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+ <div class="headertitle"><div class="title">AxisConstraintPart.h</div></div>
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+<div class="contents">
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+<a href="_axis_constraint_part_8h.html">Go to the documentation of this file.</a><div class="fragment"><div class="line"><a id="l00001" name="l00001"></a><span class="lineno"> 1</span><span class="comment">// Jolt Physics Library (https://github.com/jrouwe/JoltPhysics)</span></div>
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+<div class="line"><a id="l00002" name="l00002"></a><span class="lineno"> 2</span><span class="comment">// SPDX-FileCopyrightText: 2021 Jorrit Rouwe</span></div>
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+<div class="line"><a id="l00003" name="l00003"></a><span class="lineno"> 3</span><span class="comment">// SPDX-License-Identifier: MIT</span></div>
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+<div class="line"><a id="l00004" name="l00004"></a><span class="lineno"> 4</span> </div>
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+<div class="line"><a id="l00005" name="l00005"></a><span class="lineno"> 5</span><span class="preprocessor">#pragma once</span></div>
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+<div class="line"><a id="l00006" name="l00006"></a><span class="lineno"> 6</span> </div>
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+<div class="line"><a id="l00007" name="l00007"></a><span class="lineno"> 7</span><span class="preprocessor">#include <<a class="code" href="_body_8h.html">Jolt/Physics/Body/Body.h</a>></span></div>
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+<div class="line"><a id="l00008" name="l00008"></a><span class="lineno"> 8</span><span class="preprocessor">#include <<a class="code" href="_spring_part_8h.html">Jolt/Physics/Constraints/ConstraintPart/SpringPart.h</a>></span></div>
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+<div class="line"><a id="l00009" name="l00009"></a><span class="lineno"> 9</span><span class="preprocessor">#include <<a class="code" href="_spring_settings_8h.html">Jolt/Physics/Constraints/SpringSettings.h</a>></span></div>
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+<div class="line"><a id="l00010" name="l00010"></a><span class="lineno"> 10</span><span class="preprocessor">#include <<a class="code" href="_state_recorder_8h.html">Jolt/Physics/StateRecorder.h</a>></span></div>
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+<div class="line"><a id="l00011" name="l00011"></a><span class="lineno"> 11</span><span class="preprocessor">#include <<a class="code" href="_determinism_log_8h.html">Jolt/Physics/DeterminismLog.h</a>></span></div>
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+<div class="line"><a id="l00012" name="l00012"></a><span class="lineno"> 12</span> </div>
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+<div class="line"><a id="l00013" name="l00013"></a><span class="lineno"> 13</span><a class="code hl_define" href="_core_8h.html#ad14098b68b8c44ea6112601031268405">JPH_NAMESPACE_BEGIN</a></div>
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+<div class="line"><a id="l00014" name="l00014"></a><span class="lineno"> 14</span> </div>
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+<div class="foldopen" id="foldopen00042" data-start="{" data-end="};">
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+<div class="line"><a id="l00042" name="l00042"></a><span class="lineno"><a class="line" href="class_axis_constraint_part.html"> 42</a></span><span class="keyword">class </span><a class="code hl_class" href="class_axis_constraint_part.html">AxisConstraintPart</a></div>
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+<div class="line"><a id="l00043" name="l00043"></a><span class="lineno"> 43</span>{</div>
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+<div class="line"><a id="l00045" name="l00045"></a><span class="lineno"> 45</span> <span class="keyword">template</span> <EMotionType Type1, EMotionType Type2></div>
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+<div class="line"><a id="l00046" name="l00046"></a><span class="lineno"> 46</span> JPH_INLINE <span class="keywordtype">bool</span> ApplyVelocityStep(<a class="code hl_class" href="class_motion_properties.html">MotionProperties</a> *ioMotionProperties1, <span class="keywordtype">float</span> inInvMass1, <a class="code hl_class" href="class_motion_properties.html">MotionProperties</a> *ioMotionProperties2, <span class="keywordtype">float</span> inInvMass2, <a class="code hl_class" href="class_vec3.html">Vec3Arg</a> inWorldSpaceAxis, <span class="keywordtype">float</span> inLambda)<span class="keyword"> const</span></div>
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+<div class="line"><a id="l00047" name="l00047"></a><span class="lineno"> 47</span><span class="keyword"> </span>{</div>
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+<div class="line"><a id="l00048" name="l00048"></a><span class="lineno"> 48</span> <span class="comment">// Apply impulse if delta is not zero</span></div>
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+<div class="line"><a id="l00049" name="l00049"></a><span class="lineno"> 49</span> <span class="keywordflow">if</span> (inLambda != 0.0f)</div>
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+<div class="line"><a id="l00050" name="l00050"></a><span class="lineno"> 50</span> {</div>
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+<div class="line"><a id="l00051" name="l00051"></a><span class="lineno"> 51</span> <span class="comment">// Calculate velocity change due to constraint</span></div>
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+<div class="line"><a id="l00052" name="l00052"></a><span class="lineno"> 52</span> <span class="comment">//</span></div>
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+<div class="line"><a id="l00053" name="l00053"></a><span class="lineno"> 53</span> <span class="comment">// Impulse:</span></div>
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+<div class="line"><a id="l00054" name="l00054"></a><span class="lineno"> 54</span> <span class="comment">// P = J^T lambda</span></div>
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+<div class="line"><a id="l00055" name="l00055"></a><span class="lineno"> 55</span> <span class="comment">//</span></div>
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+<div class="line"><a id="l00056" name="l00056"></a><span class="lineno"> 56</span> <span class="comment">// Euler velocity integration:</span></div>
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+<div class="line"><a id="l00057" name="l00057"></a><span class="lineno"> 57</span> <span class="comment">// v' = v + M^-1 P</span></div>
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+<div class="line"><a id="l00058" name="l00058"></a><span class="lineno"> 58</span> <span class="keywordflow">if</span> <span class="keyword">constexpr</span> (Type1 == <a class="code hl_enumvalue" href="_motion_type_8h.html#a328245ddbb758681fad3c44c9d488fd8a971fd8cc345d8bd9f92e9f7d88fdf20c">EMotionType::Dynamic</a>)</div>
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+<div class="line"><a id="l00059" name="l00059"></a><span class="lineno"> 59</span> {</div>
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+<div class="line"><a id="l00060" name="l00060"></a><span class="lineno"> 60</span> ioMotionProperties1-><a class="code hl_function" href="class_motion_properties.html#a81a597bd1f9f40f3fbf36991203a5280">SubLinearVelocityStep</a>((inLambda * inInvMass1) * inWorldSpaceAxis);</div>
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+<div class="line"><a id="l00061" name="l00061"></a><span class="lineno"> 61</span> ioMotionProperties1-><a class="code hl_function" href="class_motion_properties.html#a98672fc0c6884643944e570e1d78ac07">SubAngularVelocityStep</a>(inLambda * <a class="code hl_function" href="class_vec3.html#aea30fe731618ffa249ecdcba2c66ab4e">Vec3::sLoadFloat3Unsafe</a>(mInvI1_R1PlusUxAxis));</div>
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+<div class="line"><a id="l00062" name="l00062"></a><span class="lineno"> 62</span> }</div>
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+<div class="line"><a id="l00063" name="l00063"></a><span class="lineno"> 63</span> <span class="keywordflow">if</span> <span class="keyword">constexpr</span> (Type2 == <a class="code hl_enumvalue" href="_motion_type_8h.html#a328245ddbb758681fad3c44c9d488fd8a971fd8cc345d8bd9f92e9f7d88fdf20c">EMotionType::Dynamic</a>)</div>
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+<div class="line"><a id="l00064" name="l00064"></a><span class="lineno"> 64</span> {</div>
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+<div class="line"><a id="l00065" name="l00065"></a><span class="lineno"> 65</span> ioMotionProperties2-><a class="code hl_function" href="class_motion_properties.html#a5b570eb5488b3ca5f0c1b48ef0cf6dbe">AddLinearVelocityStep</a>((inLambda * inInvMass2) * inWorldSpaceAxis);</div>
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+<div class="line"><a id="l00066" name="l00066"></a><span class="lineno"> 66</span> ioMotionProperties2-><a class="code hl_function" href="class_motion_properties.html#afb12aa823a651145b46b271570a7af59">AddAngularVelocityStep</a>(inLambda * <a class="code hl_function" href="class_vec3.html#aea30fe731618ffa249ecdcba2c66ab4e">Vec3::sLoadFloat3Unsafe</a>(mInvI2_R2xAxis));</div>
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+<div class="line"><a id="l00067" name="l00067"></a><span class="lineno"> 67</span> }</div>
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+<div class="line"><a id="l00068" name="l00068"></a><span class="lineno"> 68</span> <span class="keywordflow">return</span> <span class="keyword">true</span>;</div>
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+<div class="line"><a id="l00069" name="l00069"></a><span class="lineno"> 69</span> }</div>
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+<div class="line"><a id="l00070" name="l00070"></a><span class="lineno"> 70</span> </div>
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+<div class="line"><a id="l00071" name="l00071"></a><span class="lineno"> 71</span> <span class="keywordflow">return</span> <span class="keyword">false</span>;</div>
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+<div class="line"><a id="l00072" name="l00072"></a><span class="lineno"> 72</span> }</div>
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+<div class="line"><a id="l00073" name="l00073"></a><span class="lineno"> 73</span> </div>
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+<div class="line"><a id="l00075" name="l00075"></a><span class="lineno"> 75</span> <span class="keyword">template</span> <EMotionType Type1, EMotionType Type2></div>
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+<div class="line"><a id="l00076" name="l00076"></a><span class="lineno"> 76</span> JPH_INLINE <span class="keywordtype">float</span> TemplatedCalculateInverseEffectiveMass(<span class="keywordtype">float</span> inInvMass1, <a class="code hl_class" href="class_mat44.html">Mat44Arg</a> inInvI1, <a class="code hl_class" href="class_vec3.html">Vec3Arg</a> inR1PlusU, <span class="keywordtype">float</span> inInvMass2, <a class="code hl_class" href="class_mat44.html">Mat44Arg</a> inInvI2, <a class="code hl_class" href="class_vec3.html">Vec3Arg</a> inR2, <a class="code hl_class" href="class_vec3.html">Vec3Arg</a> inWorldSpaceAxis)</div>
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+<div class="line"><a id="l00077" name="l00077"></a><span class="lineno"> 77</span> {</div>
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+<div class="line"><a id="l00078" name="l00078"></a><span class="lineno"> 78</span> <a class="code hl_define" href="_issue_reporting_8h.html#aaf6b1df827e11b7ca5f6f8778bd8f8cd">JPH_ASSERT</a>(inWorldSpaceAxis.<a class="code hl_function" href="class_vec3.html#a2f10743d69960eaac721399e4ede190a">IsNormalized</a>(1.0e-5f));</div>
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+<div class="line"><a id="l00079" name="l00079"></a><span class="lineno"> 79</span> </div>
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+<div class="line"><a id="l00080" name="l00080"></a><span class="lineno"> 80</span> <span class="comment">// Calculate properties used below</span></div>
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+<div class="line"><a id="l00081" name="l00081"></a><span class="lineno"> 81</span> <a class="code hl_class" href="class_vec3.html">Vec3</a> r1_plus_u_x_axis;</div>
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+<div class="line"><a id="l00082" name="l00082"></a><span class="lineno"> 82</span> <span class="keywordflow">if</span> <span class="keyword">constexpr</span> (Type1 != <a class="code hl_enumvalue" href="_motion_type_8h.html#a328245ddbb758681fad3c44c9d488fd8a84a8921b25f505d0d2077aeb5db4bc16">EMotionType::Static</a>)</div>
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+<div class="line"><a id="l00083" name="l00083"></a><span class="lineno"> 83</span> {</div>
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+<div class="line"><a id="l00084" name="l00084"></a><span class="lineno"> 84</span> r1_plus_u_x_axis = inR1PlusU.<a class="code hl_function" href="class_vec3.html#a224811af391ccfd1e05282eda22d1de8">Cross</a>(inWorldSpaceAxis);</div>
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+<div class="line"><a id="l00085" name="l00085"></a><span class="lineno"> 85</span> r1_plus_u_x_axis.<a class="code hl_function" href="class_vec3.html#ab22c62c48d2de13947c0cd3413018364">StoreFloat3</a>(&mR1PlusUxAxis);</div>
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+<div class="line"><a id="l00086" name="l00086"></a><span class="lineno"> 86</span> }</div>
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+<div class="line"><a id="l00087" name="l00087"></a><span class="lineno"> 87</span> <span class="keywordflow">else</span></div>
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+<div class="line"><a id="l00088" name="l00088"></a><span class="lineno"> 88</span> {</div>
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+<div class="line"><a id="l00089" name="l00089"></a><span class="lineno"> 89</span><span class="preprocessor"> #ifdef JPH_DEBUG</span></div>
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+<div class="line"><a id="l00090" name="l00090"></a><span class="lineno"> 90</span> <a class="code hl_function" href="class_vec3.html#aee68177ac267822e1823a9a0f7525014">Vec3::sNaN</a>().<a class="code hl_function" href="class_vec3.html#ab22c62c48d2de13947c0cd3413018364">StoreFloat3</a>(&mR1PlusUxAxis);</div>
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+<div class="line"><a id="l00091" name="l00091"></a><span class="lineno"> 91</span><span class="preprocessor"> #endif</span></div>
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+<div class="line"><a id="l00092" name="l00092"></a><span class="lineno"> 92</span> }</div>
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+<div class="line"><a id="l00093" name="l00093"></a><span class="lineno"> 93</span> </div>
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+<div class="line"><a id="l00094" name="l00094"></a><span class="lineno"> 94</span> <a class="code hl_class" href="class_vec3.html">Vec3</a> r2_x_axis;</div>
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+<div class="line"><a id="l00095" name="l00095"></a><span class="lineno"> 95</span> <span class="keywordflow">if</span> <span class="keyword">constexpr</span> (Type2 != <a class="code hl_enumvalue" href="_motion_type_8h.html#a328245ddbb758681fad3c44c9d488fd8a84a8921b25f505d0d2077aeb5db4bc16">EMotionType::Static</a>)</div>
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+<div class="line"><a id="l00096" name="l00096"></a><span class="lineno"> 96</span> {</div>
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+<div class="line"><a id="l00097" name="l00097"></a><span class="lineno"> 97</span> r2_x_axis = inR2.<a class="code hl_function" href="class_vec3.html#a224811af391ccfd1e05282eda22d1de8">Cross</a>(inWorldSpaceAxis);</div>
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+<div class="line"><a id="l00098" name="l00098"></a><span class="lineno"> 98</span> r2_x_axis.<a class="code hl_function" href="class_vec3.html#ab22c62c48d2de13947c0cd3413018364">StoreFloat3</a>(&mR2xAxis);</div>
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+<div class="line"><a id="l00099" name="l00099"></a><span class="lineno"> 99</span> }</div>
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+<div class="line"><a id="l00100" name="l00100"></a><span class="lineno"> 100</span> <span class="keywordflow">else</span></div>
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+<div class="line"><a id="l00101" name="l00101"></a><span class="lineno"> 101</span> {</div>
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+<div class="line"><a id="l00102" name="l00102"></a><span class="lineno"> 102</span><span class="preprocessor"> #ifdef JPH_DEBUG</span></div>
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+<div class="line"><a id="l00103" name="l00103"></a><span class="lineno"> 103</span> <a class="code hl_function" href="class_vec3.html#aee68177ac267822e1823a9a0f7525014">Vec3::sNaN</a>().<a class="code hl_function" href="class_vec3.html#ab22c62c48d2de13947c0cd3413018364">StoreFloat3</a>(&mR2xAxis);</div>
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+<div class="line"><a id="l00104" name="l00104"></a><span class="lineno"> 104</span><span class="preprocessor"> #endif</span></div>
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+<div class="line"><a id="l00105" name="l00105"></a><span class="lineno"> 105</span> }</div>
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+<div class="line"><a id="l00106" name="l00106"></a><span class="lineno"> 106</span> </div>
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+<div class="line"><a id="l00107" name="l00107"></a><span class="lineno"> 107</span> <span class="comment">// Calculate inverse effective mass: K = J M^-1 J^T</span></div>
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+<div class="line"><a id="l00108" name="l00108"></a><span class="lineno"> 108</span> <span class="keywordtype">float</span> inv_effective_mass;</div>
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+<div class="line"><a id="l00109" name="l00109"></a><span class="lineno"> 109</span> </div>
