Table of Contents

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
LinearMotor
Implements
Inherited Members

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

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.

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 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.

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.

Exceptions

ArgumentException

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

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

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.

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