Table of Contents

Class AngularMotor

Namespace
Jitter2.Dynamics.Constraints
Assembly
Jitter2.dll

Represents a motor that drives relative angular velocity between two axes fixed in the reference frames of their respective bodies.

public class AngularMotor : Constraint<AngularMotor.AngularMotorData>, IDebugDrawable
Inheritance
AngularMotor
Implements
Inherited Members

Properties

LocalAxis1

Gets the motor axis on the first body in local space.

public JVector LocalAxis1 { get; }

Property Value

JVector

LocalAxis2

Gets the motor axis on the second body in local space.

public JVector LocalAxis2 { get; }

Property Value

JVector

MaximumForce

Gets or sets the maximum force the motor can apply.

public float MaximumForce { get; set; }

Property Value

float

Default is 0. Must be non-negative.

Exceptions

ArgumentOutOfRangeException

Thrown when value is negative.

TargetVelocity

Gets or sets the target angular velocity in radians per second.

public float TargetVelocity { get; set; }

Property Value

float

Default is 0.

Methods

Create()

Sets the solver dispatch id used by this instance. Override this in derived classes to assign the correct registered solver pair. The id is later written into the unmanaged header when the constraint is enabled.

protected override void Create()

DebugDraw(IDebugDrawer)

Draws a debug visualization of this constraint.

public override void DebugDraw(IDebugDrawer drawer)

Parameters

drawer IDebugDrawer

The debug drawer to receive visualization primitives.

Exceptions

NotImplementedException

Thrown if the derived class does not override this method.

Initialize(JVector)

Initializes the motor with the same axis for both bodies.

public void Initialize(JVector axis)

Parameters

axis JVector

The motor axis in world space, used for both bodies.

Exceptions

ArgumentException

Thrown when axis is zero or contains a non-finite value.

Initialize(JVector, JVector)

Initializes the motor with separate axes for each body.

public void Initialize(JVector axis1, JVector axis2)

Parameters

axis1 JVector

The motor axis on the first body in world space.

axis2 JVector

The motor axis on the second body in world space.

Remarks

Stores the axes in local frames. Both axes are normalized internally. Default values: TargetVelocity = 0, MaximumForce = 0.

Exceptions

ArgumentException

Thrown when axis1 or axis2 is zero or contains a non-finite value.

IterateAngularMotor(ref ConstraintData, float) 

public static void IterateAngularMotor(ref ConstraintData constraint, float idt)

Parameters

constraint ConstraintData
idt float

PrepareForIterationAngularMotor(ref ConstraintData, float) 

public static void PrepareForIterationAngularMotor(ref ConstraintData constraint, float idt)

Parameters

constraint ConstraintData
idt float

ResetWarmStart()

Resets the cached warm-start state used by the solver for this constraint.

public override void ResetWarmStart()

Remarks

This clears only persistent solver impulses. Constraint configuration remains unchanged. Useful after restoring snapshots or other discontinuous state changes where preserving warm-starting is undesirable.

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