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+<div class="line"><a id="l00110" name="l00110"></a><span class="lineno"> 110</span> <span class="keywordflow">if</span> <span class="keyword">constexpr</span> (Type1 == <a class="code hl_enumvalue" href="_motion_type_8h.html#a328245ddbb758681fad3c44c9d488fd8a971fd8cc345d8bd9f92e9f7d88fdf20c">EMotionType::Dynamic</a>)</div>
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+<div class="line"><a id="l00111" name="l00111"></a><span class="lineno"> 111</span> {</div>
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+<div class="line"><a id="l00112" name="l00112"></a><span class="lineno"> 112</span> <a class="code hl_class" href="class_vec3.html">Vec3</a> invi1_r1_plus_u_x_axis = inInvI1.<a class="code hl_function" href="class_mat44.html#ab599aaeab3e4b832f7f4097816650b14">Multiply3x3</a>(r1_plus_u_x_axis);</div>
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+<div class="line"><a id="l00113" name="l00113"></a><span class="lineno"> 113</span> invi1_r1_plus_u_x_axis.<a class="code hl_function" href="class_vec3.html#ab22c62c48d2de13947c0cd3413018364">StoreFloat3</a>(&mInvI1_R1PlusUxAxis);</div>
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+<div class="line"><a id="l00114" name="l00114"></a><span class="lineno"> 114</span> inv_effective_mass = inInvMass1 + invi1_r1_plus_u_x_axis.<a class="code hl_function" href="class_vec3.html#a0e078ff09f69e669db71a2b0e37939ff">Dot</a>(r1_plus_u_x_axis);</div>
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+<div class="line"><a id="l00115" name="l00115"></a><span class="lineno"> 115</span> }</div>
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+<div class="line"><a id="l00116" name="l00116"></a><span class="lineno"> 116</span> <span class="keywordflow">else</span></div>
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+<div class="line"><a id="l00117" name="l00117"></a><span class="lineno"> 117</span> {</div>
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+<div class="line"><a id="l00118" name="l00118"></a><span class="lineno"> 118</span> (void)r1_plus_u_x_axis; <span class="comment">// Fix compiler warning: Not using this (it's not calculated either)</span></div>
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+<div class="line"><a id="l00119" name="l00119"></a><span class="lineno"> 119</span> <a class="code hl_define" href="_core_8h.html#a3feba9adfefa0cf951f6b4aeb4990fb4">JPH_IF_DEBUG</a>(<a class="code hl_function" href="class_vec3.html#aee68177ac267822e1823a9a0f7525014">Vec3::sNaN</a>().StoreFloat3(&mInvI1_R1PlusUxAxis);)</div>
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+<div class="line"><a id="l00120" name="l00120"></a><span class="lineno"> 120</span> inv_effective_mass = 0.0f;</div>
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+<div class="line"><a id="l00121" name="l00121"></a><span class="lineno"> 121</span> }</div>
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+<div class="line"><a id="l00122" name="l00122"></a><span class="lineno"> 122</span> </div>
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+<div class="line"><a id="l00123" name="l00123"></a><span class="lineno"> 123</span> <span class="keywordflow">if</span> <span class="keyword">constexpr</span> (Type2 == <a class="code hl_enumvalue" href="_motion_type_8h.html#a328245ddbb758681fad3c44c9d488fd8a971fd8cc345d8bd9f92e9f7d88fdf20c">EMotionType::Dynamic</a>)</div>
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+<div class="line"><a id="l00124" name="l00124"></a><span class="lineno"> 124</span> {</div>
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+<div class="line"><a id="l00125" name="l00125"></a><span class="lineno"> 125</span> <a class="code hl_class" href="class_vec3.html">Vec3</a> invi2_r2_x_axis = inInvI2.<a class="code hl_function" href="class_mat44.html#ab599aaeab3e4b832f7f4097816650b14">Multiply3x3</a>(r2_x_axis);</div>
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+<div class="line"><a id="l00126" name="l00126"></a><span class="lineno"> 126</span> invi2_r2_x_axis.<a class="code hl_function" href="class_vec3.html#ab22c62c48d2de13947c0cd3413018364">StoreFloat3</a>(&mInvI2_R2xAxis);</div>
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+<div class="line"><a id="l00127" name="l00127"></a><span class="lineno"> 127</span> inv_effective_mass += inInvMass2 + invi2_r2_x_axis.<a class="code hl_function" href="class_vec3.html#a0e078ff09f69e669db71a2b0e37939ff">Dot</a>(r2_x_axis);</div>
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+<div class="line"><a id="l00128" name="l00128"></a><span class="lineno"> 128</span> }</div>
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+<div class="line"><a id="l00129" name="l00129"></a><span class="lineno"> 129</span> <span class="keywordflow">else</span></div>
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+<div class="line"><a id="l00130" name="l00130"></a><span class="lineno"> 130</span> {</div>
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+<div class="line"><a id="l00131" name="l00131"></a><span class="lineno"> 131</span> (void)r2_x_axis; <span class="comment">// Fix compiler warning: Not using this (it's not calculated either)</span></div>
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+<div class="line"><a id="l00132" name="l00132"></a><span class="lineno"> 132</span> <a class="code hl_define" href="_core_8h.html#a3feba9adfefa0cf951f6b4aeb4990fb4">JPH_IF_DEBUG</a>(<a class="code hl_function" href="class_vec3.html#aee68177ac267822e1823a9a0f7525014">Vec3::sNaN</a>().StoreFloat3(&mInvI2_R2xAxis);)</div>
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+<div class="line"><a id="l00133" name="l00133"></a><span class="lineno"> 133</span> }</div>
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+<div class="line"><a id="l00134" name="l00134"></a><span class="lineno"> 134</span> </div>
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+<div class="line"><a id="l00135" name="l00135"></a><span class="lineno"> 135</span> <span class="keywordflow">return</span> inv_effective_mass;</div>
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+<div class="line"><a id="l00136" name="l00136"></a><span class="lineno"> 136</span> }</div>
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+<div class="line"><a id="l00137" name="l00137"></a><span class="lineno"> 137</span> </div>
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+<div class="line"><a id="l00139" name="l00139"></a><span class="lineno"> 139</span> JPH_INLINE <span class="keywordtype">float</span> CalculateInverseEffectiveMass(<span class="keyword">const</span> <a class="code hl_class" href="class_body.html">Body</a> &inBody1, <a class="code hl_class" href="class_vec3.html">Vec3Arg</a> inR1PlusU, <span class="keyword">const</span> <a class="code hl_class" href="class_body.html">Body</a> &inBody2, <a class="code hl_class" href="class_vec3.html">Vec3Arg</a> inR2, <a class="code hl_class" href="class_vec3.html">Vec3Arg</a> inWorldSpaceAxis)</div>
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+<div class="line"><a id="l00140" name="l00140"></a><span class="lineno"> 140</span> {</div>
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+<div class="line"><a id="l00141" name="l00141"></a><span class="lineno"> 141</span> <span class="comment">// Dispatch to the correct templated form</span></div>
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+<div class="line"><a id="l00142" name="l00142"></a><span class="lineno"> 142</span> <span class="keywordflow">switch</span> (inBody1.<a class="code hl_function" href="class_body.html#a146a4745ed28c3d9b06abe02ee3d3490">GetMotionType</a>())</div>
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+<div class="line"><a id="l00143" name="l00143"></a><span class="lineno"> 143</span> {</div>
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+<div class="line"><a id="l00144" name="l00144"></a><span class="lineno"> 144</span> <span class="keywordflow">case</span> <a class="code hl_enumvalue" href="_motion_type_8h.html#a328245ddbb758681fad3c44c9d488fd8a971fd8cc345d8bd9f92e9f7d88fdf20c">EMotionType::Dynamic</a>:</div>
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+<div class="line"><a id="l00145" name="l00145"></a><span class="lineno"> 145</span> {</div>
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+<div class="line"><a id="l00146" name="l00146"></a><span class="lineno"> 146</span> <span class="keyword">const</span> <a class="code hl_class" href="class_motion_properties.html">MotionProperties</a> *mp1 = inBody1.<a class="code hl_function" href="class_body.html#abe012219037c12313c7ef1116ee74865">GetMotionPropertiesUnchecked</a>();</div>
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+<div class="line"><a id="l00147" name="l00147"></a><span class="lineno"> 147</span> <span class="keywordtype">float</span> inv_m1 = mp1-><a class="code hl_function" href="class_motion_properties.html#a8a959bd2f7d8eb581d999e3b01920aa8">GetInverseMass</a>();</div>
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+<div class="line"><a id="l00148" name="l00148"></a><span class="lineno"> 148</span> <a class="code hl_class" href="class_mat44.html">Mat44</a> inv_i1 = inBody1.<a class="code hl_function" href="class_body.html#a731f2a92e9e215ff87efc831999e0e6e">GetInverseInertia</a>();</div>
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+<div class="line"><a id="l00149" name="l00149"></a><span class="lineno"> 149</span> <span class="keywordflow">switch</span> (inBody2.<a class="code hl_function" href="class_body.html#a146a4745ed28c3d9b06abe02ee3d3490">GetMotionType</a>())</div>
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+<div class="line"><a id="l00150" name="l00150"></a><span class="lineno"> 150</span> {</div>
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+<div class="line"><a id="l00151" name="l00151"></a><span class="lineno"> 151</span> <span class="keywordflow">case</span> <a class="code hl_enumvalue" href="_motion_type_8h.html#a328245ddbb758681fad3c44c9d488fd8a971fd8cc345d8bd9f92e9f7d88fdf20c">EMotionType::Dynamic</a>:</div>
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+<div class="line"><a id="l00152" name="l00152"></a><span class="lineno"> 152</span> <span class="keywordflow">return</span> TemplatedCalculateInverseEffectiveMass<EMotionType::Dynamic, EMotionType::Dynamic>(inv_m1, inv_i1, inR1PlusU, inBody2.<a class="code hl_function" href="class_body.html#abe012219037c12313c7ef1116ee74865">GetMotionPropertiesUnchecked</a>()-><a class="code hl_function" href="class_motion_properties.html#a8a959bd2f7d8eb581d999e3b01920aa8">GetInverseMass</a>(), inBody2.<a class="code hl_function" href="class_body.html#a731f2a92e9e215ff87efc831999e0e6e">GetInverseInertia</a>(), inR2, inWorldSpaceAxis);</div>
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+<div class="line"><a id="l00153" name="l00153"></a><span class="lineno"> 153</span> </div>
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+<div class="line"><a id="l00154" name="l00154"></a><span class="lineno"> 154</span> <span class="keywordflow">case</span> <a class="code hl_enumvalue" href="_motion_type_8h.html#a328245ddbb758681fad3c44c9d488fd8a40c78b58b86002ee38fad2d3c9dd787e">EMotionType::Kinematic</a>:</div>
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+<div class="line"><a id="l00155" name="l00155"></a><span class="lineno"> 155</span> <span class="keywordflow">return</span> TemplatedCalculateInverseEffectiveMass<EMotionType::Dynamic, EMotionType::Kinematic>(inv_m1, inv_i1, inR1PlusU, 0 <span class="comment">/* Will not be used */</span>, <a class="code hl_class" href="class_mat44.html">Mat44</a>() <span class="comment">/* Will not be used */</span>, inR2, inWorldSpaceAxis);</div>
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+<div class="line"><a id="l00156" name="l00156"></a><span class="lineno"> 156</span> </div>
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+<div class="line"><a id="l00157" name="l00157"></a><span class="lineno"> 157</span> <span class="keywordflow">case</span> <a class="code hl_enumvalue" href="_motion_type_8h.html#a328245ddbb758681fad3c44c9d488fd8a84a8921b25f505d0d2077aeb5db4bc16">EMotionType::Static</a>:</div>
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+<div class="line"><a id="l00158" name="l00158"></a><span class="lineno"> 158</span> <span class="keywordflow">return</span> TemplatedCalculateInverseEffectiveMass<EMotionType::Dynamic, EMotionType::Static>(inv_m1, inv_i1, inR1PlusU, 0 <span class="comment">/* Will not be used */</span>, <a class="code hl_class" href="class_mat44.html">Mat44</a>() <span class="comment">/* Will not be used */</span>, inR2, inWorldSpaceAxis);</div>
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+<div class="line"><a id="l00159" name="l00159"></a><span class="lineno"> 159</span> </div>
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+<div class="line"><a id="l00160" name="l00160"></a><span class="lineno"> 160</span> <span class="keywordflow">default</span>:</div>
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+<div class="line"><a id="l00161" name="l00161"></a><span class="lineno"> 161</span> <span class="keywordflow">break</span>;</div>
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+<div class="line"><a id="l00162" name="l00162"></a><span class="lineno"> 162</span> }</div>
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+<div class="line"><a id="l00163" name="l00163"></a><span class="lineno"> 163</span> <span class="keywordflow">break</span>;</div>
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+<div class="line"><a id="l00164" name="l00164"></a><span class="lineno"> 164</span> }</div>
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+<div class="line"><a id="l00165" name="l00165"></a><span class="lineno"> 165</span> </div>
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+<div class="line"><a id="l00166" name="l00166"></a><span class="lineno"> 166</span> <span class="keywordflow">case</span> <a class="code hl_enumvalue" href="_motion_type_8h.html#a328245ddbb758681fad3c44c9d488fd8a40c78b58b86002ee38fad2d3c9dd787e">EMotionType::Kinematic</a>:</div>
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+<div class="line"><a id="l00167" name="l00167"></a><span class="lineno"> 167</span> <a class="code hl_define" href="_issue_reporting_8h.html#aaf6b1df827e11b7ca5f6f8778bd8f8cd">JPH_ASSERT</a>(inBody2.<a class="code hl_function" href="class_body.html#a1b21c30907c8c9ce30c176a054057bef">IsDynamic</a>());</div>
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+<div class="line"><a id="l00168" name="l00168"></a><span class="lineno"> 168</span> <span class="keywordflow">return</span> TemplatedCalculateInverseEffectiveMass<EMotionType::Kinematic, EMotionType::Dynamic>(0 <span class="comment">/* Will not be used */</span>, <a class="code hl_class" href="class_mat44.html">Mat44</a>() <span class="comment">/* Will not be used */</span>, inR1PlusU, inBody2.<a class="code hl_function" href="class_body.html#abe012219037c12313c7ef1116ee74865">GetMotionPropertiesUnchecked</a>()-><a class="code hl_function" href="class_motion_properties.html#a8a959bd2f7d8eb581d999e3b01920aa8">GetInverseMass</a>(), inBody2.<a class="code hl_function" href="class_body.html#a731f2a92e9e215ff87efc831999e0e6e">GetInverseInertia</a>(), inR2, inWorldSpaceAxis);</div>
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+<div class="line"><a id="l00169" name="l00169"></a><span class="lineno"> 169</span> </div>
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+<div class="line"><a id="l00170" name="l00170"></a><span class="lineno"> 170</span> <span class="keywordflow">case</span> <a class="code hl_enumvalue" href="_motion_type_8h.html#a328245ddbb758681fad3c44c9d488fd8a84a8921b25f505d0d2077aeb5db4bc16">EMotionType::Static</a>:</div>
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+<div class="line"><a id="l00171" name="l00171"></a><span class="lineno"> 171</span> <a class="code hl_define" href="_issue_reporting_8h.html#aaf6b1df827e11b7ca5f6f8778bd8f8cd">JPH_ASSERT</a>(inBody2.<a class="code hl_function" href="class_body.html#a1b21c30907c8c9ce30c176a054057bef">IsDynamic</a>());</div>
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+<div class="line"><a id="l00172" name="l00172"></a><span class="lineno"> 172</span> <span class="keywordflow">return</span> TemplatedCalculateInverseEffectiveMass<EMotionType::Static, EMotionType::Dynamic>(0 <span class="comment">/* Will not be used */</span>, <a class="code hl_class" href="class_mat44.html">Mat44</a>() <span class="comment">/* Will not be used */</span>, inR1PlusU, inBody2.<a class="code hl_function" href="class_body.html#abe012219037c12313c7ef1116ee74865">GetMotionPropertiesUnchecked</a>()-><a class="code hl_function" href="class_motion_properties.html#a8a959bd2f7d8eb581d999e3b01920aa8">GetInverseMass</a>(), inBody2.<a class="code hl_function" href="class_body.html#a731f2a92e9e215ff87efc831999e0e6e">GetInverseInertia</a>(), inR2, inWorldSpaceAxis);</div>
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+<div class="line"><a id="l00173" name="l00173"></a><span class="lineno"> 173</span> </div>
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+<div class="line"><a id="l00174" name="l00174"></a><span class="lineno"> 174</span> <span class="keywordflow">default</span>:</div>
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+<div class="line"><a id="l00175" name="l00175"></a><span class="lineno"> 175</span> <span class="keywordflow">break</span>;</div>
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+<div class="line"><a id="l00176" name="l00176"></a><span class="lineno"> 176</span> }</div>
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+<div class="line"><a id="l00177" name="l00177"></a><span class="lineno"> 177</span> </div>
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+<div class="line"><a id="l00178" name="l00178"></a><span class="lineno"> 178</span> <a class="code hl_define" href="_issue_reporting_8h.html#aaf6b1df827e11b7ca5f6f8778bd8f8cd">JPH_ASSERT</a>(<span class="keyword">false</span>);</div>
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+<div class="line"><a id="l00179" name="l00179"></a><span class="lineno"> 179</span> <span class="keywordflow">return</span> 0.0f;</div>
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+<div class="line"><a id="l00180" name="l00180"></a><span class="lineno"> 180</span> }</div>
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+<div class="line"><a id="l00181" name="l00181"></a><span class="lineno"> 181</span> </div>
