Fixed documentation

Jolt/Physics/Constraints/ConeConstraint.h

@@ -97,7 +97,7 @@ public:
 	void						SetHalfConeAngle(float inHalfConeAngle)		{ JPH_ASSERT(inHalfConeAngle >= 0.0f && inHalfConeAngle <= JPH_PI); mCosHalfConeAngle = Cos(inHalfConeAngle); }
 	float						GetCosHalfConeAngle() const					{ return mCosHalfConeAngle; }
 
-	///@name Get Lagrange multiplier from last physics update (relates to how much force/torque was applied to satisfy the constraint)
+	///@name Get Lagrange multiplier from last physics update (the linear/angular impulse applied to satisfy the constraint)
 	inline Vec3 				GetTotalLambdaPosition() const				{ return mPointConstraintPart.GetTotalLambda(); }
 	inline float				GetTotalLambdaRotation() const				{ return mAngleConstraintPart.GetTotalLambda(); }
 

Jolt/Physics/Constraints/DistanceConstraint.h

@@ -81,7 +81,7 @@ public:
 	SpringSettings &			GetLimitsSpringSettings()									{ return mLimitsSpringSettings; }
 	void						SetLimitsSpringSettings(const SpringSettings &inLimitsSpringSettings) { mLimitsSpringSettings = inLimitsSpringSettings; }
 
-	///@name Get Lagrange multiplier from last physics update (relates to how much force/torque was applied to satisfy the constraint)
+	///@name Get Lagrange multiplier from last physics update (the linear impulse applied to satisfy the constraint)
 	inline float	 			GetTotalLambdaPosition() const								{ return mAxisConstraint.GetTotalLambda(); }
 
 private:

Jolt/Physics/Constraints/FixedConstraint.h

@@ -71,7 +71,7 @@ public:
 	virtual Mat44				GetConstraintToBody1Matrix() const override					{ return Mat44::sTranslation(mLocalSpacePosition1); }
 	virtual Mat44				GetConstraintToBody2Matrix() const override					{ return Mat44::sRotationTranslation(mInvInitialOrientation, mLocalSpacePosition2); }
 
-	///@name Get Lagrange multiplier from last physics update (relates to how much force/torque was applied to satisfy the constraint)
+	///@name Get Lagrange multiplier from last physics update (the linear/angular impulse applied to satisfy the constraint)
 	inline Vec3					GetTotalLambdaPosition() const								{ return mPointConstraintPart.GetTotalLambda(); }
 	inline Vec3					GetTotalLambdaRotation() const								{ return mRotationConstraintPart.GetTotalLambda(); }
 

Jolt/Physics/Constraints/GearConstraint.h

@@ -78,7 +78,7 @@ public:
 	/// The constraints that constrain both gears (2 hinges), optional and used to calculate the rotation error and fix numerical drift.
 	void						SetConstraints(const Constraint *inGear1, const Constraint *inGear2)	{ mGear1Constraint = inGear1; mGear2Constraint = inGear2; }
 
-	///@name Get Lagrange multiplier from last physics update (relates to how much force/torque was applied to satisfy the constraint)
+	///@name Get Lagrange multiplier from last physics update (the angular impulse applied to satisfy the constraint)
 	inline float				GetTotalLambda() const									{ return mGearConstraintPart.GetTotalLambda(); }
 
 private:

Jolt/Physics/Constraints/HingeConstraint.h

@@ -115,7 +115,7 @@ public:
 	SpringSettings &			GetLimitsSpringSettings()								{ return mLimitsSpringSettings; }
 	void						SetLimitsSpringSettings(const SpringSettings &inLimitsSpringSettings) { mLimitsSpringSettings = inLimitsSpringSettings; }
 
-	///@name Get Lagrange multiplier from last physics update (relates to how much force/torque was applied to satisfy the constraint)
+	///@name Get Lagrange multiplier from last physics update (the linear/angular impulse applied to satisfy the constraint)
 	inline Vec3		 			GetTotalLambdaPosition() const							{ return mPointConstraintPart.GetTotalLambda(); }
 	inline Vector<2>			GetTotalLambdaRotation() const							{ return mRotationConstraintPart.GetTotalLambda(); }
 	inline float				GetTotalLambdaRotationLimits() const					{ return mRotationLimitsConstraintPart.GetTotalLambda(); }

Jolt/Physics/Constraints/PathConstraint.h

@@ -116,7 +116,7 @@ public:
 	void							SetTargetPathFraction(float inFraction)					{ JPH_ASSERT(mPath->IsLooping() || (inFraction >= 0.0f && inFraction <= mPath->GetPathMaxFraction())); mTargetPathFraction = inFraction; }
 	float							GetTargetPathFraction() const							{ return mTargetPathFraction; }
 
-	///@name Get Lagrange multiplier from last physics update (relates to how much force/torque was applied to satisfy the constraint)
+	///@name Get Lagrange multiplier from last physics update (the linear/angular impulse applied to satisfy the constraint)
 	inline Vector<2>				GetTotalLambdaPosition() const							{ return mPositionConstraintPart.GetTotalLambda(); }
 	inline float					GetTotalLambdaPositionLimits() const					{ return mPositionLimitsConstraintPart.GetTotalLambda(); }
 	inline float					GetTotalLambdaMotor() const								{ return mPositionMotorConstraintPart.GetTotalLambda(); }

Jolt/Physics/Constraints/PointConstraint.h

@@ -75,7 +75,7 @@ public:
 	virtual Mat44				GetConstraintToBody1Matrix() const override					{ return Mat44::sTranslation(mLocalSpacePosition1); }
 	virtual Mat44				GetConstraintToBody2Matrix() const override					{ return Mat44::sTranslation(mLocalSpacePosition2); } // Note: Incorrect rotation as we don't track the original rotation difference, should not matter though as the constraint is not limiting rotation.
 
