Class LinearAxisServo

Namespace

Jitter2.Dynamics.Constraints

Assembly

Jitter2.dll

Drives the signed separation of two anchors along an axis attached to body 1 using limited force. Controls one translational degree of freedom; perpendicular movement and rotation remain free.

public class LinearAxisServo : Constraint<LinearAxisServo.LinearAxisServoData>, IDebugDrawable

Inheritance

object

Constraint

Constraint<LinearAxisServo.LinearAxisServoData>

LinearAxisServo

Implements

IDebugDrawable

Inherited Members

Constraint<LinearAxisServo.LinearAxisServoData>.Data

Constraint<LinearAxisServo.LinearAxisServoData>.IsSmallConstraint

Constraint.DefaultAngularSoftness

Constraint.DefaultAngularBias

Constraint.DefaultAngularLimitSoftness

Constraint.DefaultAngularLimitBias

Constraint.DefaultLinearSoftness

Constraint.DefaultLinearBias

Constraint.DefaultLinearLimitSoftness

Constraint.DefaultLinearLimitBias

Constraint.Body1

Constraint.Body2

Constraint.Tag

Constraint.Handle

Constraint.IsValid

Constraint.SmallHandle

Constraint.CheckDataSize<T>()

Constraint.VerifyNotZero()

Constraint.DispatchId

Constraint.RegisterFullConstraint(delegate*<ref ConstraintData, in TimeStep, void>, delegate*<ref ConstraintData, in TimeStep, void>)

Constraint.RegisterSmallConstraint(delegate*<ref SmallConstraintData, in TimeStep, void>, delegate*<ref SmallConstraintData, in TimeStep, void>)

Constraint.IsEnabled

Constraint.GetDebugDrawOrigin(in DebugDrawSettings)

object.Equals(object)

object.Equals(object, object)

object.GetHashCode()

object.GetType()

object.MemberwiseClone()

object.ReferenceEquals(object, object)

object.ToString()

Properties

Anchor1

Gets or sets the world-space anchor attached to body 1.

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

Property Value

JVector

Anchor2

Gets or sets the world-space anchor attached to body 2.

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

Property Value

JVector

Axis

Gets or sets the world-space direction attached to body 1, normalized internally.

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

Property Value

JVector

Bias

Gets or sets how aggressively the servo corrects its position error.

public float Bias { get; set; }

Property Value

float

Default is DefaultLinearBias.

Impulse

Gets the signed impulse applied along the axis to body 2 in the last solved substep.

public float Impulse { get; }

Property Value

float

MaximumForce

Gets or sets the maximum total force the servo can apply.

public float MaximumForce { get; set; }

Property Value

float

Default is zero. Positive infinity allows unlimited force.

Position

Gets the current signed separation of the anchors along the axis.

public float Position { get; }

Property Value

float

Softness

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

public float Softness { get; set; }

Property Value

float

Default is DefaultLinearSoftness.

TargetPosition

Gets or sets the desired signed separation along the axis. Default is zero.

public float TargetPosition { get; set; }

Property Value

float

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.

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, JVector, JVector, float)

Initializes world-space anchors and an axis attached to body 1.

public void Initialize(JVector axis, JVector anchor1, JVector anchor2, float targetPosition = 0)

Parameters

axis JVector

The direction along which the servo acts, normalized internally.

anchor1 JVector

The origin attached to body 1.

anchor2 JVector

The anchor attached to body 2.

targetPosition float

The desired signed separation along the axis.

Remarks

Maximum force defaults to zero. The current separation may differ from the target.

IterateLinearAxisServo(ref ConstraintData, in TimeStep)

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

Parameters

constraint ConstraintData

timeStep TimeStep

PrepareForIterationLinearAxisServo(ref ConstraintData, in TimeStep)

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

Parameters

constraint ConstraintData

timeStep TimeStep

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.