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+<div class="line"><a id="l00183" name="l00183"></a><span class="lineno"> 183</span> JPH_INLINE <span class="keywordtype">float</span> CalculateInverseEffectiveMassWithMassOverride(<span class="keyword">const</span> <a class="code hl_class" href="class_body.html">Body</a> &inBody1, <span class="keywordtype">float</span> inInvMass1, <span class="keywordtype">float</span> inInvInertiaScale1, <a class="code hl_class" href="class_vec3.html">Vec3Arg</a> inR1PlusU, <span class="keyword">const</span> <a class="code hl_class" href="class_body.html">Body</a> &inBody2, <span class="keywordtype">float</span> inInvMass2, <span class="keywordtype">float</span> inInvInertiaScale2, <a class="code hl_class" href="class_vec3.html">Vec3Arg</a> inR2, <a class="code hl_class" href="class_vec3.html">Vec3Arg</a> inWorldSpaceAxis)</div>
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+<div class="line"><a id="l00184" name="l00184"></a><span class="lineno"> 184</span> {</div>
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+<div class="line"><a id="l00185" name="l00185"></a><span class="lineno"> 185</span> <span class="comment">// Dispatch to the correct templated form</span></div>
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+<div class="line"><a id="l00186" name="l00186"></a><span class="lineno"> 186</span> <span class="keywordflow">switch</span> (inBody1.<a class="code hl_function" href="class_body.html#a146a4745ed28c3d9b06abe02ee3d3490">GetMotionType</a>())</div>
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+<div class="line"><a id="l00187" name="l00187"></a><span class="lineno"> 187</span> {</div>
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+<div class="line"><a id="l00188" name="l00188"></a><span class="lineno"> 188</span> <span class="keywordflow">case</span> <a class="code hl_enumvalue" href="_motion_type_8h.html#a328245ddbb758681fad3c44c9d488fd8a971fd8cc345d8bd9f92e9f7d88fdf20c">EMotionType::Dynamic</a>:</div>
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+<div class="line"><a id="l00189" name="l00189"></a><span class="lineno"> 189</span> {</div>
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+<div class="line"><a id="l00190" name="l00190"></a><span class="lineno"> 190</span> <a class="code hl_class" href="class_mat44.html">Mat44</a> inv_i1 = inInvInertiaScale1 * inBody1.<a class="code hl_function" href="class_body.html#a731f2a92e9e215ff87efc831999e0e6e">GetInverseInertia</a>();</div>
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+<div class="line"><a id="l00191" name="l00191"></a><span class="lineno"> 191</span> <span class="keywordflow">switch</span> (inBody2.<a class="code hl_function" href="class_body.html#a146a4745ed28c3d9b06abe02ee3d3490">GetMotionType</a>())</div>
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+<div class="line"><a id="l00192" name="l00192"></a><span class="lineno"> 192</span> {</div>
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+<div class="line"><a id="l00193" name="l00193"></a><span class="lineno"> 193</span> <span class="keywordflow">case</span> <a class="code hl_enumvalue" href="_motion_type_8h.html#a328245ddbb758681fad3c44c9d488fd8a971fd8cc345d8bd9f92e9f7d88fdf20c">EMotionType::Dynamic</a>:</div>
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+<div class="line"><a id="l00194" name="l00194"></a><span class="lineno"> 194</span> <span class="keywordflow">return</span> TemplatedCalculateInverseEffectiveMass<EMotionType::Dynamic, EMotionType::Dynamic>(inInvMass1, inv_i1, inR1PlusU, inInvMass2, inInvInertiaScale2 * inBody2.<a class="code hl_function" href="class_body.html#a731f2a92e9e215ff87efc831999e0e6e">GetInverseInertia</a>(), inR2, inWorldSpaceAxis);</div>
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+<div class="line"><a id="l00195" name="l00195"></a><span class="lineno"> 195</span> </div>
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+<div class="line"><a id="l00196" name="l00196"></a><span class="lineno"> 196</span> <span class="keywordflow">case</span> <a class="code hl_enumvalue" href="_motion_type_8h.html#a328245ddbb758681fad3c44c9d488fd8a40c78b58b86002ee38fad2d3c9dd787e">EMotionType::Kinematic</a>:</div>
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+<div class="line"><a id="l00197" name="l00197"></a><span class="lineno"> 197</span> <span class="keywordflow">return</span> TemplatedCalculateInverseEffectiveMass<EMotionType::Dynamic, EMotionType::Kinematic>(inInvMass1, inv_i1, inR1PlusU, 0 <span class="comment">/* Will not be used */</span>, <a class="code hl_class" href="class_mat44.html">Mat44</a>() <span class="comment">/* Will not be used */</span>, inR2, inWorldSpaceAxis);</div>
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+<div class="line"><a id="l00198" name="l00198"></a><span class="lineno"> 198</span> </div>
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+<div class="line"><a id="l00199" name="l00199"></a><span class="lineno"> 199</span> <span class="keywordflow">case</span> <a class="code hl_enumvalue" href="_motion_type_8h.html#a328245ddbb758681fad3c44c9d488fd8a84a8921b25f505d0d2077aeb5db4bc16">EMotionType::Static</a>:</div>
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+<div class="line"><a id="l00200" name="l00200"></a><span class="lineno"> 200</span> <span class="keywordflow">return</span> TemplatedCalculateInverseEffectiveMass<EMotionType::Dynamic, EMotionType::Static>(inInvMass1, inv_i1, inR1PlusU, 0 <span class="comment">/* Will not be used */</span>, <a class="code hl_class" href="class_mat44.html">Mat44</a>() <span class="comment">/* Will not be used */</span>, inR2, inWorldSpaceAxis);</div>
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+<div class="line"><a id="l00201" name="l00201"></a><span class="lineno"> 201</span> </div>
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+<div class="line"><a id="l00202" name="l00202"></a><span class="lineno"> 202</span> <span class="keywordflow">default</span>:</div>
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+<div class="line"><a id="l00203" name="l00203"></a><span class="lineno"> 203</span> <span class="keywordflow">break</span>;</div>
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+<div class="line"><a id="l00204" name="l00204"></a><span class="lineno"> 204</span> }</div>
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+<div class="line"><a id="l00205" name="l00205"></a><span class="lineno"> 205</span> <span class="keywordflow">break</span>;</div>
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+<div class="line"><a id="l00206" name="l00206"></a><span class="lineno"> 206</span> }</div>
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+<div class="line"><a id="l00207" name="l00207"></a><span class="lineno"> 207</span> </div>
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+<div class="line"><a id="l00208" name="l00208"></a><span class="lineno"> 208</span> <span class="keywordflow">case</span> <a class="code hl_enumvalue" href="_motion_type_8h.html#a328245ddbb758681fad3c44c9d488fd8a40c78b58b86002ee38fad2d3c9dd787e">EMotionType::Kinematic</a>:</div>
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+<div class="line"><a id="l00209" name="l00209"></a><span class="lineno"> 209</span> <a class="code hl_define" href="_issue_reporting_8h.html#aaf6b1df827e11b7ca5f6f8778bd8f8cd">JPH_ASSERT</a>(inBody2.<a class="code hl_function" href="class_body.html#a1b21c30907c8c9ce30c176a054057bef">IsDynamic</a>());</div>
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+<div class="line"><a id="l00210" name="l00210"></a><span class="lineno"> 210</span> <span class="keywordflow">return</span> TemplatedCalculateInverseEffectiveMass<EMotionType::Kinematic, EMotionType::Dynamic>(0 <span class="comment">/* Will not be used */</span>, <a class="code hl_class" href="class_mat44.html">Mat44</a>() <span class="comment">/* Will not be used */</span>, inR1PlusU, inInvMass2, inInvInertiaScale2 * inBody2.<a class="code hl_function" href="class_body.html#a731f2a92e9e215ff87efc831999e0e6e">GetInverseInertia</a>(), inR2, inWorldSpaceAxis);</div>
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+<div class="line"><a id="l00211" name="l00211"></a><span class="lineno"> 211</span> </div>
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+<div class="line"><a id="l00212" name="l00212"></a><span class="lineno"> 212</span> <span class="keywordflow">case</span> <a class="code hl_enumvalue" href="_motion_type_8h.html#a328245ddbb758681fad3c44c9d488fd8a84a8921b25f505d0d2077aeb5db4bc16">EMotionType::Static</a>:</div>
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+<div class="line"><a id="l00213" name="l00213"></a><span class="lineno"> 213</span> <a class="code hl_define" href="_issue_reporting_8h.html#aaf6b1df827e11b7ca5f6f8778bd8f8cd">JPH_ASSERT</a>(inBody2.<a class="code hl_function" href="class_body.html#a1b21c30907c8c9ce30c176a054057bef">IsDynamic</a>());</div>
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+<div class="line"><a id="l00214" name="l00214"></a><span class="lineno"> 214</span> <span class="keywordflow">return</span> TemplatedCalculateInverseEffectiveMass<EMotionType::Static, EMotionType::Dynamic>(0 <span class="comment">/* Will not be used */</span>, <a class="code hl_class" href="class_mat44.html">Mat44</a>() <span class="comment">/* Will not be used */</span>, inR1PlusU, inInvMass2, inInvInertiaScale2 * inBody2.<a class="code hl_function" href="class_body.html#a731f2a92e9e215ff87efc831999e0e6e">GetInverseInertia</a>(), inR2, inWorldSpaceAxis);</div>
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+<div class="line"><a id="l00215" name="l00215"></a><span class="lineno"> 215</span> </div>
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+<div class="line"><a id="l00216" name="l00216"></a><span class="lineno"> 216</span> <span class="keywordflow">default</span>:</div>
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+<div class="line"><a id="l00217" name="l00217"></a><span class="lineno"> 217</span> <span class="keywordflow">break</span>;</div>
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+<div class="line"><a id="l00218" name="l00218"></a><span class="lineno"> 218</span> }</div>
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+<div class="line"><a id="l00219" name="l00219"></a><span class="lineno"> 219</span> </div>
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+<div class="line"><a id="l00220" name="l00220"></a><span class="lineno"> 220</span> <a class="code hl_define" href="_issue_reporting_8h.html#aaf6b1df827e11b7ca5f6f8778bd8f8cd">JPH_ASSERT</a>(<span class="keyword">false</span>);</div>
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+<div class="line"><a id="l00221" name="l00221"></a><span class="lineno"> 221</span> <span class="keywordflow">return</span> 0.0f;</div>
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+<div class="line"><a id="l00222" name="l00222"></a><span class="lineno"> 222</span> }</div>
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+<div class="line"><a id="l00223" name="l00223"></a><span class="lineno"> 223</span> </div>
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+<div class="line"><a id="l00224" name="l00224"></a><span class="lineno"> 224</span><span class="keyword">public</span>:</div>
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+<div class="line"><a id="l00226" name="l00226"></a><span class="lineno"> 226</span> <span class="keyword">template</span> <EMotionType Type1, EMotionType Type2></div>
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+<div class="foldopen" id="foldopen00227" data-start="{" data-end="}">
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+<div class="line"><a id="l00227" name="l00227"></a><span class="lineno"><a class="line" href="class_axis_constraint_part.html#a5a8bc2c7a35f60b63e233ed13db1749b"> 227</a></span> JPH_INLINE <span class="keywordtype">void</span> <a class="code hl_function" href="class_axis_constraint_part.html#a5a8bc2c7a35f60b63e233ed13db1749b">TemplatedCalculateConstraintProperties</a>(<span class="keywordtype">float</span> inInvMass1, <a class="code hl_class" href="class_mat44.html">Mat44Arg</a> inInvI1, <a class="code hl_class" href="class_vec3.html">Vec3Arg</a> inR1PlusU, <span class="keywordtype">float</span> inInvMass2, <a class="code hl_class" href="class_mat44.html">Mat44Arg</a> inInvI2, <a class="code hl_class" href="class_vec3.html">Vec3Arg</a> inR2, <a class="code hl_class" href="class_vec3.html">Vec3Arg</a> inWorldSpaceAxis, <span class="keywordtype">float</span> inBias = 0.0f)</div>
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+<div class="line"><a id="l00228" name="l00228"></a><span class="lineno"> 228</span> {</div>
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+<div class="line"><a id="l00229" name="l00229"></a><span class="lineno"> 229</span> <span class="keywordtype">float</span> inv_effective_mass = TemplatedCalculateInverseEffectiveMass<Type1, Type2>(inInvMass1, inInvI1, inR1PlusU, inInvMass2, inInvI2, inR2, inWorldSpaceAxis);</div>
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+<div class="line"><a id="l00230" name="l00230"></a><span class="lineno"> 230</span> </div>
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+<div class="line"><a id="l00231" name="l00231"></a><span class="lineno"> 231</span> <span class="keywordflow">if</span> (inv_effective_mass == 0.0f)</div>
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+<div class="line"><a id="l00232" name="l00232"></a><span class="lineno"> 232</span> <a class="code hl_function" href="class_axis_constraint_part.html#a6b2103009bf467876c92689dc3fec29d">Deactivate</a>();</div>
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+<div class="line"><a id="l00233" name="l00233"></a><span class="lineno"> 233</span> <span class="keywordflow">else</span></div>
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+<div class="line"><a id="l00234" name="l00234"></a><span class="lineno"> 234</span> {</div>
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+<div class="line"><a id="l00235" name="l00235"></a><span class="lineno"> 235</span> mEffectiveMass = 1.0f / inv_effective_mass;</div>
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+<div class="line"><a id="l00236" name="l00236"></a><span class="lineno"> 236</span> mSpringPart.<a class="code hl_function" href="class_spring_part.html#a75d1d4a45e975a5b9b0ad99525c9f52f">CalculateSpringPropertiesWithBias</a>(inBias);</div>
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+<div class="line"><a id="l00237" name="l00237"></a><span class="lineno"> 237</span> }</div>
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+<div class="line"><a id="l00238" name="l00238"></a><span class="lineno"> 238</span> </div>
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+<div class="line"><a id="l00239" name="l00239"></a><span class="lineno"> 239</span> <a class="code hl_define" href="_determinism_log_8h.html#a61c37041df47384bded07d7067fc8cf7">JPH_DET_LOG</a>(<span class="stringliteral">"TemplatedCalculateConstraintProperties: invM1: "</span> << inInvMass1 << <span class="stringliteral">" invI1: "</span> << inInvI1 << <span class="stringliteral">" r1PlusU: "</span> << inR1PlusU << <span class="stringliteral">" invM2: "</span> << inInvMass2 << <span class="stringliteral">" invI2: "</span> << inInvI2 << <span class="stringliteral">" r2: "</span> << inR2 << <span class="stringliteral">" bias: "</span> << inBias << <span class="stringliteral">" r1PlusUxAxis: "</span> << mR1PlusUxAxis << <span class="stringliteral">" r2xAxis: "</span> << mR2xAxis << <span class="stringliteral">" invI1_R1PlusUxAxis: "</span> << mInvI1_R1PlusUxAxis << <span class="stringliteral">" invI2_R2xAxis: "</span> << mInvI2_R2xAxis << <span class="stringliteral">" effectiveMass: "</span> << mEffectiveMass << <span class="stringliteral">" totalLambda: "</span> << mTotalLambda);</div>
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+<div class="line"><a id="l00240" name="l00240"></a><span class="lineno"> 240</span> }</div>
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+</div>
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+<div class="line"><a id="l00241" name="l00241"></a><span class="lineno"> 241</span> </div>
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+<div class="foldopen" id="foldopen00249" data-start="{" data-end="}">
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+<div class="line"><a id="l00249" name="l00249"></a><span class="lineno"><a class="line" href="class_axis_constraint_part.html#aeff890db41d91de6fddb9a2872d9e146"> 249</a></span> <span class="keyword">inline</span> <span class="keywordtype">void</span> <a class="code hl_function" href="class_axis_constraint_part.html#aeff890db41d91de6fddb9a2872d9e146">CalculateConstraintProperties</a>(<span class="keyword">const</span> <a class="code hl_class" href="class_body.html">Body</a> &inBody1, <a class="code hl_class" href="class_vec3.html">Vec3Arg</a> inR1PlusU, <span class="keyword">const</span> <a class="code hl_class" href="class_body.html">Body</a> &inBody2, <a class="code hl_class" href="class_vec3.html">Vec3Arg</a> inR2, <a class="code hl_class" href="class_vec3.html">Vec3Arg</a> inWorldSpaceAxis, <span class="keywordtype">float</span> inBias = 0.0f)</div>
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+<div class="line"><a id="l00250" name="l00250"></a><span class="lineno"> 250</span> {</div>
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+<div class="line"><a id="l00251" name="l00251"></a><span class="lineno"> 251</span> <span class="keywordtype">float</span> inv_effective_mass = CalculateInverseEffectiveMass(inBody1, inR1PlusU, inBody2, inR2, inWorldSpaceAxis);</div>
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+<div class="line"><a id="l00252" name="l00252"></a><span class="lineno"> 252</span> </div>
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+<div class="line"><a id="l00253" name="l00253"></a><span class="lineno"> 253</span> <span class="keywordflow">if</span> (inv_effective_mass == 0.0f)</div>
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+<div class="line"><a id="l00254" name="l00254"></a><span class="lineno"> 254</span> <a class="code hl_function" href="class_axis_constraint_part.html#a6b2103009bf467876c92689dc3fec29d">Deactivate</a>();</div>
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+<div class="line"><a id="l00255" name="l00255"></a><span class="lineno"> 255</span> <span class="keywordflow">else</span></div>
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+<div class="line"><a id="l00256" name="l00256"></a><span class="lineno"> 256</span> {</div>
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+<div class="line"><a id="l00257" name="l00257"></a><span class="lineno"> 257</span> mEffectiveMass = 1.0f / inv_effective_mass;</div>
