свойств

biasVelocity защищенное свойство

Velocity needed to get closer to the goal.

protected float biasVelocity
Результат	float