Class LinearMotor

Namespace

Jitter2.Dynamics.Constraints

Assembly

Jitter2.dll

A motor constraint that drives relative translational velocity along an axis fixed in the reference frame of each body.

public class LinearMotor : Constraint<LinearMotor.LinearMotorData>, IDebugDrawable

Inheritance

object

Constraint

Constraint<LinearMotor.LinearMotorData>

LinearMotor

Implements

IDebugDrawable

Inherited Members

Constraint<LinearMotor.LinearMotorData>.Data

Constraint<LinearMotor.LinearMotorData>.IsSmallConstraint

Constraint.DefaultAngularSoftness

Constraint.DefaultAngularBias

Constraint.DefaultAngularLimitSoftness

Constraint.DefaultAngularLimitBias

Constraint.DefaultLinearSoftness

Constraint.DefaultLinearBias

Constraint.DefaultLinearLimitSoftness

Constraint.DefaultLinearLimitBias

Constraint.Body1

Constraint.Body2

Constraint.Handle

Constraint.SmallHandle

Constraint.CheckDataSize<T>()

Constraint.VerifyNotZero()

Constraint.Iterate

Constraint.PrepareForIteration

Constraint.IsEnabled

object.Equals(object)

object.Equals(object, object)

object.GetHashCode()

object.GetType()

object.MemberwiseClone()

object.ReferenceEquals(object, object)

object.ToString()

Properties

Impulse

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

public float Impulse { get; }

Property Value

float

LocalAxis1

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

public JVector LocalAxis1 { get; set; }

Property Value

JVector

LocalAxis2

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

public JVector LocalAxis2 { get; set; }

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 linear velocity in units per second.

public float TargetVelocity { get; set; }

Property Value

float

Default is 0.

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 motor with axes for each body.

public void Initialize(JVector axis1, JVector axis2)

Parameters

axis1 JVector

Motor axis on the first body in world space.

axis2 JVector

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.

IterateLinearMotor(ref ConstraintData, float)

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

Parameters

constraint ConstraintData

idt float

PrepareForIterationLinearMotor(ref ConstraintData, float)

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

Parameters

constraint ConstraintData

idt float