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+<div class="line"><a id="l00258" name="l00258"></a><span class="lineno"> 258</span> mSpringPart.<a class="code hl_function" href="class_spring_part.html#a75d1d4a45e975a5b9b0ad99525c9f52f">CalculateSpringPropertiesWithBias</a>(inBias);</div>
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+<div class="line"><a id="l00259" name="l00259"></a><span class="lineno"> 259</span> }</div>
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+<div class="line"><a id="l00260" name="l00260"></a><span class="lineno"> 260</span> }</div>
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+</div>
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+<div class="line"><a id="l00261" name="l00261"></a><span class="lineno"> 261</span> </div>
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+<div class="foldopen" id="foldopen00273" data-start="{" data-end="}">
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+<div class="line"><a id="l00273" name="l00273"></a><span class="lineno"><a class="line" href="class_axis_constraint_part.html#a747c6cfe29af60b2e718af65f8066712"> 273</a></span> <span class="keyword">inline</span> <span class="keywordtype">void</span> <a class="code hl_function" href="class_axis_constraint_part.html#a747c6cfe29af60b2e718af65f8066712">CalculateConstraintPropertiesWithMassOverride</a>(<span class="keyword">const</span> <a class="code hl_class" href="class_body.html">Body</a> &inBody1, <span class="keywordtype">float</span> inInvMass1, <span class="keywordtype">float</span> inInvInertiaScale1, <a class="code hl_class" href="class_vec3.html">Vec3Arg</a> inR1PlusU, <span class="keyword">const</span> <a class="code hl_class" href="class_body.html">Body</a> &inBody2, <span class="keywordtype">float</span> inInvMass2, <span class="keywordtype">float</span> inInvInertiaScale2, <a class="code hl_class" href="class_vec3.html">Vec3Arg</a> inR2, <a class="code hl_class" href="class_vec3.html">Vec3Arg</a> inWorldSpaceAxis, <span class="keywordtype">float</span> inBias = 0.0f)</div>
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+<div class="line"><a id="l00274" name="l00274"></a><span class="lineno"> 274</span> {</div>
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+<div class="line"><a id="l00275" name="l00275"></a><span class="lineno"> 275</span> <span class="keywordtype">float</span> inv_effective_mass = CalculateInverseEffectiveMassWithMassOverride(inBody1, inInvMass1, inInvInertiaScale1, inR1PlusU, inBody2, inInvMass2, inInvInertiaScale2, inR2, inWorldSpaceAxis);</div>
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+<div class="line"><a id="l00276" name="l00276"></a><span class="lineno"> 276</span> </div>
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+<div class="line"><a id="l00277" name="l00277"></a><span class="lineno"> 277</span> <span class="keywordflow">if</span> (inv_effective_mass == 0.0f)</div>
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+<div class="line"><a id="l00278" name="l00278"></a><span class="lineno"> 278</span> <a class="code hl_function" href="class_axis_constraint_part.html#a6b2103009bf467876c92689dc3fec29d">Deactivate</a>();</div>
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+<div class="line"><a id="l00279" name="l00279"></a><span class="lineno"> 279</span> <span class="keywordflow">else</span></div>
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+<div class="line"><a id="l00280" name="l00280"></a><span class="lineno"> 280</span> {</div>
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+<div class="line"><a id="l00281" name="l00281"></a><span class="lineno"> 281</span> mEffectiveMass = 1.0f / inv_effective_mass;</div>
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+<div class="line"><a id="l00282" name="l00282"></a><span class="lineno"> 282</span> mSpringPart.<a class="code hl_function" href="class_spring_part.html#a75d1d4a45e975a5b9b0ad99525c9f52f">CalculateSpringPropertiesWithBias</a>(inBias);</div>
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+<div class="line"><a id="l00283" name="l00283"></a><span class="lineno"> 283</span> }</div>
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+<div class="line"><a id="l00284" name="l00284"></a><span class="lineno"> 284</span> }</div>
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+</div>
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+<div class="line"><a id="l00285" name="l00285"></a><span class="lineno"> 285</span> </div>
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+<div class="foldopen" id="foldopen00297" data-start="{" data-end="}">
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+<div class="line"><a id="l00297" name="l00297"></a><span class="lineno"><a class="line" href="class_axis_constraint_part.html#a5b0fcca001a8673716a9e6acaaf030a4"> 297</a></span> <span class="keyword">inline</span> <span class="keywordtype">void</span> <a class="code hl_function" href="class_axis_constraint_part.html#a5b0fcca001a8673716a9e6acaaf030a4">CalculateConstraintPropertiesWithFrequencyAndDamping</a>(<span class="keywordtype">float</span> inDeltaTime, <span class="keyword">const</span> <a class="code hl_class" href="class_body.html">Body</a> &inBody1, <a class="code hl_class" href="class_vec3.html">Vec3Arg</a> inR1PlusU, <span class="keyword">const</span> <a class="code hl_class" href="class_body.html">Body</a> &inBody2, <a class="code hl_class" href="class_vec3.html">Vec3Arg</a> inR2, <a class="code hl_class" href="class_vec3.html">Vec3Arg</a> inWorldSpaceAxis, <span class="keywordtype">float</span> inBias, <span class="keywordtype">float</span> inC, <span class="keywordtype">float</span> inFrequency, <span class="keywordtype">float</span> inDamping)</div>
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+<div class="line"><a id="l00298" name="l00298"></a><span class="lineno"> 298</span> {</div>
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+<div class="line"><a id="l00299" name="l00299"></a><span class="lineno"> 299</span> <span class="keywordtype">float</span> inv_effective_mass = CalculateInverseEffectiveMass(inBody1, inR1PlusU, inBody2, inR2, inWorldSpaceAxis);</div>
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+<div class="line"><a id="l00300" name="l00300"></a><span class="lineno"> 300</span> </div>
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+<div class="line"><a id="l00301" name="l00301"></a><span class="lineno"> 301</span> <span class="keywordflow">if</span> (inv_effective_mass == 0.0f)</div>
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+<div class="line"><a id="l00302" name="l00302"></a><span class="lineno"> 302</span> <a class="code hl_function" href="class_axis_constraint_part.html#a6b2103009bf467876c92689dc3fec29d">Deactivate</a>();</div>
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+<div class="line"><a id="l00303" name="l00303"></a><span class="lineno"> 303</span> <span class="keywordflow">else</span></div>
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+<div class="line"><a id="l00304" name="l00304"></a><span class="lineno"> 304</span> mSpringPart.<a class="code hl_function" href="class_spring_part.html#a0414048df549022dee152c2b18b31126">CalculateSpringPropertiesWithFrequencyAndDamping</a>(inDeltaTime, inv_effective_mass, inBias, inC, inFrequency, inDamping, mEffectiveMass);</div>
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+<div class="line"><a id="l00305" name="l00305"></a><span class="lineno"> 305</span> }</div>
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+</div>
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+<div class="line"><a id="l00306" name="l00306"></a><span class="lineno"> 306</span> </div>
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+<div class="foldopen" id="foldopen00318" data-start="{" data-end="}">
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+<div class="line"><a id="l00318" name="l00318"></a><span class="lineno"><a class="line" href="class_axis_constraint_part.html#ae8c4a8375c2a6f88e2adf1398743bed3"> 318</a></span> <span class="keyword">inline</span> <span class="keywordtype">void</span> <a class="code hl_function" href="class_axis_constraint_part.html#ae8c4a8375c2a6f88e2adf1398743bed3">CalculateConstraintPropertiesWithStiffnessAndDamping</a>(<span class="keywordtype">float</span> inDeltaTime, <span class="keyword">const</span> <a class="code hl_class" href="class_body.html">Body</a> &inBody1, <a class="code hl_class" href="class_vec3.html">Vec3Arg</a> inR1PlusU, <span class="keyword">const</span> <a class="code hl_class" href="class_body.html">Body</a> &inBody2, <a class="code hl_class" href="class_vec3.html">Vec3Arg</a> inR2, <a class="code hl_class" href="class_vec3.html">Vec3Arg</a> inWorldSpaceAxis, <span class="keywordtype">float</span> inBias, <span class="keywordtype">float</span> inC, <span class="keywordtype">float</span> inStiffness, <span class="keywordtype">float</span> inDamping)</div>
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+<div class="line"><a id="l00319" name="l00319"></a><span class="lineno"> 319</span> {</div>
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+<div class="line"><a id="l00320" name="l00320"></a><span class="lineno"> 320</span> <span class="keywordtype">float</span> inv_effective_mass = CalculateInverseEffectiveMass(inBody1, inR1PlusU, inBody2, inR2, inWorldSpaceAxis);</div>
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+<div class="line"><a id="l00321" name="l00321"></a><span class="lineno"> 321</span> </div>
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+<div class="line"><a id="l00322" name="l00322"></a><span class="lineno"> 322</span> <span class="keywordflow">if</span> (inv_effective_mass == 0.0f)</div>
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+<div class="line"><a id="l00323" name="l00323"></a><span class="lineno"> 323</span> <a class="code hl_function" href="class_axis_constraint_part.html#a6b2103009bf467876c92689dc3fec29d">Deactivate</a>();</div>
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+<div class="line"><a id="l00324" name="l00324"></a><span class="lineno"> 324</span> <span class="keywordflow">else</span></div>
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+<div class="line"><a id="l00325" name="l00325"></a><span class="lineno"> 325</span> mSpringPart.<a class="code hl_function" href="class_spring_part.html#a318ab5426c6b10a8ceebd3258144d20a">CalculateSpringPropertiesWithStiffnessAndDamping</a>(inDeltaTime, inv_effective_mass, inBias, inC, inStiffness, inDamping, mEffectiveMass);</div>
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+<div class="line"><a id="l00326" name="l00326"></a><span class="lineno"> 326</span> }</div>
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+</div>
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+<div class="line"><a id="l00327" name="l00327"></a><span class="lineno"> 327</span> </div>
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+<div class="foldopen" id="foldopen00329" data-start="{" data-end="}">
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+<div class="line"><a id="l00329" name="l00329"></a><span class="lineno"><a class="line" href="class_axis_constraint_part.html#a0fa7dab4d8e1aa0b78e38ba24d926a9b"> 329</a></span> <span class="keyword">inline</span> <span class="keywordtype">void</span> <a class="code hl_function" href="class_axis_constraint_part.html#a0fa7dab4d8e1aa0b78e38ba24d926a9b">CalculateConstraintPropertiesWithSettings</a>(<span class="keywordtype">float</span> inDeltaTime, <span class="keyword">const</span> <a class="code hl_class" href="class_body.html">Body</a> &inBody1, <a class="code hl_class" href="class_vec3.html">Vec3Arg</a> inR1PlusU, <span class="keyword">const</span> <a class="code hl_class" href="class_body.html">Body</a> &inBody2, <a class="code hl_class" href="class_vec3.html">Vec3Arg</a> inR2, <a class="code hl_class" href="class_vec3.html">Vec3Arg</a> inWorldSpaceAxis, <span class="keywordtype">float</span> inBias, <span class="keywordtype">float</span> inC, <span class="keyword">const</span> <a class="code hl_class" href="class_spring_settings.html">SpringSettings</a> &inSpringSettings)</div>
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+<div class="line"><a id="l00330" name="l00330"></a><span class="lineno"> 330</span> {</div>
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+<div class="line"><a id="l00331" name="l00331"></a><span class="lineno"> 331</span> <span class="keywordtype">float</span> inv_effective_mass = CalculateInverseEffectiveMass(inBody1, inR1PlusU, inBody2, inR2, inWorldSpaceAxis);</div>
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+<div class="line"><a id="l00332" name="l00332"></a><span class="lineno"> 332</span> </div>
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+<div class="line"><a id="l00333" name="l00333"></a><span class="lineno"> 333</span> <span class="keywordflow">if</span> (inv_effective_mass == 0.0f)</div>
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+<div class="line"><a id="l00334" name="l00334"></a><span class="lineno"> 334</span> <a class="code hl_function" href="class_axis_constraint_part.html#a6b2103009bf467876c92689dc3fec29d">Deactivate</a>();</div>
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+<div class="line"><a id="l00335" name="l00335"></a><span class="lineno"> 335</span> <span class="keywordflow">else</span> <span class="keywordflow">if</span> (inSpringSettings.<a class="code hl_variable" href="class_spring_settings.html#a7d27c541e7d25d9da0c263ec99ea528a">mMode</a> == <a class="code hl_enumvalue" href="_spring_settings_8h.html#ac805e5e93f24003512d2ca7e0d71512da52630869b4ed10261d514c91e9c9c018">ESpringMode::FrequencyAndDamping</a>)</div>
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+<div class="line"><a id="l00336" name="l00336"></a><span class="lineno"> 336</span> mSpringPart.<a class="code hl_function" href="class_spring_part.html#a0414048df549022dee152c2b18b31126">CalculateSpringPropertiesWithFrequencyAndDamping</a>(inDeltaTime, inv_effective_mass, inBias, inC, inSpringSettings.<a class="code hl_variable" href="class_spring_settings.html#acea8e3f5767edbfaffa01417733b5dc0">mFrequency</a>, inSpringSettings.<a class="code hl_variable" href="class_spring_settings.html#a72165bbe14974afb17df18e88f6d205e">mDamping</a>, mEffectiveMass);</div>
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+<div class="line"><a id="l00337" name="l00337"></a><span class="lineno"> 337</span> <span class="keywordflow">else</span></div>
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+<div class="line"><a id="l00338" name="l00338"></a><span class="lineno"> 338</span> mSpringPart.<a class="code hl_function" href="class_spring_part.html#a318ab5426c6b10a8ceebd3258144d20a">CalculateSpringPropertiesWithStiffnessAndDamping</a>(inDeltaTime, inv_effective_mass, inBias, inC, inSpringSettings.<a class="code hl_variable" href="class_spring_settings.html#a688815c0e85518f1ac42f1d077415472">mStiffness</a>, inSpringSettings.<a class="code hl_variable" href="class_spring_settings.html#a72165bbe14974afb17df18e88f6d205e">mDamping</a>, mEffectiveMass);</div>
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+<div class="line"><a id="l00339" name="l00339"></a><span class="lineno"> 339</span> }</div>
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+</div>
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+<div class="line"><a id="l00340" name="l00340"></a><span class="lineno"> 340</span> </div>
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+<div class="foldopen" id="foldopen00342" data-start="{" data-end="}">
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+<div class="line"><a id="l00342" name="l00342"></a><span class="lineno"><a class="line" href="class_axis_constraint_part.html#a6b2103009bf467876c92689dc3fec29d"> 342</a></span> <span class="keyword">inline</span> <span class="keywordtype">void</span> <a class="code hl_function" href="class_axis_constraint_part.html#a6b2103009bf467876c92689dc3fec29d">Deactivate</a>()</div>
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+<div class="line"><a id="l00343" name="l00343"></a><span class="lineno"> 343</span> {</div>
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+<div class="line"><a id="l00344" name="l00344"></a><span class="lineno"> 344</span> mEffectiveMass = 0.0f;</div>
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+<div class="line"><a id="l00345" name="l00345"></a><span class="lineno"> 345</span> mTotalLambda = 0.0f;</div>
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+<div class="line"><a id="l00346" name="l00346"></a><span class="lineno"> 346</span> }</div>
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+</div>
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+<div class="line"><a id="l00347" name="l00347"></a><span class="lineno"> 347</span> </div>
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+<div class="foldopen" id="foldopen00349" data-start="{" data-end="}">
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+<div class="line"><a id="l00349" name="l00349"></a><span class="lineno"><a class="line" href="class_axis_constraint_part.html#a20095a523dff24e09134b315841f1fcb"> 349</a></span> <span class="keyword">inline</span> <span class="keywordtype">bool</span> <a class="code hl_function" href="class_axis_constraint_part.html#a20095a523dff24e09134b315841f1fcb">IsActive</a>()<span class="keyword"> const</span></div>
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+<div class="line"><a id="l00350" name="l00350"></a><span class="lineno"> 350</span><span class="keyword"> </span>{</div>
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+<div class="line"><a id="l00351" name="l00351"></a><span class="lineno"> 351</span> <span class="keywordflow">return</span> mEffectiveMass != 0.0f;</div>
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+<div class="line"><a id="l00352" name="l00352"></a><span class="lineno"> 352</span> }</div>
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+</div>
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+<div class="line"><a id="l00353" name="l00353"></a><span class="lineno"> 353</span> </div>
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+<div class="line"><a id="l00355" name="l00355"></a><span class="lineno"> 355</span> <span class="keyword">template</span> <EMotionType Type1, EMotionType Type2></div>
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+<div class="foldopen" id="foldopen00356" data-start="{" data-end="}">
