public struct JacobianHeader
Properties
BodyPair
Declaration
public BodyIndexPair BodyPair { get; }
Property Value
Declaration
public ColliderKeyPair ColliderKeys { get; set; }
Property Value
Declaration
public bool Enabled { get; set; }
Property Value
| Type |
Description |
| System.Boolean |
|
Declaration
public JacobianFlags Flags { get; }
Property Value
Declaration
public bool HasColliderKeys { get; }
Property Value
| Type |
Description |
| System.Boolean |
|
Declaration
public bool HasMassFactors { get; }
Property Value
| Type |
Description |
| System.Boolean |
|
Declaration
public bool HasMaxImpulse { get; }
Property Value
| Type |
Description |
| System.Boolean |
|
Declaration
public bool HasSurfaceVelocity { get; }
Property Value
| Type |
Description |
| System.Boolean |
|
Declaration
public MassFactors MassFactors { get; set; }
Property Value
Declaration
public float MaxImpulse { get; set; }
Property Value
| Type |
Description |
| System.Single |
|
Declaration
public SurfaceVelocity SurfaceVelocity { get; set; }
Property Value
Declaration
public JacobianType Type { get; }
Property Value
Methods
Declaration
public ContactJacAngAndVelToReachCp AccessAngularJacobian(int pointIndex)
Parameters
| Type |
Name |
Description |
| System.Int32 |
pointIndex |
|
Returns
Declaration
public T AccessBaseJacobian<T>()
where T : struct
Returns
Type Parameters
Declaration
public ColliderKeyPair AccessColliderKeys()
Returns
Declaration
public MassFactors AccessMassFactors()
Returns
Declaration
public float AccessMaxImpulse()
Returns
| Type |
Description |
| System.Single |
|
Declaration
public SurfaceVelocity AccessSurfaceVelocity()
Returns
Declaration
public static int CalculateSize(JacobianType type, JacobianFlags flags, int numContactPoints = 0)
Parameters
Returns
| Type |
Description |
| System.Int32 |
|
Declaration
public void Solve(ref MotionVelocity velocityA, ref MotionVelocity velocityB, Solver.StepInput stepInput, ref BlockStream.Writer collisionEventsWriter, ref BlockStream.Writer triggerEventsWriter)
Parameters