Table of Contents

Class ConeLimit

Namespace
Jitter2.Dynamics.Constraints
Assembly
Jitter2.dll

Limits the angle between axes attached to two bodies, leaving twist and translation free.

public class ConeLimit : Constraint<ConeLimit.ConeLimitData>, IDebugDrawable
Inheritance
ConeLimit
Implements
Inherited Members

Remarks

Fixed tilts must lie strictly between zero and pi. Use HingeAngle with Full to keep axes aligned while allowing rotation about them.

Properties

Angle

Gets the current angle between the two body axes.

public JAngle Angle { get; }

Property Value

JAngle

AxisBody1

Gets or sets the reference axis of body 1 in world space.

public JVector AxisBody1 { get; set; }

Property Value

JVector

Exceptions

ArgumentException

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

AxisBody2

Gets or sets the reference axis of body 2 in world space.

public JVector AxisBody2 { get; set; }

Property Value

JVector

Exceptions

ArgumentException

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

Bias

Gets or sets the bias factor controlling how aggressively angular 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 float Impulse { get; }

Property Value

float

Limit

Gets or sets the angular limit of the cone.

public AngularLimit Limit { get; set; }

Property Value

AngularLimit

Exceptions

ArgumentOutOfRangeException

Thrown when the assigned limit is outside the range [0, pi], or when its upper value is smaller than its lower value, or when the limit fixes the tilt at zero or pi.

Softness

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

public float Softness { get; set; }

Property Value

float

Default is 0.001. Higher values allow more angular error but improve stability.

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, AngularLimit)

Initializes the cone limit using a world-space axis and an angular range.

public void Initialize(JVector axis, AngularLimit limit)

Parameters

axis JVector

The reference axis in world space for the initial pose.

limit AngularLimit

The minimum and maximum allowed tilt angles.

Remarks

The axes start aligned and then rotate with their respective bodies. The angle between them is kept within the given range. Default values: Softness = DefaultAngularSoftness, Bias = DefaultAngularBias.

Exceptions

ArgumentException

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

ArgumentOutOfRangeException

Thrown when limit is outside the range [0, pi], or when its upper value is smaller than its lower value, or when the limit fixes the tilt at zero or pi.

Initialize(JVector, JVector, AngularLimit)

Initializes the cone limit using two world-space axes and an angular range.

public void Initialize(JVector axisBody1, JVector axisBody2, AngularLimit limit)

Parameters

axisBody1 JVector

The reference axis for body 1 in world space.

axisBody2 JVector

The reference axis for body 2 in world space.

limit AngularLimit

The minimum and maximum allowed tilt angles.

Remarks

Each axis rotates with its body. The angle between the axes is kept within the given range. Default values: Softness = DefaultAngularSoftness, Bias = DefaultAngularBias.

Exceptions

ArgumentException

Thrown when axisBody1 or axisBody2 is zero or contains a non-finite value.

ArgumentOutOfRangeException

Thrown when limit is outside the range [0, pi], or when its upper value is smaller than its lower value, or when the limit fixes the tilt at zero or pi.

IterateConeLimit(ref ConstraintData, in TimeStep) 

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

Parameters

constraint ConstraintData
timeStep TimeStep

PrepareForIterationConeLimit(ref ConstraintData, in TimeStep) 

public static void PrepareForIterationConeLimit(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
Edit this page