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+<div class="line"><a id="l00356" name="l00356"></a><span class="lineno"><a class="line" href="class_axis_constraint_part.html#adb5b5d041b1261d227b2d657a93cabd9"> 356</a></span> <span class="keyword">inline</span> <span class="keywordtype">void</span> <a class="code hl_function" href="class_axis_constraint_part.html#adb5b5d041b1261d227b2d657a93cabd9">TemplatedWarmStart</a>(<a class="code hl_class" href="class_motion_properties.html">MotionProperties</a> *ioMotionProperties1, <span class="keywordtype">float</span> inInvMass1, <a class="code hl_class" href="class_motion_properties.html">MotionProperties</a> *ioMotionProperties2, <span class="keywordtype">float</span> inInvMass2, <a class="code hl_class" href="class_vec3.html">Vec3Arg</a> inWorldSpaceAxis, <span class="keywordtype">float</span> inWarmStartImpulseRatio)</div>
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+<div class="line"><a id="l00357" name="l00357"></a><span class="lineno"> 357</span> {</div>
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+<div class="line"><a id="l00358" name="l00358"></a><span class="lineno"> 358</span> mTotalLambda *= inWarmStartImpulseRatio;</div>
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+<div class="line"><a id="l00359" name="l00359"></a><span class="lineno"> 359</span> </div>
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+<div class="line"><a id="l00360" name="l00360"></a><span class="lineno"> 360</span> ApplyVelocityStep<Type1, Type2>(ioMotionProperties1, inInvMass1, ioMotionProperties2, inInvMass2, inWorldSpaceAxis, mTotalLambda);</div>
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+<div class="line"><a id="l00361" name="l00361"></a><span class="lineno"> 361</span> }</div>
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+</div>
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+<div class="line"><a id="l00362" name="l00362"></a><span class="lineno"> 362</span> </div>
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+<div class="foldopen" id="foldopen00368" data-start="{" data-end="}">
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+<div class="line"><a id="l00368" name="l00368"></a><span class="lineno"><a class="line" href="class_axis_constraint_part.html#a60befc8c7707dd567b633ecd7b870446"> 368</a></span> <span class="keyword">inline</span> <span class="keywordtype">void</span> <a class="code hl_function" href="class_axis_constraint_part.html#a60befc8c7707dd567b633ecd7b870446">WarmStart</a>(<a class="code hl_class" href="class_body.html">Body</a> &ioBody1, <a class="code hl_class" href="class_body.html">Body</a> &ioBody2, <a class="code hl_class" href="class_vec3.html">Vec3Arg</a> inWorldSpaceAxis, <span class="keywordtype">float</span> inWarmStartImpulseRatio)</div>
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+<div class="line"><a id="l00369" name="l00369"></a><span class="lineno"> 369</span> {</div>
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+<div class="line"><a id="l00370" name="l00370"></a><span class="lineno"> 370</span> <a class="code hl_enumeration" href="_motion_type_8h.html#a328245ddbb758681fad3c44c9d488fd8">EMotionType</a> motion_type1 = ioBody1.<a class="code hl_function" href="class_body.html#a146a4745ed28c3d9b06abe02ee3d3490">GetMotionType</a>();</div>
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+<div class="line"><a id="l00371" name="l00371"></a><span class="lineno"> 371</span> <a class="code hl_class" href="class_motion_properties.html">MotionProperties</a> *motion_properties1 = ioBody1.<a class="code hl_function" href="class_body.html#abe012219037c12313c7ef1116ee74865">GetMotionPropertiesUnchecked</a>();</div>
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+<div class="line"><a id="l00372" name="l00372"></a><span class="lineno"> 372</span> </div>
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+<div class="line"><a id="l00373" name="l00373"></a><span class="lineno"> 373</span> <a class="code hl_enumeration" href="_motion_type_8h.html#a328245ddbb758681fad3c44c9d488fd8">EMotionType</a> motion_type2 = ioBody2.<a class="code hl_function" href="class_body.html#a146a4745ed28c3d9b06abe02ee3d3490">GetMotionType</a>();</div>
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+<div class="line"><a id="l00374" name="l00374"></a><span class="lineno"> 374</span> <a class="code hl_class" href="class_motion_properties.html">MotionProperties</a> *motion_properties2 = ioBody2.<a class="code hl_function" href="class_body.html#abe012219037c12313c7ef1116ee74865">GetMotionPropertiesUnchecked</a>();</div>
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+<div class="line"><a id="l00375" name="l00375"></a><span class="lineno"> 375</span> </div>
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+<div class="line"><a id="l00376" name="l00376"></a><span class="lineno"> 376</span> <span class="comment">// Dispatch to the correct templated form</span></div>
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+<div class="line"><a id="l00377" name="l00377"></a><span class="lineno"> 377</span> <span class="comment">// Note: Warm starting doesn't differentiate between kinematic/static bodies so we handle both as static bodies</span></div>
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+<div class="line"><a id="l00378" name="l00378"></a><span class="lineno"> 378</span> <span class="keywordflow">if</span> (motion_type1 == <a class="code hl_enumvalue" href="_motion_type_8h.html#a328245ddbb758681fad3c44c9d488fd8a971fd8cc345d8bd9f92e9f7d88fdf20c">EMotionType::Dynamic</a>)</div>
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+<div class="line"><a id="l00379" name="l00379"></a><span class="lineno"> 379</span> {</div>
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+<div class="line"><a id="l00380" name="l00380"></a><span class="lineno"> 380</span> <span class="keywordflow">if</span> (motion_type2 == <a class="code hl_enumvalue" href="_motion_type_8h.html#a328245ddbb758681fad3c44c9d488fd8a971fd8cc345d8bd9f92e9f7d88fdf20c">EMotionType::Dynamic</a>)</div>
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+<div class="line"><a id="l00381" name="l00381"></a><span class="lineno"> 381</span> <a class="code hl_function" href="class_axis_constraint_part.html#adb5b5d041b1261d227b2d657a93cabd9">TemplatedWarmStart<EMotionType::Dynamic, EMotionType::Dynamic></a>(motion_properties1, motion_properties1-><a class="code hl_function" href="class_motion_properties.html#a8a959bd2f7d8eb581d999e3b01920aa8">GetInverseMass</a>(), motion_properties2, motion_properties2-><a class="code hl_function" href="class_motion_properties.html#a8a959bd2f7d8eb581d999e3b01920aa8">GetInverseMass</a>(), inWorldSpaceAxis, inWarmStartImpulseRatio);</div>
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+<div class="line"><a id="l00382" name="l00382"></a><span class="lineno"> 382</span> <span class="keywordflow">else</span></div>
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+<div class="line"><a id="l00383" name="l00383"></a><span class="lineno"> 383</span> <a class="code hl_function" href="class_axis_constraint_part.html#adb5b5d041b1261d227b2d657a93cabd9">TemplatedWarmStart<EMotionType::Dynamic, EMotionType::Static></a>(motion_properties1, motion_properties1-><a class="code hl_function" href="class_motion_properties.html#a8a959bd2f7d8eb581d999e3b01920aa8">GetInverseMass</a>(), motion_properties2, 0.0f <span class="comment">/* Unused */</span>, inWorldSpaceAxis, inWarmStartImpulseRatio);</div>
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+<div class="line"><a id="l00384" name="l00384"></a><span class="lineno"> 384</span> }</div>
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+<div class="line"><a id="l00385" name="l00385"></a><span class="lineno"> 385</span> <span class="keywordflow">else</span></div>
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+<div class="line"><a id="l00386" name="l00386"></a><span class="lineno"> 386</span> {</div>
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+<div class="line"><a id="l00387" name="l00387"></a><span class="lineno"> 387</span> <a class="code hl_define" href="_issue_reporting_8h.html#aaf6b1df827e11b7ca5f6f8778bd8f8cd">JPH_ASSERT</a>(motion_type2 == <a class="code hl_enumvalue" href="_motion_type_8h.html#a328245ddbb758681fad3c44c9d488fd8a971fd8cc345d8bd9f92e9f7d88fdf20c">EMotionType::Dynamic</a>);</div>
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+<div class="line"><a id="l00388" name="l00388"></a><span class="lineno"> 388</span> <a class="code hl_function" href="class_axis_constraint_part.html#adb5b5d041b1261d227b2d657a93cabd9">TemplatedWarmStart<EMotionType::Static, EMotionType::Dynamic></a>(motion_properties1, 0.0f <span class="comment">/* Unused */</span>, motion_properties2, motion_properties2-><a class="code hl_function" href="class_motion_properties.html#a8a959bd2f7d8eb581d999e3b01920aa8">GetInverseMass</a>(), inWorldSpaceAxis, inWarmStartImpulseRatio);</div>
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+<div class="line"><a id="l00389" name="l00389"></a><span class="lineno"> 389</span> }</div>
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+<div class="line"><a id="l00390" name="l00390"></a><span class="lineno"> 390</span> }</div>
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+</div>
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+<div class="line"><a id="l00391" name="l00391"></a><span class="lineno"> 391</span> </div>
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+<div class="line"><a id="l00393" name="l00393"></a><span class="lineno"> 393</span> <span class="keyword">template</span> <EMotionType Type1, EMotionType Type2></div>
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+<div class="foldopen" id="foldopen00394" data-start="{" data-end="}">
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+<div class="line"><a id="l00394" name="l00394"></a><span class="lineno"><a class="line" href="class_axis_constraint_part.html#a9f2617fd84fcdd5a77f4502c6e327143"> 394</a></span> JPH_INLINE <span class="keywordtype">float</span> <a class="code hl_function" href="class_axis_constraint_part.html#a9f2617fd84fcdd5a77f4502c6e327143">TemplatedSolveVelocityConstraintGetTotalLambda</a>(<span class="keyword">const</span> <a class="code hl_class" href="class_motion_properties.html">MotionProperties</a> *ioMotionProperties1, <span class="keyword">const</span> <a class="code hl_class" href="class_motion_properties.html">MotionProperties</a> *ioMotionProperties2, <a class="code hl_class" href="class_vec3.html">Vec3Arg</a> inWorldSpaceAxis)<span class="keyword"> const</span></div>
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+<div class="line"><a id="l00395" name="l00395"></a><span class="lineno"> 395</span><span class="keyword"> </span>{</div>
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+<div class="line"><a id="l00396" name="l00396"></a><span class="lineno"> 396</span> <span class="comment">// Calculate jacobian multiplied by linear velocity</span></div>
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+<div class="line"><a id="l00397" name="l00397"></a><span class="lineno"> 397</span> <span class="keywordtype">float</span> jv;</div>
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+<div class="line"><a id="l00398" name="l00398"></a><span class="lineno"> 398</span> <span class="keywordflow">if</span> <span class="keyword">constexpr</span> (Type1 != <a class="code hl_enumvalue" href="_motion_type_8h.html#a328245ddbb758681fad3c44c9d488fd8a84a8921b25f505d0d2077aeb5db4bc16">EMotionType::Static</a> && Type2 != <a class="code hl_enumvalue" href="_motion_type_8h.html#a328245ddbb758681fad3c44c9d488fd8a84a8921b25f505d0d2077aeb5db4bc16">EMotionType::Static</a>)</div>
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+<div class="line"><a id="l00399" name="l00399"></a><span class="lineno"> 399</span> jv = inWorldSpaceAxis.<a class="code hl_function" href="class_vec3.html#a0e078ff09f69e669db71a2b0e37939ff">Dot</a>(ioMotionProperties1-><a class="code hl_function" href="class_motion_properties.html#a6478c1ccabfc23ee9ce98faa0643c080">GetLinearVelocity</a>() - ioMotionProperties2-><a class="code hl_function" href="class_motion_properties.html#a6478c1ccabfc23ee9ce98faa0643c080">GetLinearVelocity</a>());</div>
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+<div class="line"><a id="l00400" name="l00400"></a><span class="lineno"> 400</span> <span class="keywordflow">else</span> <span class="keywordflow">if</span> <span class="keyword">constexpr</span> (Type1 != <a class="code hl_enumvalue" href="_motion_type_8h.html#a328245ddbb758681fad3c44c9d488fd8a84a8921b25f505d0d2077aeb5db4bc16">EMotionType::Static</a>)</div>
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|
|
+<div class="line"><a id="l00401" name="l00401"></a><span class="lineno"> 401</span> jv = inWorldSpaceAxis.<a class="code hl_function" href="class_vec3.html#a0e078ff09f69e669db71a2b0e37939ff">Dot</a>(ioMotionProperties1-><a class="code hl_function" href="class_motion_properties.html#a6478c1ccabfc23ee9ce98faa0643c080">GetLinearVelocity</a>());</div>
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+<div class="line"><a id="l00402" name="l00402"></a><span class="lineno"> 402</span> <span class="keywordflow">else</span> <span class="keywordflow">if</span> <span class="keyword">constexpr</span> (Type2 != <a class="code hl_enumvalue" href="_motion_type_8h.html#a328245ddbb758681fad3c44c9d488fd8a84a8921b25f505d0d2077aeb5db4bc16">EMotionType::Static</a>)</div>
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|
+<div class="line"><a id="l00403" name="l00403"></a><span class="lineno"> 403</span> jv = inWorldSpaceAxis.<a class="code hl_function" href="class_vec3.html#a0e078ff09f69e669db71a2b0e37939ff">Dot</a>(-ioMotionProperties2-><a class="code hl_function" href="class_motion_properties.html#a6478c1ccabfc23ee9ce98faa0643c080">GetLinearVelocity</a>());</div>
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+<div class="line"><a id="l00404" name="l00404"></a><span class="lineno"> 404</span> <span class="keywordflow">else</span></div>
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+<div class="line"><a id="l00405" name="l00405"></a><span class="lineno"> 405</span> <a class="code hl_define" href="_issue_reporting_8h.html#aaf6b1df827e11b7ca5f6f8778bd8f8cd">JPH_ASSERT</a>(<span class="keyword">false</span>); <span class="comment">// Static vs static is nonsensical!</span></div>
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+<div class="line"><a id="l00406" name="l00406"></a><span class="lineno"> 406</span> </div>
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|
+<div class="line"><a id="l00407" name="l00407"></a><span class="lineno"> 407</span> <span class="comment">// Calculate jacobian multiplied by angular velocity</span></div>
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|
+<div class="line"><a id="l00408" name="l00408"></a><span class="lineno"> 408</span> <span class="keywordflow">if</span> <span class="keyword">constexpr</span> (Type1 != <a class="code hl_enumvalue" href="_motion_type_8h.html#a328245ddbb758681fad3c44c9d488fd8a84a8921b25f505d0d2077aeb5db4bc16">EMotionType::Static</a>)</div>
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+<div class="line"><a id="l00409" name="l00409"></a><span class="lineno"> 409</span> jv += <a class="code hl_function" href="class_vec3.html#aea30fe731618ffa249ecdcba2c66ab4e">Vec3::sLoadFloat3Unsafe</a>(mR1PlusUxAxis).<a class="code hl_function" href="class_vec3.html#a0e078ff09f69e669db71a2b0e37939ff">Dot</a>(ioMotionProperties1-><a class="code hl_function" href="class_motion_properties.html#a66348339a05a43b730e1591273aace18">GetAngularVelocity</a>());</div>
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+<div class="line"><a id="l00410" name="l00410"></a><span class="lineno"> 410</span> <span class="keywordflow">if</span> <span class="keyword">constexpr</span> (Type2 != <a class="code hl_enumvalue" href="_motion_type_8h.html#a328245ddbb758681fad3c44c9d488fd8a84a8921b25f505d0d2077aeb5db4bc16">EMotionType::Static</a>)</div>
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+<div class="line"><a id="l00411" name="l00411"></a><span class="lineno"> 411</span> jv -= <a class="code hl_function" href="class_vec3.html#aea30fe731618ffa249ecdcba2c66ab4e">Vec3::sLoadFloat3Unsafe</a>(mR2xAxis).<a class="code hl_function" href="class_vec3.html#a0e078ff09f69e669db71a2b0e37939ff">Dot</a>(ioMotionProperties2-><a class="code hl_function" href="class_motion_properties.html#a66348339a05a43b730e1591273aace18">GetAngularVelocity</a>());</div>
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|
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+<div class="line"><a id="l00412" name="l00412"></a><span class="lineno"> 412</span> </div>
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+<div class="line"><a id="l00413" name="l00413"></a><span class="lineno"> 413</span> <span class="comment">// Lagrange multiplier is:</span></div>
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+<div class="line"><a id="l00414" name="l00414"></a><span class="lineno"> 414</span> <span class="comment">//</span></div>
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+<div class="line"><a id="l00415" name="l00415"></a><span class="lineno"> 415</span> <span class="comment">// lambda = -K^-1 (J v + b)</span></div>
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+<div class="line"><a id="l00416" name="l00416"></a><span class="lineno"> 416</span> <span class="keywordtype">float</span> lambda = mEffectiveMass * (jv - mSpringPart.<a class="code hl_function" href="class_spring_part.html#a42a39d96e15ae84419256c35067e12ad">GetBias</a>(mTotalLambda));</div>
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+<div class="line"><a id="l00417" name="l00417"></a><span class="lineno"> 417</span> </div>
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+<div class="line"><a id="l00418" name="l00418"></a><span class="lineno"> 418</span> <span class="comment">// Return the total accumulated lambda</span></div>
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+<div class="line"><a id="l00419" name="l00419"></a><span class="lineno"> 419</span> <span class="keywordflow">return</span> mTotalLambda + lambda;</div>
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+<div class="line"><a id="l00420" name="l00420"></a><span class="lineno"> 420</span> }</div>
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+</div>
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+<div class="line"><a id="l00421" name="l00421"></a><span class="lineno"> 421</span> </div>
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+<div class="line"><a id="l00423" name="l00423"></a><span class="lineno"> 423</span> <span class="keyword">template</span> <EMotionType Type1, EMotionType Type2></div>
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+<div class="foldopen" id="foldopen00424" data-start="{" data-end="}">