-	///@name Get Lagrange multiplier from last physics update (relates to how much force/torque was applied to satisfy the constraint)
+	///@name Get Lagrange multiplier from last physics update (the linear impulse applied to satisfy the constraint)
 	inline Vec3		 			GetTotalLambdaPosition() const								{ return mPointConstraintPart.GetTotalLambda(); }
 
 private:

Jolt/Physics/Constraints/PulleyConstraint.h

@@ -90,7 +90,7 @@ public:
 	/// Get the current length of both segments (multiplied by the ratio for segment 2)
 	float						GetCurrentLength() const									{ return Vec3(mWorldSpacePosition1 - mFixedPosition1).Length() + mRatio * Vec3(mWorldSpacePosition2 - mFixedPosition2).Length(); }
 
-	///@name Get Lagrange multiplier from last physics update (relates to how much force/torque was applied to satisfy the constraint)
+	///@name Get Lagrange multiplier from last physics update (the linear impulse applied to satisfy the constraint)
 	inline float	 			GetTotalLambdaPosition() const								{ return mIndependentAxisConstraintPart.GetTotalLambda(); }
 
 private:

Jolt/Physics/Constraints/RackAndPinionConstraint.h

@@ -80,7 +80,7 @@ public:
 	/// The constraints that constrain the rack and pinion (a slider and a hinge), optional and used to calculate the position error and fix numerical drift.
 	void						SetConstraints(const Constraint *inPinion, const Constraint *inRack)	{ mPinionConstraint = inPinion; mRackConstraint = inRack; }
 
-	///@name Get Lagrange multiplier from last physics update (relates to how much force/torque was applied to satisfy the constraint)
+	///@name Get Lagrange multiplier from last physics update (the linear/angular impulse applied to satisfy the constraint)
 	inline float				GetTotalLambda() const													{ return mRackAndPinionConstraintPart.GetTotalLambda(); }
 
 private:

Jolt/Physics/Constraints/SixDOFConstraint.h

@@ -177,7 +177,7 @@ public:
 	/// Solve: R2 * ConstraintToBody2 = R1 * ConstraintToBody1 * q (see SwingTwistConstraint::GetSwingTwist) and R2 = R1 * inOrientation for q.
 	void						SetTargetOrientationBS(QuatArg inOrientation)				{ SetTargetOrientationCS(mConstraintToBody1.Conjugated() * inOrientation * mConstraintToBody2); }
 
-	///@name Get Lagrange multiplier from last physics update (relates to how much force/torque was applied to satisfy the constraint)
+	///@name Get Lagrange multiplier from last physics update (the linear/angular impulse applied to satisfy the constraint)
 	inline Vec3		 			GetTotalLambdaPosition() const								{ return IsTranslationFullyConstrained()? mPointConstraintPart.GetTotalLambda() : Vec3(mTranslationConstraintPart[0].GetTotalLambda(), mTranslationConstraintPart[1].GetTotalLambda(), mTranslationConstraintPart[2].GetTotalLambda()); }
 	inline Vec3					GetTotalLambdaRotation() const								{ return IsRotationFullyConstrained()? mRotationConstraintPart.GetTotalLambda() : Vec3(mSwingTwistConstraintPart.GetTotalTwistLambda(), mSwingTwistConstraintPart.GetTotalSwingYLambda(), mSwingTwistConstraintPart.GetTotalSwingZLambda()); }
 	inline Vec3					GetTotalLambdaMotorTranslation() const						{ return Vec3(mMotorTranslationConstraintPart[0].GetTotalLambda(), mMotorTranslationConstraintPart[1].GetTotalLambda(), mMotorTranslationConstraintPart[2].GetTotalLambda()); }

Jolt/Physics/Constraints/SliderConstraint.h

@@ -121,7 +121,7 @@ public:
 	SpringSettings &			GetLimitsSpringSettings()								{ return mLimitsSpringSettings; }
 	void						SetLimitsSpringSettings(const SpringSettings &inLimitsSpringSettings) { mLimitsSpringSettings = inLimitsSpringSettings; }
 
-	///@name Get Lagrange multiplier from last physics update (relates to how much force/torque was applied to satisfy the constraint)
+	///@name Get Lagrange multiplier from last physics update (the linear/angular impulse applied to satisfy the constraint)
 	inline Vector<2> 			GetTotalLambdaPosition() const							{ return mPositionConstraintPart.GetTotalLambda(); }
 	inline float				GetTotalLambdaPositionLimits() const					{ return mPositionLimitsConstraintPart.GetTotalLambda(); }
 	inline Vec3					GetTotalLambdaRotation() const							{ return mRotationConstraintPart.GetTotalLambda(); }

Jolt/Physics/Constraints/SwingTwistConstraint.h

@@ -141,7 +141,7 @@ public:
 	/// Solve: R2 * ConstraintToBody2 = R1 * ConstraintToBody1 * q for q.
 	inline Quat					GetRotationInConstraintSpace() const;
 
-	///@name Get Lagrange multiplier from last physics update (relates to how much force/torque was applied to satisfy the constraint)
+	///@name Get Lagrange multiplier from last physics update (the linear/angular impulse applied to satisfy the constraint)
 	inline Vec3		 			GetTotalLambdaPosition() const								{ return mPointConstraintPart.GetTotalLambda(); }
 	inline float				GetTotalLambdaTwist() const									{ return mSwingTwistConstraintPart.GetTotalTwistLambda(); }
 	inline float				GetTotalLambdaSwingY() const								{ return mSwingTwistConstraintPart.GetTotalSwingYLambda(); }