Class OneBodyAngularServoConstraintComponent
- Namespace
- Stride.BepuPhysics.Constraints
- Assembly
- Stride.BepuPhysics.dll
Constrains a single body to a target orientation in space, controlling both rotation and tilt.
This constraint applies torque to make a body gradually align with a specific target orientation. It works like a spring system that pulls the body's orientation (rotation around any axis, including tilt) toward the specified target orientation.
Common uses include:
- Stabilizing objects to maintain a specific orientation
- Creating motorized joints that rotate/tilt objects to desired angles
- Simulating gyroscopic or magnetic orientation control
The spring and servo settings control how quickly and forcefully the body moves toward the target orientation.
[DataContract]
[DefaultEntityComponentProcessor(typeof(ConstraintProcessor), ExecutionMode = ExecutionMode.Runtime)]
[ComponentCategory("Physics - Bepu Constraint")]
public sealed class OneBodyAngularServoConstraintComponent : OneBodyConstraintComponent<OneBodyAngularServo>, IIdentifiable, IServo, ISpring, IOneBody- Inheritance
-
objectConstraintComponent<OneBodyAngularServo>OneBodyConstraintComponent<OneBodyAngularServo>OneBodyAngularServoConstraintComponent
- Implements
- Inherited Members
Constructors
OneBodyAngularServoConstraintComponent()
public OneBodyAngularServoConstraintComponent()Properties
ServoBaseSpeed
Minimum speed that the constraint will try to use to move towards the target. If the speed implied by the spring configuration is higher than this, the servo will attempt to use the higher speed. Will be clamped by the MaximumSpeed.
public float ServoBaseSpeed { get; set; }Property Value
ServoMaximumForce
The maximum force that the constraint can apply to move towards the target.
public float ServoMaximumForce { get; set; }Property Value
Remarks
This value is specified in terms of force: a change in momentum over time. It is approximated as a maximum impulse (an instantaneous change in momentum) on a per-substep basis. In other words, for a given velocity iteration, the constraint's impulse can be no larger than MaximumForce * dt where dt is the substep duration.
ServoMaximumSpeed
Maximum speed that the constraint can try to use to move towards the target.
public float ServoMaximumSpeed { get; set; }Property Value
SpringDampingRatio
The ratio of the spring's actual damping to its critical damping. 0 is undamped, 1 is critically damped, and higher values are overdamped. Higher damping ratios reduce oscillations and make the connection less elastic.
public float SpringDampingRatio { get; set; }Property Value
SpringFrequency
The target number of undamped oscillations per unit of time. Higher frequency values create stiffer connections, while lower values allow more elasticity in the joint.
public float SpringFrequency { get; set; }Property Value
TargetOrientation
public Quaternion TargetOrientation { get; set; }