C# Class BEPUphysics.Constraints.TwoEntity.Motors.AngularMotor

Constraint which attempts to restrict the relative angular motion of two entities. Can use a target relative orientation to apply additional force.

Inheritance: BEPUphysics.Constraints.TwoEntity.Motors.Motor, I3DImpulseConstraintWithError, I3DJacobianConstraint

显示文件 Open project: Indiefreaks/igf Class Usage Examples

Public Methods

Method	Description
AngularMotor ( ) : System	Constructs a new constraint which attempts to restrict the relative angular motion of two entities. To finish the initialization, specify the connections (ConnectionA and ConnectionB). This constructor sets the constraint's IsActive property to false by default.
AngularMotor ( Entity connectionA, Entity connectionB ) : System	Constructs a new constraint which attempts to restrict the relative angular motion of two entities.
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 &jacobianX, System.Vector3 &jacobianY, System.Vector3 &jacobianZ ) : void	Gets the angular jacobian entry for the first connected entity.
GetAngularJacobianB ( System.Vector3 &jacobianX, System.Vector3 &jacobianY, System.Vector3 &jacobianZ ) : void	Gets the angular jacobian entry for the second connected entity.
GetLinearJacobianA ( System.Vector3 &jacobianX, System.Vector3 &jacobianY, System.Vector3 &jacobianZ ) : void	Gets the linear jacobian entry for the first connected entity.
GetLinearJacobianB ( System.Vector3 &jacobianX, System.Vector3 &jacobianY, System.Vector3 &jacobianZ ) : void	Gets the linear jacobian entry for the second connected entity.
GetMassMatrix ( Matrix3x3 &outputMassMatrix ) : void	Gets the mass matrix of the constraint.
SolveIteration ( ) : float	Applies the corrective impulses required by the constraint.
Update ( float dt ) : void	Initializes the constraint for the current frame.

Method Details

AngularMotor() public method

Constructs a new constraint which attempts to restrict the relative angular motion of two entities. To finish the initialization, specify the connections (ConnectionA and ConnectionB). This constructor sets the constraint's IsActive property to false by default.

public AngularMotor ( ) : System
return	System

AngularMotor() public method

Constructs a new constraint which attempts to restrict the relative angular motion of two entities.

public AngularMotor ( Entity connectionA, Entity connectionB ) : System
connectionA	Entity	First connection of the pair.
connectionB	Entity	Second connection of the pair.
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 &jacobianX, System.Vector3 &jacobianY, System.Vector3 &jacobianZ ) : void
jacobianX	System.Vector3	First angular jacobian entry for the first connected entity.
jacobianY	System.Vector3	Second angular jacobian entry for the first connected entity.
jacobianZ	System.Vector3	Third 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 &jacobianX, System.Vector3 &jacobianY, System.Vector3 &jacobianZ ) : void
jacobianX	System.Vector3	First angular jacobian entry for the second connected entity.
jacobianY	System.Vector3	Second angular jacobian entry for the second connected entity.
jacobianZ	System.Vector3	Third 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 &jacobianX, System.Vector3 &jacobianY, System.Vector3 &jacobianZ ) : void
jacobianX	System.Vector3	First linear jacobian entry for the first connected entity.
jacobianY	System.Vector3	Second linear jacobian entry for the first connected entity.
jacobianZ	System.Vector3	Third 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 &jacobianX, System.Vector3 &jacobianY, System.Vector3 &jacobianZ ) : void
jacobianX	System.Vector3	First linear jacobian entry for the second connected entity.
jacobianY	System.Vector3	Second linear jacobian entry for the second connected entity.
jacobianZ	System.Vector3	Third linear jacobian entry for the second connected entity.
return	void

GetMassMatrix() public method

Gets the mass matrix of the constraint.

public GetMassMatrix ( Matrix3x3 &outputMassMatrix ) : void
outputMassMatrix	BEPUutilities.Matrix3x3	Constraint's mass matrix.
return	void

SolveIteration() public method

Applies the corrective impulses required by the constraint.

public SolveIteration ( ) : float
return	float

Update() public method

Initializes the constraint for the current frame.

public Update ( float dt ) : void
dt	float	Time between frames.
return	void