Class JacobianUtilities
Inheritance
System.Object
JacobianUtilities
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 |
|