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|
+<div class="line"><a id="l00424" name="l00424"></a><span class="lineno"><a class="line" href="class_axis_constraint_part.html#aaf10ea43c5acaac802523b68dfbaf51d"> 424</a></span> JPH_INLINE <span class="keywordtype">bool</span> <a class="code hl_function" href="class_axis_constraint_part.html#aaf10ea43c5acaac802523b68dfbaf51d">TemplatedSolveVelocityConstraintApplyLambda</a>(<a class="code hl_class" href="class_motion_properties.html">MotionProperties</a> *ioMotionProperties1, <span class="keywordtype">float</span> inInvMass1, <a class="code hl_class" href="class_motion_properties.html">MotionProperties</a> *ioMotionProperties2, <span class="keywordtype">float</span> inInvMass2, <a class="code hl_class" href="class_vec3.html">Vec3Arg</a> inWorldSpaceAxis, <span class="keywordtype">float</span> inTotalLambda)</div>
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+<div class="line"><a id="l00425" name="l00425"></a><span class="lineno"> 425</span> {</div>
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+<div class="line"><a id="l00426" name="l00426"></a><span class="lineno"> 426</span> <span class="keywordtype">float</span> delta_lambda = inTotalLambda - mTotalLambda; <span class="comment">// Calculate change in lambda</span></div>
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+<div class="line"><a id="l00427" name="l00427"></a><span class="lineno"> 427</span> mTotalLambda = inTotalLambda; <span class="comment">// Store accumulated impulse</span></div>
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+<div class="line"><a id="l00428" name="l00428"></a><span class="lineno"> 428</span> </div>
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+<div class="line"><a id="l00429" name="l00429"></a><span class="lineno"> 429</span> <span class="keywordflow">return</span> ApplyVelocityStep<Type1, Type2>(ioMotionProperties1, inInvMass1, ioMotionProperties2, inInvMass2, inWorldSpaceAxis, delta_lambda);</div>
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+<div class="line"><a id="l00430" name="l00430"></a><span class="lineno"> 430</span> }</div>
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+</div>
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|
+<div class="line"><a id="l00431" name="l00431"></a><span class="lineno"> 431</span> </div>
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|
+<div class="line"><a id="l00433" name="l00433"></a><span class="lineno"> 433</span> <span class="keyword">template</span> <EMotionType Type1, EMotionType Type2></div>
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+<div class="foldopen" id="foldopen00434" data-start="{" data-end="}">
|
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|
+<div class="line"><a id="l00434" name="l00434"></a><span class="lineno"><a class="line" href="class_axis_constraint_part.html#a24593248d2181c548e9621817beab264"> 434</a></span> <span class="keyword">inline</span> <span class="keywordtype">bool</span> <a class="code hl_function" href="class_axis_constraint_part.html#a24593248d2181c548e9621817beab264">TemplatedSolveVelocityConstraint</a>(<a class="code hl_class" href="class_motion_properties.html">MotionProperties</a> *ioMotionProperties1, <span class="keywordtype">float</span> inInvMass1, <a class="code hl_class" href="class_motion_properties.html">MotionProperties</a> *ioMotionProperties2, <span class="keywordtype">float</span> inInvMass2, <a class="code hl_class" href="class_vec3.html">Vec3Arg</a> inWorldSpaceAxis, <span class="keywordtype">float</span> inMinLambda, <span class="keywordtype">float</span> inMaxLambda)</div>
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+<div class="line"><a id="l00435" name="l00435"></a><span class="lineno"> 435</span> {</div>
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+<div class="line"><a id="l00436" name="l00436"></a><span class="lineno"> 436</span> <span class="keywordtype">float</span> total_lambda = <a class="code hl_function" href="class_axis_constraint_part.html#a9f2617fd84fcdd5a77f4502c6e327143">TemplatedSolveVelocityConstraintGetTotalLambda<Type1, Type2></a>(ioMotionProperties1, ioMotionProperties2, inWorldSpaceAxis);</div>
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|
+<div class="line"><a id="l00437" name="l00437"></a><span class="lineno"> 437</span> </div>
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|
|
+<div class="line"><a id="l00438" name="l00438"></a><span class="lineno"> 438</span> <span class="comment">// Clamp impulse to specified range</span></div>
|
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|
+<div class="line"><a id="l00439" name="l00439"></a><span class="lineno"> 439</span> total_lambda = <a class="code hl_function" href="_math_8h.html#a05be8f8200a1a67cbfacd3d16b17ac21">Clamp</a>(total_lambda, inMinLambda, inMaxLambda);</div>
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|
+<div class="line"><a id="l00440" name="l00440"></a><span class="lineno"> 440</span> </div>
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|
+<div class="line"><a id="l00441" name="l00441"></a><span class="lineno"> 441</span> <span class="keywordflow">return</span> <a class="code hl_function" href="class_axis_constraint_part.html#aaf10ea43c5acaac802523b68dfbaf51d">TemplatedSolveVelocityConstraintApplyLambda<Type1, Type2></a>(ioMotionProperties1, inInvMass1, ioMotionProperties2, inInvMass2, inWorldSpaceAxis, total_lambda);</div>
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+<div class="line"><a id="l00442" name="l00442"></a><span class="lineno"> 442</span> }</div>
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+</div>
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|
+<div class="line"><a id="l00443" name="l00443"></a><span class="lineno"> 443</span> </div>
|
|
|
+<div class="foldopen" id="foldopen00450" data-start="{" data-end="}">
|
|
|
+<div class="line"><a id="l00450" name="l00450"></a><span class="lineno"><a class="line" href="class_axis_constraint_part.html#a0f72dffd609be0cba29f2619c5a2c63a"> 450</a></span> <span class="keyword">inline</span> <span class="keywordtype">bool</span> <a class="code hl_function" href="class_axis_constraint_part.html#a0f72dffd609be0cba29f2619c5a2c63a">SolveVelocityConstraint</a>(<a class="code hl_class" href="class_body.html">Body</a> &ioBody1, <a class="code hl_class" href="class_body.html">Body</a> &ioBody2, <a class="code hl_class" href="class_vec3.html">Vec3Arg</a> inWorldSpaceAxis, <span class="keywordtype">float</span> inMinLambda, <span class="keywordtype">float</span> inMaxLambda)</div>
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+<div class="line"><a id="l00451" name="l00451"></a><span class="lineno"> 451</span> {</div>
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+<div class="line"><a id="l00452" name="l00452"></a><span class="lineno"> 452</span> <a class="code hl_enumeration" href="_motion_type_8h.html#a328245ddbb758681fad3c44c9d488fd8">EMotionType</a> motion_type1 = ioBody1.<a class="code hl_function" href="class_body.html#a146a4745ed28c3d9b06abe02ee3d3490">GetMotionType</a>();</div>
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|
+<div class="line"><a id="l00453" name="l00453"></a><span class="lineno"> 453</span> <a class="code hl_class" href="class_motion_properties.html">MotionProperties</a> *motion_properties1 = ioBody1.<a class="code hl_function" href="class_body.html#abe012219037c12313c7ef1116ee74865">GetMotionPropertiesUnchecked</a>();</div>
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|
|
+<div class="line"><a id="l00454" name="l00454"></a><span class="lineno"> 454</span> </div>
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|
+<div class="line"><a id="l00455" name="l00455"></a><span class="lineno"> 455</span> <a class="code hl_enumeration" href="_motion_type_8h.html#a328245ddbb758681fad3c44c9d488fd8">EMotionType</a> motion_type2 = ioBody2.<a class="code hl_function" href="class_body.html#a146a4745ed28c3d9b06abe02ee3d3490">GetMotionType</a>();</div>
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|
+<div class="line"><a id="l00456" name="l00456"></a><span class="lineno"> 456</span> <a class="code hl_class" href="class_motion_properties.html">MotionProperties</a> *motion_properties2 = ioBody2.<a class="code hl_function" href="class_body.html#abe012219037c12313c7ef1116ee74865">GetMotionPropertiesUnchecked</a>();</div>
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|
|
+<div class="line"><a id="l00457" name="l00457"></a><span class="lineno"> 457</span> </div>
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|
|
+<div class="line"><a id="l00458" name="l00458"></a><span class="lineno"> 458</span> <span class="comment">// Dispatch to the correct templated form</span></div>
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|
+<div class="line"><a id="l00459" name="l00459"></a><span class="lineno"> 459</span> <span class="keywordflow">switch</span> (motion_type1)</div>
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|
+<div class="line"><a id="l00460" name="l00460"></a><span class="lineno"> 460</span> {</div>
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|
+<div class="line"><a id="l00461" name="l00461"></a><span class="lineno"> 461</span> <span class="keywordflow">case</span> <a class="code hl_enumvalue" href="_motion_type_8h.html#a328245ddbb758681fad3c44c9d488fd8a971fd8cc345d8bd9f92e9f7d88fdf20c">EMotionType::Dynamic</a>:</div>
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|
+<div class="line"><a id="l00462" name="l00462"></a><span class="lineno"> 462</span> <span class="keywordflow">switch</span> (motion_type2)</div>
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|
+<div class="line"><a id="l00463" name="l00463"></a><span class="lineno"> 463</span> {</div>
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|
+<div class="line"><a id="l00464" name="l00464"></a><span class="lineno"> 464</span> <span class="keywordflow">case</span> <a class="code hl_enumvalue" href="_motion_type_8h.html#a328245ddbb758681fad3c44c9d488fd8a971fd8cc345d8bd9f92e9f7d88fdf20c">EMotionType::Dynamic</a>:</div>
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|
+<div class="line"><a id="l00465" name="l00465"></a><span class="lineno"> 465</span> <span class="keywordflow">return</span> <a class="code hl_function" href="class_axis_constraint_part.html#a24593248d2181c548e9621817beab264">TemplatedSolveVelocityConstraint<EMotionType::Dynamic, EMotionType::Dynamic></a>(motion_properties1, motion_properties1-><a class="code hl_function" href="class_motion_properties.html#a8a959bd2f7d8eb581d999e3b01920aa8">GetInverseMass</a>(), motion_properties2, motion_properties2-><a class="code hl_function" href="class_motion_properties.html#a8a959bd2f7d8eb581d999e3b01920aa8">GetInverseMass</a>(), inWorldSpaceAxis, inMinLambda, inMaxLambda);</div>
|
|
|
+<div class="line"><a id="l00466" name="l00466"></a><span class="lineno"> 466</span> </div>
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|
|
+<div class="line"><a id="l00467" name="l00467"></a><span class="lineno"> 467</span> <span class="keywordflow">case</span> <a class="code hl_enumvalue" href="_motion_type_8h.html#a328245ddbb758681fad3c44c9d488fd8a40c78b58b86002ee38fad2d3c9dd787e">EMotionType::Kinematic</a>:</div>
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|
|
+<div class="line"><a id="l00468" name="l00468"></a><span class="lineno"> 468</span> <span class="keywordflow">return</span> <a class="code hl_function" href="class_axis_constraint_part.html#a24593248d2181c548e9621817beab264">TemplatedSolveVelocityConstraint<EMotionType::Dynamic, EMotionType::Kinematic></a>(motion_properties1, motion_properties1-><a class="code hl_function" href="class_motion_properties.html#a8a959bd2f7d8eb581d999e3b01920aa8">GetInverseMass</a>(), motion_properties2, 0.0f <span class="comment">/* Unused */</span>, inWorldSpaceAxis, inMinLambda, inMaxLambda);</div>
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|
|
+<div class="line"><a id="l00469" name="l00469"></a><span class="lineno"> 469</span> </div>
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|
|
+<div class="line"><a id="l00470" name="l00470"></a><span class="lineno"> 470</span> <span class="keywordflow">case</span> <a class="code hl_enumvalue" href="_motion_type_8h.html#a328245ddbb758681fad3c44c9d488fd8a84a8921b25f505d0d2077aeb5db4bc16">EMotionType::Static</a>:</div>
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|
|
+<div class="line"><a id="l00471" name="l00471"></a><span class="lineno"> 471</span> <span class="keywordflow">return</span> <a class="code hl_function" href="class_axis_constraint_part.html#a24593248d2181c548e9621817beab264">TemplatedSolveVelocityConstraint<EMotionType::Dynamic, EMotionType::Static></a>(motion_properties1, motion_properties1-><a class="code hl_function" href="class_motion_properties.html#a8a959bd2f7d8eb581d999e3b01920aa8">GetInverseMass</a>(), motion_properties2, 0.0f <span class="comment">/* Unused */</span>, inWorldSpaceAxis, inMinLambda, inMaxLambda);</div>
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|
|
+<div class="line"><a id="l00472" name="l00472"></a><span class="lineno"> 472</span> </div>
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|
+<div class="line"><a id="l00473" name="l00473"></a><span class="lineno"> 473</span> <span class="keywordflow">default</span>:</div>
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+<div class="line"><a id="l00474" name="l00474"></a><span class="lineno"> 474</span> <a class="code hl_define" href="_issue_reporting_8h.html#aaf6b1df827e11b7ca5f6f8778bd8f8cd">JPH_ASSERT</a>(<span class="keyword">false</span>);</div>
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|
+<div class="line"><a id="l00475" name="l00475"></a><span class="lineno"> 475</span> <span class="keywordflow">break</span>;</div>
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+<div class="line"><a id="l00476" name="l00476"></a><span class="lineno"> 476</span> }</div>
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|
+<div class="line"><a id="l00477" name="l00477"></a><span class="lineno"> 477</span> <span class="keywordflow">break</span>;</div>
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|
+<div class="line"><a id="l00478" name="l00478"></a><span class="lineno"> 478</span> </div>
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|
+<div class="line"><a id="l00479" name="l00479"></a><span class="lineno"> 479</span> <span class="keywordflow">case</span> <a class="code hl_enumvalue" href="_motion_type_8h.html#a328245ddbb758681fad3c44c9d488fd8a40c78b58b86002ee38fad2d3c9dd787e">EMotionType::Kinematic</a>:</div>
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|
+<div class="line"><a id="l00480" name="l00480"></a><span class="lineno"> 480</span> <a class="code hl_define" href="_issue_reporting_8h.html#aaf6b1df827e11b7ca5f6f8778bd8f8cd">JPH_ASSERT</a>(motion_type2 == <a class="code hl_enumvalue" href="_motion_type_8h.html#a328245ddbb758681fad3c44c9d488fd8a971fd8cc345d8bd9f92e9f7d88fdf20c">EMotionType::Dynamic</a>);</div>
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|
+<div class="line"><a id="l00481" name="l00481"></a><span class="lineno"> 481</span> <span class="keywordflow">return</span> <a class="code hl_function" href="class_axis_constraint_part.html#a24593248d2181c548e9621817beab264">TemplatedSolveVelocityConstraint<EMotionType::Kinematic, EMotionType::Dynamic></a>(motion_properties1, 0.0f <span class="comment">/* Unused */</span>, motion_properties2, motion_properties2-><a class="code hl_function" href="class_motion_properties.html#a8a959bd2f7d8eb581d999e3b01920aa8">GetInverseMass</a>(), inWorldSpaceAxis, inMinLambda, inMaxLambda);</div>
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|
+<div class="line"><a id="l00482" name="l00482"></a><span class="lineno"> 482</span> </div>
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|
+<div class="line"><a id="l00483" name="l00483"></a><span class="lineno"> 483</span> <span class="keywordflow">case</span> <a class="code hl_enumvalue" href="_motion_type_8h.html#a328245ddbb758681fad3c44c9d488fd8a84a8921b25f505d0d2077aeb5db4bc16">EMotionType::Static</a>:</div>
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|
|
+<div class="line"><a id="l00484" name="l00484"></a><span class="lineno"> 484</span> <a class="code hl_define" href="_issue_reporting_8h.html#aaf6b1df827e11b7ca5f6f8778bd8f8cd">JPH_ASSERT</a>(motion_type2 == <a class="code hl_enumvalue" href="_motion_type_8h.html#a328245ddbb758681fad3c44c9d488fd8a971fd8cc345d8bd9f92e9f7d88fdf20c">EMotionType::Dynamic</a>);</div>
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|
+<div class="line"><a id="l00485" name="l00485"></a><span class="lineno"> 485</span> <span class="keywordflow">return</span> <a class="code hl_function" href="class_axis_constraint_part.html#a24593248d2181c548e9621817beab264">TemplatedSolveVelocityConstraint<EMotionType::Static, EMotionType::Dynamic></a>(motion_properties1, 0.0f <span class="comment">/* Unused */</span>, motion_properties2, motion_properties2-><a class="code hl_function" href="class_motion_properties.html#a8a959bd2f7d8eb581d999e3b01920aa8">GetInverseMass</a>(), inWorldSpaceAxis, inMinLambda, inMaxLambda);</div>
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+<div class="line"><a id="l00486" name="l00486"></a><span class="lineno"> 486</span> </div>
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+<div class="line"><a id="l00487" name="l00487"></a><span class="lineno"> 487</span> <span class="keywordflow">default</span>:</div>
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|
+<div class="line"><a id="l00488" name="l00488"></a><span class="lineno"> 488</span> <a class="code hl_define" href="_issue_reporting_8h.html#aaf6b1df827e11b7ca5f6f8778bd8f8cd">JPH_ASSERT</a>(<span class="keyword">false</span>);</div>
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+<div class="line"><a id="l00489" name="l00489"></a><span class="lineno"> 489</span> <span class="keywordflow">break</span>;</div>
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+<div class="line"><a id="l00490" name="l00490"></a><span class="lineno"> 490</span> }</div>
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+<div class="line"><a id="l00491" name="l00491"></a><span class="lineno"> 491</span> </div>
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+<div class="line"><a id="l00492" name="l00492"></a><span class="lineno"> 492</span> <span class="keywordflow">return</span> <span class="keyword">false</span>;</div>
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+<div class="line"><a id="l00493" name="l00493"></a><span class="lineno"> 493</span> }</div>
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+</div>
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|
+<div class="line"><a id="l00494" name="l00494"></a><span class="lineno"> 494</span> </div>
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|
+<div class="foldopen" id="foldopen00503" data-start="{" data-end="}">
|
|
|
+<div class="line"><a id="l00503" name="l00503"></a><span class="lineno"><a class="line" href="class_axis_constraint_part.html#aac25bbc0f7371f640c6e2af6a94c5cfc"> 503</a></span> <span class="keyword">inline</span> <span class="keywordtype">bool</span> <a class="code hl_function" href="class_axis_constraint_part.html#aac25bbc0f7371f640c6e2af6a94c5cfc">SolveVelocityConstraintWithMassOverride</a>(<a class="code hl_class" href="class_body.html">Body</a> &ioBody1, <span class="keywordtype">float</span> inInvMass1, <a class="code hl_class" href="class_body.html">Body</a> &ioBody2, <span class="keywordtype">float</span> inInvMass2, <a class="code hl_class" href="class_vec3.html">Vec3Arg</a> inWorldSpaceAxis, <span class="keywordtype">float</span> inMinLambda, <span class="keywordtype">float</span> inMaxLambda)</div>
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+<div class="line"><a id="l00504" name="l00504"></a><span class="lineno"> 504</span> {</div>
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+<div class="line"><a id="l00505" name="l00505"></a><span class="lineno"> 505</span> <a class="code hl_enumeration" href="_motion_type_8h.html#a328245ddbb758681fad3c44c9d488fd8">EMotionType</a> motion_type1 = ioBody1.<a class="code hl_function" href="class_body.html#a146a4745ed28c3d9b06abe02ee3d3490">GetMotionType</a>();</div>
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+<div class="line"><a id="l00506" name="l00506"></a><span class="lineno"> 506</span> <a class="code hl_class" href="class_motion_properties.html">MotionProperties</a> *motion_properties1 = ioBody1.<a class="code hl_function" href="class_body.html#abe012219037c12313c7ef1116ee74865">GetMotionPropertiesUnchecked</a>();</div>
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+<div class="line"><a id="l00507" name="l00507"></a><span class="lineno"> 507</span> </div>
|
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|
+<div class="line"><a id="l00508" name="l00508"></a><span class="lineno"> 508</span> <a class="code hl_enumeration" href="_motion_type_8h.html#a328245ddbb758681fad3c44c9d488fd8">EMotionType</a> motion_type2 = ioBody2.<a class="code hl_function" href="class_body.html#a146a4745ed28c3d9b06abe02ee3d3490">GetMotionType</a>();</div>
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+<div class="line"><a id="l00509" name="l00509"></a><span class="lineno"> 509</span> <a class="code hl_class" href="class_motion_properties.html">MotionProperties</a> *motion_properties2 = ioBody2.<a class="code hl_function" href="class_body.html#abe012219037c12313c7ef1116ee74865">GetMotionPropertiesUnchecked</a>();</div>
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+<div class="line"><a id="l00510" name="l00510"></a><span class="lineno"> 510</span> </div>
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+<div class="line"><a id="l00511" name="l00511"></a><span class="lineno"> 511</span> <span class="comment">// Dispatch to the correct templated form</span></div>
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+<div class="line"><a id="l00512" name="l00512"></a><span class="lineno"> 512</span> <span class="keywordflow">switch</span> (motion_type1)</div>
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+<div class="line"><a id="l00513" name="l00513"></a><span class="lineno"> 513</span> {</div>
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+<div class="line"><a id="l00514" name="l00514"></a><span class="lineno"> 514</span> <span class="keywordflow">case</span> <a class="code hl_enumvalue" href="_motion_type_8h.html#a328245ddbb758681fad3c44c9d488fd8a971fd8cc345d8bd9f92e9f7d88fdf20c">EMotionType::Dynamic</a>:</div>
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+<div class="line"><a id="l00515" name="l00515"></a><span class="lineno"> 515</span> <span class="keywordflow">switch</span> (motion_type2)</div>
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+<div class="line"><a id="l00516" name="l00516"></a><span class="lineno"> 516</span> {</div>
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+<div class="line"><a id="l00517" name="l00517"></a><span class="lineno"> 517</span> <span class="keywordflow">case</span> <a class="code hl_enumvalue" href="_motion_type_8h.html#a328245ddbb758681fad3c44c9d488fd8a971fd8cc345d8bd9f92e9f7d88fdf20c">EMotionType::Dynamic</a>:</div>
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+<div class="line"><a id="l00518" name="l00518"></a><span class="lineno"> 518</span> <span class="keywordflow">return</span> <a class="code hl_function" href="class_axis_constraint_part.html#a24593248d2181c548e9621817beab264">TemplatedSolveVelocityConstraint<EMotionType::Dynamic, EMotionType::Dynamic></a>(motion_properties1, inInvMass1, motion_properties2, inInvMass2, inWorldSpaceAxis, inMinLambda, inMaxLambda);</div>
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+<div class="line"><a id="l00519" name="l00519"></a><span class="lineno"> 519</span> </div>
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|
+<div class="line"><a id="l00520" name="l00520"></a><span class="lineno"> 520</span> <span class="keywordflow">case</span> <a class="code hl_enumvalue" href="_motion_type_8h.html#a328245ddbb758681fad3c44c9d488fd8a40c78b58b86002ee38fad2d3c9dd787e">EMotionType::Kinematic</a>:</div>
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+<div class="line"><a id="l00521" name="l00521"></a><span class="lineno"> 521</span> <span class="keywordflow">return</span> <a class="code hl_function" href="class_axis_constraint_part.html#a24593248d2181c548e9621817beab264">TemplatedSolveVelocityConstraint<EMotionType::Dynamic, EMotionType::Kinematic></a>(motion_properties1, inInvMass1, motion_properties2, 0.0f <span class="comment">/* Unused */</span>, inWorldSpaceAxis, inMinLambda, inMaxLambda);</div>
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+<div class="line"><a id="l00522" name="l00522"></a><span class="lineno"> 522</span> </div>
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+<div class="line"><a id="l00523" name="l00523"></a><span class="lineno"> 523</span> <span class="keywordflow">case</span> <a class="code hl_enumvalue" href="_motion_type_8h.html#a328245ddbb758681fad3c44c9d488fd8a84a8921b25f505d0d2077aeb5db4bc16">EMotionType::Static</a>:</div>
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+<div class="line"><a id="l00524" name="l00524"></a><span class="lineno"> 524</span> <span class="keywordflow">return</span> <a class="code hl_function" href="class_axis_constraint_part.html#a24593248d2181c548e9621817beab264">TemplatedSolveVelocityConstraint<EMotionType::Dynamic, EMotionType::Static></a>(motion_properties1, inInvMass1, motion_properties2, 0.0f <span class="comment">/* Unused */</span>, inWorldSpaceAxis, inMinLambda, inMaxLambda);</div>
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+<div class="line"><a id="l00525" name="l00525"></a><span class="lineno"> 525</span> </div>
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+<div class="line"><a id="l00526" name="l00526"></a><span class="lineno"> 526</span> <span class="keywordflow">default</span>:</div>
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+<div class="line"><a id="l00527" name="l00527"></a><span class="lineno"> 527</span> <a class="code hl_define" href="_issue_reporting_8h.html#aaf6b1df827e11b7ca5f6f8778bd8f8cd">JPH_ASSERT</a>(<span class="keyword">false</span>);</div>
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+<div class="line"><a id="l00528" name="l00528"></a><span class="lineno"> 528</span> <span class="keywordflow">break</span>;</div>
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+<div class="line"><a id="l00529" name="l00529"></a><span class="lineno"> 529</span> }</div>
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+<div class="line"><a id="l00530" name="l00530"></a><span class="lineno"> 530</span> <span class="keywordflow">break</span>;</div>
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+<div class="line"><a id="l00531" name="l00531"></a><span class="lineno"> 531</span> </div>
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+<div class="line"><a id="l00532" name="l00532"></a><span class="lineno"> 532</span> <span class="keywordflow">case</span> <a class="code hl_enumvalue" href="_motion_type_8h.html#a328245ddbb758681fad3c44c9d488fd8a40c78b58b86002ee38fad2d3c9dd787e">EMotionType::Kinematic</a>:</div>
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+<div class="line"><a id="l00533" name="l00533"></a><span class="lineno"> 533</span> <a class="code hl_define" href="_issue_reporting_8h.html#aaf6b1df827e11b7ca5f6f8778bd8f8cd">JPH_ASSERT</a>(motion_type2 == <a class="code hl_enumvalue" href="_motion_type_8h.html#a328245ddbb758681fad3c44c9d488fd8a971fd8cc345d8bd9f92e9f7d88fdf20c">EMotionType::Dynamic</a>);</div>
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+<div class="line"><a id="l00534" name="l00534"></a><span class="lineno"> 534</span> <span class="keywordflow">return</span> <a class="code hl_function" href="class_axis_constraint_part.html#a24593248d2181c548e9621817beab264">TemplatedSolveVelocityConstraint<EMotionType::Kinematic, EMotionType::Dynamic></a>(motion_properties1, 0.0f <span class="comment">/* Unused */</span>, motion_properties2, inInvMass2, inWorldSpaceAxis, inMinLambda, inMaxLambda);</div>
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|
+<div class="line"><a id="l00535" name="l00535"></a><span class="lineno"> 535</span> </div>
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|
+<div class="line"><a id="l00536" name="l00536"></a><span class="lineno"> 536</span> <span class="keywordflow">case</span> <a class="code hl_enumvalue" href="_motion_type_8h.html#a328245ddbb758681fad3c44c9d488fd8a84a8921b25f505d0d2077aeb5db4bc16">EMotionType::Static</a>:</div>
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|
|
+<div class="line"><a id="l00537" name="l00537"></a><span class="lineno"> 537</span> <a class="code hl_define" href="_issue_reporting_8h.html#aaf6b1df827e11b7ca5f6f8778bd8f8cd">JPH_ASSERT</a>(motion_type2 == <a class="code hl_enumvalue" href="_motion_type_8h.html#a328245ddbb758681fad3c44c9d488fd8a971fd8cc345d8bd9f92e9f7d88fdf20c">EMotionType::Dynamic</a>);</div>
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|
+<div class="line"><a id="l00538" name="l00538"></a><span class="lineno"> 538</span> <span class="keywordflow">return</span> <a class="code hl_function" href="class_axis_constraint_part.html#a24593248d2181c548e9621817beab264">TemplatedSolveVelocityConstraint<EMotionType::Static, EMotionType::Dynamic></a>(motion_properties1, 0.0f <span class="comment">/* Unused */</span>, motion_properties2, inInvMass2, inWorldSpaceAxis, inMinLambda, inMaxLambda);</div>
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|
+<div class="line"><a id="l00539" name="l00539"></a><span class="lineno"> 539</span> </div>
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|
+<div class="line"><a id="l00540" name="l00540"></a><span class="lineno"> 540</span> <span class="keywordflow">default</span>:</div>
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|
+<div class="line"><a id="l00541" name="l00541"></a><span class="lineno"> 541</span> <a class="code hl_define" href="_issue_reporting_8h.html#aaf6b1df827e11b7ca5f6f8778bd8f8cd">JPH_ASSERT</a>(<span class="keyword">false</span>);</div>
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|
+<div class="line"><a id="l00542" name="l00542"></a><span class="lineno"> 542</span> <span class="keywordflow">break</span>;</div>
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|
+<div class="line"><a id="l00543" name="l00543"></a><span class="lineno"> 543</span> }</div>
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|
+<div class="line"><a id="l00544" name="l00544"></a><span class="lineno"> 544</span> </div>
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|
|
+<div class="line"><a id="l00545" name="l00545"></a><span class="lineno"> 545</span> <span class="keywordflow">return</span> <span class="keyword">false</span>;</div>
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|
|
+<div class="line"><a id="l00546" name="l00546"></a><span class="lineno"> 546</span> }</div>
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|
+</div>
|
|
|
+<div class="line"><a id="l00547" name="l00547"></a><span class="lineno"> 547</span> </div>
|
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|
+<div class="foldopen" id="foldopen00554" data-start="{" data-end="}">
|
|
|
+<div class="line"><a id="l00554" name="l00554"></a><span class="lineno"><a class="line" href="class_axis_constraint_part.html#a12a0588911733208e89fa65de7e2b2fc"> 554</a></span> <span class="keyword">inline</span> <span class="keywordtype">bool</span> <a class="code hl_function" href="class_axis_constraint_part.html#a12a0588911733208e89fa65de7e2b2fc">SolvePositionConstraint</a>(<a class="code hl_class" href="class_body.html">Body</a> &ioBody1, <a class="code hl_class" href="class_body.html">Body</a> &ioBody2, <a class="code hl_class" href="class_vec3.html">Vec3Arg</a> inWorldSpaceAxis, <span class="keywordtype">float</span> inC, <span class="keywordtype">float</span> inBaumgarte)<span class="keyword"> const</span></div>
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|
+<div class="line"><a id="l00555" name="l00555"></a><span class="lineno"> 555</span><span class="keyword"> </span>{</div>
|
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|
+<div class="line"><a id="l00556" name="l00556"></a><span class="lineno"> 556</span> <span class="comment">// Only apply position constraint when the constraint is hard, otherwise the velocity bias will fix the constraint</span></div>
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|
|
+<div class="line"><a id="l00557" name="l00557"></a><span class="lineno"> 557</span> <span class="keywordflow">if</span> (inC != 0.0f && !mSpringPart.<a class="code hl_function" href="class_spring_part.html#a9dbe7d09f4a6aaf7f5edd106fb6fe335">IsActive</a>())</div>
|
|
|
+<div class="line"><a id="l00558" name="l00558"></a><span class="lineno"> 558</span> {</div>
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|
|
+<div class="line"><a id="l00559" name="l00559"></a><span class="lineno"> 559</span> <span class="comment">// Calculate lagrange multiplier (lambda) for Baumgarte stabilization:</span></div>
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|
|
+<div class="line"><a id="l00560" name="l00560"></a><span class="lineno"> 560</span> <span class="comment">//</span></div>
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|
|
+<div class="line"><a id="l00561" name="l00561"></a><span class="lineno"> 561</span> <span class="comment">// lambda = -K^-1 * beta / dt * C</span></div>
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|
|
+<div class="line"><a id="l00562" name="l00562"></a><span class="lineno"> 562</span> <span class="comment">//</span></div>
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|
+<div class="line"><a id="l00563" name="l00563"></a><span class="lineno"> 563</span> <span class="comment">// We should divide by inDeltaTime, but we should multiply by inDeltaTime in the Euler step below so they're cancelled out</span></div>
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|
+<div class="line"><a id="l00564" name="l00564"></a><span class="lineno"> 564</span> <span class="keywordtype">float</span> lambda = -mEffectiveMass * inBaumgarte * inC;</div>
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|
|
+<div class="line"><a id="l00565" name="l00565"></a><span class="lineno"> 565</span> </div>
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|
|
+<div class="line"><a id="l00566" name="l00566"></a><span class="lineno"> 566</span> <span class="comment">// Directly integrate velocity change for one time step</span></div>
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|
|
+<div class="line"><a id="l00567" name="l00567"></a><span class="lineno"> 567</span> <span class="comment">//</span></div>
|
|
|
+<div class="line"><a id="l00568" name="l00568"></a><span class="lineno"> 568</span> <span class="comment">// Euler velocity integration:</span></div>
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|
+<div class="line"><a id="l00569" name="l00569"></a><span class="lineno"> 569</span> <span class="comment">// dv = M^-1 P</span></div>
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|
+<div class="line"><a id="l00570" name="l00570"></a><span class="lineno"> 570</span> <span class="comment">//</span></div>
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|
+<div class="line"><a id="l00571" name="l00571"></a><span class="lineno"> 571</span> <span class="comment">// Impulse:</span></div>
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|
+<div class="line"><a id="l00572" name="l00572"></a><span class="lineno"> 572</span> <span class="comment">// P = J^T lambda</span></div>
|
|
|
+<div class="line"><a id="l00573" name="l00573"></a><span class="lineno"> 573</span> <span class="comment">//</span></div>
|
|
|
+<div class="line"><a id="l00574" name="l00574"></a><span class="lineno"> 574</span> <span class="comment">// Euler position integration:</span></div>
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|
+<div class="line"><a id="l00575" name="l00575"></a><span class="lineno"> 575</span> <span class="comment">// x' = x + dv * dt</span></div>
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|
+<div class="line"><a id="l00576" name="l00576"></a><span class="lineno"> 576</span> <span class="comment">//</span></div>
|
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|
+<div class="line"><a id="l00577" name="l00577"></a><span class="lineno"> 577</span> <span class="comment">// Note we don't accumulate velocities for the stabilization. This is using the approach described in 'Modeling and</span></div>
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+<div class="line"><a id="l00578" name="l00578"></a><span class="lineno"> 578</span> <span class="comment">// Solving Constraints' by Erin Catto presented at GDC 2007. On slide 78 it is suggested to split up the Baumgarte</span></div>
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|
+<div class="line"><a id="l00579" name="l00579"></a><span class="lineno"> 579</span> <span class="comment">// stabilization for positional drift so that it does not actually add to the momentum. We combine an Euler velocity</span></div>
