Class JacobianUtilities

Inheritance
System.Object
JacobianUtilities
Namespace: Unity.Physics
Syntax
public static class JacobianUtilities

Methods

BuildSymmetricMatrix(float3, float3)

Declaration
public static float3x3 BuildSymmetricMatrix(float3 diag, float3 offDiag)
Parameters
Type Name Description
float3 diag
float3 offDiag
Returns
Type Description
float3x3

CalculateCorrection(Single, Single, Single, Single)

Declaration
public static float CalculateCorrection(float predictedError, float initialError, float tau, float damping)
Parameters
Type Name Description
System.Single predictedError
System.Single initialError
System.Single tau
System.Single damping
Returns
Type Description
System.Single

CalculateError(Single, Single, Single)

Declaration
public static float CalculateError(float x, float min, float max)
Parameters
Type Name Description
System.Single x
System.Single min
System.Single max
Returns
Type Description
System.Single

CalculateInvEffectiveMassDiag(float3, float4, float3, float4)

Declaration
public static float CalculateInvEffectiveMassDiag(float3 angA, float4 invInertiaAndMassA, float3 angB, float4 invInertiaAndMassB)
Parameters
Type Name Description
float3 angA
float4 invInertiaAndMassA
float3 angB
float4 invInertiaAndMassB
Returns
Type Description
System.Single

CalculateInvEffectiveMassOffDiag(float3, float3, float3, float3, float3, float3)

Declaration
public static float CalculateInvEffectiveMassOffDiag(float3 angA0, float3 angA1, float3 invInertiaA, float3 angB0, float3 angB1, float3 invInertiaB)
Parameters
Type Name Description
float3 angA0
float3 angA1
float3 invInertiaA
float3 angB0
float3 angB1
float3 invInertiaB
Returns
Type Description
System.Single

CalculateTauAndDamping(Single, Single, Single, Int32, out Single, out Single)

Declaration
public static void CalculateTauAndDamping(float springFrequency, float springDampingRatio, float timestep, int iterations, out float tau, out float damping)
Parameters
Type Name Description
System.Single springFrequency
System.Single springDampingRatio
System.Single timestep
System.Int32 iterations
System.Single tau
System.Single damping

CalculateTauAndDamping(Constraint, Single, Int32, out Single, out Single)

Declaration
public static void CalculateTauAndDamping(Constraint constraint, float timestep, int iterations, out float tau, out float damping)
Parameters
Type Name Description
Constraint constraint
System.Single timestep
System.Int32 iterations
System.Single tau
System.Single damping

IntegrateOrientationBFromA(quaternion, float3, float3, Single)

Declaration
public static quaternion IntegrateOrientationBFromA(quaternion bFromA, float3 angularVelocityA, float3 angularVelocityB, float timestep)
Parameters
Type Name Description
quaternion bFromA
float3 angularVelocityA
float3 angularVelocityB
System.Single timestep
Returns
Type Description
quaternion

InvertSymmetricMatrix(float3, float3, out float3, out float3)

Declaration
public static bool InvertSymmetricMatrix(float3 diag, float3 offDiag, out float3 invDiag, out float3 invOffDiag)
Parameters
Type Name Description
float3 diag
float3 offDiag
float3 invDiag
float3 invOffDiag
Returns
Type Description
System.Boolean

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