This class is responsible to solve the BallAndSocketJoint constraints. More...

#include <include/reactphysics3d/systems/SolveBallAndSocketJointSystem.h>

Public Member Functions
	SolveBallAndSocketJointSystem (PhysicsWorld &world, RigidBodyComponents &rigidBodyComponents, TransformComponents &transformComponents, JointComponents &jointComponents, BallAndSocketJointComponents &ballAndSocketJointComponents)
	Constructor.

	~SolveBallAndSocketJointSystem ()=default
	Destructor.

void	initBeforeSolve ()
	Initialize before solving the constraint.

void	warmstart ()
	Warm start the constraint (apply the previous impulse at the beginning of the step)

void	solveVelocityConstraint ()
	Solve the velocity constraint.

void	solvePositionConstraint ()
	Solve the position constraint (for position error correction)

void	setTimeStep (decimal timeStep)
	Set the time step.

void	setIsWarmStartingActive (bool isWarmStartingActive)
	Set to true to enable warm starting.

Static Public Member Functions
static decimal	computeCurrentConeHalfAngle (const Vector3 &coneLimitWorldAxisBody1, const Vector3 &coneLimitWorldAxisBody2)
	Return the current cone angle (for the cone limit) More...

Detailed Description

This class is responsible to solve the BallAndSocketJoint constraints.

Member Function Documentation

RP3D_FORCE_INLINE decimal reactphysics3d::SolveBallAndSocketJointSystem::computeCurrentConeHalfAngle	(	const Vector3 &	coneLimitWorldAxisBody1,
		const Vector3 &	coneLimitWorldAxisBody2
	)

static

Return the current cone angle (for the cone limit)

The documentation for this class was generated from the following files: