Class TwistAngle

Namespace

Jitter2.Dynamics.Constraints

Assembly

Jitter2.dll

Constrains the relative twist of two bodies. This constraint removes one angular degree of freedom when the limit is enforced.

public class TwistAngle : Constraint<TwistAngle.TwistLimitData>, IDebugDrawable

Inheritance

object

Constraint

Constraint<TwistAngle.TwistLimitData>

TwistAngle

Implements

IDebugDrawable

Inherited Members

Constraint<TwistAngle.TwistLimitData>.Data

Constraint<TwistAngle.TwistLimitData>.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

Angle

Gets the current twist angle relative to the initial pose.

public JAngle Angle { get; }

Property Value

JAngle

Bias

Gets or sets the bias factor controlling how aggressively angular 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.

Impulse

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

public float Impulse { get; }

Property Value

float

Limit

Sets the angular limits for the twist rotation.

public AngularLimit Limit { set; }

Property Value

AngularLimit

Softness

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

public float Softness { get; set; }

Property Value

float

Default is 0.0001. Higher values allow more angular error but improve stability.

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 twist angle (no rotation allowed).

public void Initialize(JVector axis1, JVector axis2)

Parameters

axis1 JVector

The twist axis for body 1 in world space.

axis2 JVector

The twist axis for body 2 in world space.

Initialize(JVector, JVector, AngularLimit)

Initializes the constraint from world-space axes and angular limits.

public void Initialize(JVector axis1, JVector axis2, AngularLimit limit)

Parameters

axis1 JVector

The twist axis for body 1 in world space.

axis2 JVector

The twist axis for body 2 in world space.

limit AngularLimit

The allowed relative twist angle range.

Remarks

Stores each axis in the local frame of its body and records the initial relative orientation. Default values: Softness = DefaultAngularSoftness, Bias = DefaultAngularBias.

IterateTwistAngle(ref ConstraintData, float)

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

Parameters

constraint ConstraintData

idt float

PrepareForIterationTwistAngle(ref ConstraintData, float)

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

Parameters

constraint ConstraintData

idt float