Table of Contents

Class LinearMotor

Namespace
Jitter2.Dynamics.Constraints
Assembly
Jitter2.dll

Drives relative linear velocity along an axis attached to each body.

public class LinearMotor : Constraint<LinearMotor.LinearMotorData>, IDebugDrawable
Inheritance
LinearMotor
Implements
Inherited Members

Properties

Impulse

Gets the accumulated solver impulse from the last solved substep.

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

Exceptions

ArgumentException

Thrown when the assigned value is not finite or normalized.

LocalAxis2

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

public JVector LocalAxis2 { get; set; }

Property Value

JVector

Exceptions

ArgumentException

Thrown when the assigned value is not finite or normalized.

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. Positive infinity allows unlimited force.

Remarks

Changing the value wakes the connected bodies.

Exceptions

ArgumentOutOfRangeException

Thrown when value is negative or NaN.

TargetVelocity

Gets or sets the target linear velocity in units per second.

public float TargetVelocity { get; set; }

Property Value

float

Default is 0.

Remarks

Changing the value wakes the connected bodies.

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, 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

The axes rotate with their respective bodies and are normalized internally. Default values: TargetVelocity = 0, MaximumForce = 0.

Exceptions

ArgumentException

Thrown when axis1 or axis2 is zero or contains a non-finite value.

IterateLinearMotor(ref ConstraintData, in TimeStep) 

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

Parameters

constraint ConstraintData
timeStep TimeStep

PrepareForIterationLinearMotor(ref ConstraintData, in TimeStep) 

public static void PrepareForIterationLinearMotor(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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