Table of Contents

Class DistanceLimit

Namespace
Jitter2.Dynamics.Constraints
Assembly
Jitter2.dll

Constrains the distance between a fixed point in the reference frame of one body and a fixed point in the reference frame of another body. This constraint removes one translational degree of freedom. For a distance of zero, use the BallSocket constraint.

public class DistanceLimit : Constraint<DistanceLimit.DistanceLimitData>, IDebugDrawable
Inheritance
DistanceLimit
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 distance error is corrected.

public float Bias { get; set; }

Property Value

float

Default is 0.2. Range [0, 1]. Higher values correct errors faster but may cause instability.

Distance

Gets the current distance between anchor points in world space.

public float Distance { get; }

Property Value

float

Impulse

Gets the accumulated impulse applied by this constraint during the last step.

public float Impulse { get; }

Property Value

float

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 distance error but improve stability.

TargetDistance

Gets or sets the target distance between anchor points.

public float TargetDistance { get; set; }

Property Value

float

Set during initialization from the initial anchor separation.

Methods

Create()

Sets the Iterate and PrepareForIteration function pointer fields on this instance. Override this in derived classes to assign the correct solver methods. The pointers are later written into ConstraintData 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, JVector)

Initializes the constraint with a fixed distance between anchor points.

public void Initialize(JVector anchor1, JVector anchor2)

Parameters

anchor1 JVector

Anchor point on the first body in world space.

anchor2 JVector

Anchor point on the second body in world space.

Initialize(JVector, JVector, LinearLimit)

Initializes the constraint with distance limits between anchor points.

public void Initialize(JVector anchor1, JVector anchor2, LinearLimit limit)

Parameters

anchor1 JVector

Anchor point on the first body in world space.

anchor2 JVector

Anchor point on the second body in world space.

limit LinearLimit

The allowed distance range between anchor points.

Remarks

Computes local anchor points and the initial distance from current poses. Default values: Softness = DefaultLinearSoftness, Bias = DefaultLinearBias.

IterateFixedAngle(ref ConstraintData, float) 

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

Parameters

constraint ConstraintData
idt float

PrepareForIterationFixedAngle(ref ConstraintData, float) 

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

Parameters

constraint ConstraintData
idt float
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