Table of Contents

Class BallSocket

Namespace
Jitter2.Dynamics.Constraints
Assembly
Jitter2.dll

Keeps an anchor point on each body together while allowing all relative rotation.

public class BallSocket : Constraint<BallSocket.BallSocketData>, IDebugDrawable
Inheritance
BallSocket
Implements
Inherited Members

Properties

Anchor1

Gets or sets the anchor point on the first rigid body in world space. The anchor point is fixed in the local reference frame of the first body.

[ReferenceFrame(ReferenceFrame.World)]
public JVector Anchor1 { get; set; }

Property Value

JVector

Anchor2

Gets or sets the anchor point on the second rigid body in world space. The anchor point is fixed in the local reference frame of the second body.

[ReferenceFrame(ReferenceFrame.World)]
public JVector Anchor2 { get; set; }

Property Value

JVector

Bias

Gets or sets the bias factor controlling how aggressively positional error is corrected.

public float Bias { get; set; }

Property Value

float

Default is 0.2. Higher values correct errors faster but may cause instability.

Impulse

Gets the accumulated solver impulse from the last solved substep.

public JVector Impulse { get; }

Property Value

JVector

Softness

Gets or sets the softness (compliance) of the constraint.

public float Softness { get; set; }

Property Value

float

Default is DefaultLinearSoftness. Higher values allow more positional error but improve stability. Scaled by inverse timestep during solving.

Methods

Create()

Called when the world creates this constraint. Override to set DispatchId to the ID returned by registering the constraint's solver methods.

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.

DebugDraw(IDebugDrawer, in DebugDrawSettings)

Draws this constraint using the supplied visualization settings. Custom constraints that only override DebugDraw(IDebugDrawer) use their default visualization.

public override void DebugDraw(IDebugDrawer drawer, in DebugDrawSettings settings)

Parameters

drawer IDebugDrawer
settings DebugDrawSettings

Initialize(JVector)

Initializes the constraint from a world-space anchor point.

public void Initialize(JVector anchor)

Parameters

anchor JVector

The anchor point in world space, shared by both bodies.

Remarks

Default values: Bias = DefaultLinearBias, Softness = DefaultLinearSoftness.

Exceptions

ArgumentException

Thrown when anchor contains a non-finite value.

IterateBallSocket(ref ConstraintData, in TimeStep) 

public static void IterateBallSocket(ref ConstraintData constraint, in TimeStep timeStep)

Parameters

constraint ConstraintData
timeStep TimeStep

PrepareForIterationBallSocket(ref ConstraintData, in TimeStep) 

public static void PrepareForIterationBallSocket(ref ConstraintData constraint, in TimeStep timeStep)

Parameters

constraint ConstraintData
timeStep TimeStep

ResetWarmStart()

Clears impulses saved from the previous solve, without changing constraint settings.

public override void ResetWarmStart()

Remarks

Use after restoring a saved state or making a sudden change to the bodies, when impulses from their previous state should no longer be reused.

ToString()

Returns a short description of the constraint's ID, connected bodies, and state.

public override string ToString()

Returns

string
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