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

Tries to rotate two entities so that they reach a specified relative orientation or speed around an axis.

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

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

Protected Properties

Property	Type	Description
biasVelocity	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 ( 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.
RevoluteMotor ( ) : System	Constructs a new constraint tries to rotate two entities so that they reach a specified relative orientation around an axis. To finish the initialization, specify the connections (ConnectionA and ConnectionB) as well as the Basis and TestAxis. This constructor sets the constraint's IsActive property to false by default.
RevoluteMotor ( Entity connectionA, Entity connectionB, System.Vector3 motorizedAxis ) : System	Constructs a new constraint tries to rotate two entities so that they reach a specified relative orientation around an axis.
SetupJointTransforms ( System.Vector3 motorizedAxis ) : 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.

Private Methods

Method	Description
GetDistanceFromGoal ( 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 ( 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

RevoluteMotor() public method

Constructs a new constraint tries to rotate two entities so that they reach a specified relative orientation around an axis. To finish the initialization, specify the connections (ConnectionA and ConnectionB) as well as the Basis and TestAxis. This constructor sets the constraint's IsActive property to false by default.

public RevoluteMotor ( ) : System
return	System

RevoluteMotor() public method

Constructs a new constraint tries to rotate two entities so that they reach a specified relative orientation around an axis.

public RevoluteMotor ( Entity connectionA, Entity connectionB, System.Vector3 motorizedAxis ) : System
connectionA	Entity	First connection of the pair.
connectionB	Entity	Second connection of the pair.
motorizedAxis	System.Vector3	Rotation axis to control in world space.
return	System

SetupJointTransforms() public method

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

public SetupJointTransforms ( System.Vector3 motorizedAxis ) : void
motorizedAxis	System.Vector3	Axis around which the motor acts.
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

Property Details

biasVelocity protected_oe property

protected float biasVelocity
return	float