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+<div class="line"><a id="l00580" name="l00580"></a><span class="lineno"> 580</span> <span class="comment">// integrate + a position integrate and then discard the velocity change.</span></div>
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|
+<div class="line"><a id="l00581" name="l00581"></a><span class="lineno"> 581</span> <span class="keywordflow">if</span> (ioBody1.<a class="code hl_function" href="class_body.html#a1b21c30907c8c9ce30c176a054057bef">IsDynamic</a>())</div>
|
|
|
+<div class="line"><a id="l00582" name="l00582"></a><span class="lineno"> 582</span> {</div>
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|
+<div class="line"><a id="l00583" name="l00583"></a><span class="lineno"> 583</span> ioBody1.<a class="code hl_function" href="class_body.html#a3c0a6198eb89412439dfcaef56eadade">SubPositionStep</a>((lambda * ioBody1.<a class="code hl_function" href="class_body.html#a0d39987255227c4221fcea66cb1fc041">GetMotionProperties</a>()-><a class="code hl_function" href="class_motion_properties.html#a8a959bd2f7d8eb581d999e3b01920aa8">GetInverseMass</a>()) * inWorldSpaceAxis);</div>
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|
|
+<div class="line"><a id="l00584" name="l00584"></a><span class="lineno"> 584</span> ioBody1.<a class="code hl_function" href="class_body.html#ab0df53d82e3a8356fac91d178b30c369">SubRotationStep</a>(lambda * <a class="code hl_function" href="class_vec3.html#aea30fe731618ffa249ecdcba2c66ab4e">Vec3::sLoadFloat3Unsafe</a>(mInvI1_R1PlusUxAxis));</div>
|
|
|
+<div class="line"><a id="l00585" name="l00585"></a><span class="lineno"> 585</span> }</div>
|
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|
+<div class="line"><a id="l00586" name="l00586"></a><span class="lineno"> 586</span> <span class="keywordflow">if</span> (ioBody2.<a class="code hl_function" href="class_body.html#a1b21c30907c8c9ce30c176a054057bef">IsDynamic</a>())</div>
|
|
|
+<div class="line"><a id="l00587" name="l00587"></a><span class="lineno"> 587</span> {</div>
|
|
|
+<div class="line"><a id="l00588" name="l00588"></a><span class="lineno"> 588</span> ioBody2.<a class="code hl_function" href="class_body.html#af98f831df76bd7e54eeb92d79fa3c8cd">AddPositionStep</a>((lambda * ioBody2.<a class="code hl_function" href="class_body.html#a0d39987255227c4221fcea66cb1fc041">GetMotionProperties</a>()-><a class="code hl_function" href="class_motion_properties.html#a8a959bd2f7d8eb581d999e3b01920aa8">GetInverseMass</a>()) * inWorldSpaceAxis);</div>
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|
|
+<div class="line"><a id="l00589" name="l00589"></a><span class="lineno"> 589</span> ioBody2.<a class="code hl_function" href="class_body.html#a3385650a73d75c7d9c16d13ea2d5519f">AddRotationStep</a>(lambda * <a class="code hl_function" href="class_vec3.html#aea30fe731618ffa249ecdcba2c66ab4e">Vec3::sLoadFloat3Unsafe</a>(mInvI2_R2xAxis));</div>
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+<div class="line"><a id="l00590" name="l00590"></a><span class="lineno"> 590</span> }</div>
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+<div class="line"><a id="l00591" name="l00591"></a><span class="lineno"> 591</span> <span class="keywordflow">return</span> <span class="keyword">true</span>;</div>
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+<div class="line"><a id="l00592" name="l00592"></a><span class="lineno"> 592</span> }</div>
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+<div class="line"><a id="l00593" name="l00593"></a><span class="lineno"> 593</span> </div>
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+<div class="line"><a id="l00594" name="l00594"></a><span class="lineno"> 594</span> <span class="keywordflow">return</span> <span class="keyword">false</span>;</div>
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+<div class="line"><a id="l00595" name="l00595"></a><span class="lineno"> 595</span> }</div>
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+</div>
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+<div class="line"><a id="l00596" name="l00596"></a><span class="lineno"> 596</span> </div>
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+<div class="foldopen" id="foldopen00605" data-start="{" data-end="}">
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+<div class="line"><a id="l00605" name="l00605"></a><span class="lineno"><a class="line" href="class_axis_constraint_part.html#a981dad22bd1333ed2147264f3285c112"> 605</a></span> <span class="keyword">inline</span> <span class="keywordtype">bool</span> <a class="code hl_function" href="class_axis_constraint_part.html#a981dad22bd1333ed2147264f3285c112">SolvePositionConstraintWithMassOverride</a>(<a class="code hl_class" href="class_body.html">Body</a> &ioBody1, <span class="keywordtype">float</span> inInvMass1, <a class="code hl_class" href="class_body.html">Body</a> &ioBody2, <span class="keywordtype">float</span> inInvMass2, <a class="code hl_class" href="class_vec3.html">Vec3Arg</a> inWorldSpaceAxis, <span class="keywordtype">float</span> inC, <span class="keywordtype">float</span> inBaumgarte)<span class="keyword"> const</span></div>
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+<div class="line"><a id="l00606" name="l00606"></a><span class="lineno"> 606</span><span class="keyword"> </span>{</div>
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+<div class="line"><a id="l00607" name="l00607"></a><span class="lineno"> 607</span> <span class="comment">// Only apply position constraint when the constraint is hard, otherwise the velocity bias will fix the constraint</span></div>
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+<div class="line"><a id="l00608" name="l00608"></a><span class="lineno"> 608</span> <span class="keywordflow">if</span> (inC != 0.0f && !mSpringPart.<a class="code hl_function" href="class_spring_part.html#a9dbe7d09f4a6aaf7f5edd106fb6fe335">IsActive</a>())</div>
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+<div class="line"><a id="l00609" name="l00609"></a><span class="lineno"> 609</span> {</div>
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+<div class="line"><a id="l00610" name="l00610"></a><span class="lineno"> 610</span> <span class="comment">// Calculate lagrange multiplier (lambda) for Baumgarte stabilization:</span></div>
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+<div class="line"><a id="l00611" name="l00611"></a><span class="lineno"> 611</span> <span class="comment">//</span></div>
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+<div class="line"><a id="l00612" name="l00612"></a><span class="lineno"> 612</span> <span class="comment">// lambda = -K^-1 * beta / dt * C</span></div>
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+<div class="line"><a id="l00613" name="l00613"></a><span class="lineno"> 613</span> <span class="comment">//</span></div>
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+<div class="line"><a id="l00614" name="l00614"></a><span class="lineno"> 614</span> <span class="comment">// We should divide by inDeltaTime, but we should multiply by inDeltaTime in the Euler step below so they're cancelled out</span></div>
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+<div class="line"><a id="l00615" name="l00615"></a><span class="lineno"> 615</span> <span class="keywordtype">float</span> lambda = -mEffectiveMass * inBaumgarte * inC;</div>
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+<div class="line"><a id="l00616" name="l00616"></a><span class="lineno"> 616</span> </div>
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+<div class="line"><a id="l00617" name="l00617"></a><span class="lineno"> 617</span> <span class="comment">// Directly integrate velocity change for one time step</span></div>
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+<div class="line"><a id="l00618" name="l00618"></a><span class="lineno"> 618</span> <span class="comment">//</span></div>
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+<div class="line"><a id="l00619" name="l00619"></a><span class="lineno"> 619</span> <span class="comment">// Euler velocity integration:</span></div>
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+<div class="line"><a id="l00620" name="l00620"></a><span class="lineno"> 620</span> <span class="comment">// dv = M^-1 P</span></div>
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+<div class="line"><a id="l00621" name="l00621"></a><span class="lineno"> 621</span> <span class="comment">//</span></div>
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+<div class="line"><a id="l00622" name="l00622"></a><span class="lineno"> 622</span> <span class="comment">// Impulse:</span></div>
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+<div class="line"><a id="l00623" name="l00623"></a><span class="lineno"> 623</span> <span class="comment">// P = J^T lambda</span></div>
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+<div class="line"><a id="l00624" name="l00624"></a><span class="lineno"> 624</span> <span class="comment">//</span></div>
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+<div class="line"><a id="l00625" name="l00625"></a><span class="lineno"> 625</span> <span class="comment">// Euler position integration:</span></div>
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+<div class="line"><a id="l00626" name="l00626"></a><span class="lineno"> 626</span> <span class="comment">// x' = x + dv * dt</span></div>
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+<div class="line"><a id="l00627" name="l00627"></a><span class="lineno"> 627</span> <span class="comment">//</span></div>
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+<div class="line"><a id="l00628" name="l00628"></a><span class="lineno"> 628</span> <span class="comment">// Note we don't accumulate velocities for the stabilization. This is using the approach described in 'Modeling and</span></div>
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+<div class="line"><a id="l00629" name="l00629"></a><span class="lineno"> 629</span> <span class="comment">// Solving Constraints' by Erin Catto presented at GDC 2007. On slide 78 it is suggested to split up the Baumgarte</span></div>
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+<div class="line"><a id="l00630" name="l00630"></a><span class="lineno"> 630</span> <span class="comment">// stabilization for positional drift so that it does not actually add to the momentum. We combine an Euler velocity</span></div>
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+<div class="line"><a id="l00631" name="l00631"></a><span class="lineno"> 631</span> <span class="comment">// integrate + a position integrate and then discard the velocity change.</span></div>
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+<div class="line"><a id="l00632" name="l00632"></a><span class="lineno"> 632</span> <span class="keywordflow">if</span> (ioBody1.<a class="code hl_function" href="class_body.html#a1b21c30907c8c9ce30c176a054057bef">IsDynamic</a>())</div>
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+<div class="line"><a id="l00633" name="l00633"></a><span class="lineno"> 633</span> {</div>
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+<div class="line"><a id="l00634" name="l00634"></a><span class="lineno"> 634</span> ioBody1.<a class="code hl_function" href="class_body.html#a3c0a6198eb89412439dfcaef56eadade">SubPositionStep</a>((lambda * inInvMass1) * inWorldSpaceAxis);</div>
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+<div class="line"><a id="l00635" name="l00635"></a><span class="lineno"> 635</span> ioBody1.<a class="code hl_function" href="class_body.html#ab0df53d82e3a8356fac91d178b30c369">SubRotationStep</a>(lambda * <a class="code hl_function" href="class_vec3.html#aea30fe731618ffa249ecdcba2c66ab4e">Vec3::sLoadFloat3Unsafe</a>(mInvI1_R1PlusUxAxis));</div>
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+<div class="line"><a id="l00636" name="l00636"></a><span class="lineno"> 636</span> }</div>
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+<div class="line"><a id="l00637" name="l00637"></a><span class="lineno"> 637</span> <span class="keywordflow">if</span> (ioBody2.<a class="code hl_function" href="class_body.html#a1b21c30907c8c9ce30c176a054057bef">IsDynamic</a>())</div>
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+<div class="line"><a id="l00638" name="l00638"></a><span class="lineno"> 638</span> {</div>
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+<div class="line"><a id="l00639" name="l00639"></a><span class="lineno"> 639</span> ioBody2.<a class="code hl_function" href="class_body.html#af98f831df76bd7e54eeb92d79fa3c8cd">AddPositionStep</a>((lambda * inInvMass2) * inWorldSpaceAxis);</div>
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+<div class="line"><a id="l00640" name="l00640"></a><span class="lineno"> 640</span> ioBody2.<a class="code hl_function" href="class_body.html#a3385650a73d75c7d9c16d13ea2d5519f">AddRotationStep</a>(lambda * <a class="code hl_function" href="class_vec3.html#aea30fe731618ffa249ecdcba2c66ab4e">Vec3::sLoadFloat3Unsafe</a>(mInvI2_R2xAxis));</div>
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+<div class="line"><a id="l00641" name="l00641"></a><span class="lineno"> 641</span> }</div>
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+<div class="line"><a id="l00642" name="l00642"></a><span class="lineno"> 642</span> <span class="keywordflow">return</span> <span class="keyword">true</span>;</div>
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+<div class="line"><a id="l00643" name="l00643"></a><span class="lineno"> 643</span> }</div>
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+<div class="line"><a id="l00644" name="l00644"></a><span class="lineno"> 644</span> </div>
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+<div class="line"><a id="l00645" name="l00645"></a><span class="lineno"> 645</span> <span class="keywordflow">return</span> <span class="keyword">false</span>;</div>
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+<div class="line"><a id="l00646" name="l00646"></a><span class="lineno"> 646</span> }</div>
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+</div>
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+<div class="line"><a id="l00647" name="l00647"></a><span class="lineno"> 647</span> </div>
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+<div class="foldopen" id="foldopen00649" data-start="{" data-end="}">
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+<div class="line"><a id="l00649" name="l00649"></a><span class="lineno"><a class="line" href="class_axis_constraint_part.html#a21284d5ab7133a4e85f37fcfecb0be8e"> 649</a></span> <span class="keyword">inline</span> <span class="keywordtype">void</span> <a class="code hl_function" href="class_axis_constraint_part.html#a21284d5ab7133a4e85f37fcfecb0be8e">SetTotalLambda</a>(<span class="keywordtype">float</span> inLambda)</div>
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+<div class="line"><a id="l00650" name="l00650"></a><span class="lineno"> 650</span> {</div>
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+<div class="line"><a id="l00651" name="l00651"></a><span class="lineno"> 651</span> mTotalLambda = inLambda;</div>
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+<div class="line"><a id="l00652" name="l00652"></a><span class="lineno"> 652</span> }</div>
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+</div>
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+<div class="line"><a id="l00653" name="l00653"></a><span class="lineno"> 653</span> </div>
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+<div class="foldopen" id="foldopen00655" data-start="{" data-end="}">
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+<div class="line"><a id="l00655" name="l00655"></a><span class="lineno"><a class="line" href="class_axis_constraint_part.html#a012581aad01dbf091d9f8e2cf0ea6605"> 655</a></span> <span class="keyword">inline</span> <span class="keywordtype">float</span> <a class="code hl_function" href="class_axis_constraint_part.html#a012581aad01dbf091d9f8e2cf0ea6605">GetTotalLambda</a>()<span class="keyword"> const</span></div>
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+<div class="line"><a id="l00656" name="l00656"></a><span class="lineno"> 656</span><span class="keyword"> </span>{</div>
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+<div class="line"><a id="l00657" name="l00657"></a><span class="lineno"> 657</span> <span class="keywordflow">return</span> mTotalLambda;</div>
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+<div class="line"><a id="l00658" name="l00658"></a><span class="lineno"> 658</span> }</div>
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+</div>
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+<div class="line"><a id="l00659" name="l00659"></a><span class="lineno"> 659</span> </div>
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+<div class="foldopen" id="foldopen00661" data-start="{" data-end="}">
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+<div class="line"><a id="l00661" name="l00661"></a><span class="lineno"><a class="line" href="class_axis_constraint_part.html#ad17a6a0c982d958f3e96e3b460315e5f"> 661</a></span> <span class="keywordtype">void</span> <a class="code hl_function" href="class_axis_constraint_part.html#ad17a6a0c982d958f3e96e3b460315e5f">SaveState</a>(<a class="code hl_class" href="class_state_recorder.html">StateRecorder</a> &inStream)<span class="keyword"> const</span></div>
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+<div class="line"><a id="l00662" name="l00662"></a><span class="lineno"> 662</span><span class="keyword"> </span>{</div>
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+<div class="line"><a id="l00663" name="l00663"></a><span class="lineno"> 663</span> inStream.<a class="code hl_function" href="class_stream_out.html#a879dce6c6c6ca5e63835fe61cc745966">Write</a>(mTotalLambda);</div>
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+<div class="line"><a id="l00664" name="l00664"></a><span class="lineno"> 664</span> }</div>
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+</div>
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+<div class="line"><a id="l00665" name="l00665"></a><span class="lineno"> 665</span> </div>
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+<div class="foldopen" id="foldopen00667" data-start="{" data-end="}">
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+<div class="line"><a id="l00667" name="l00667"></a><span class="lineno"><a class="line" href="class_axis_constraint_part.html#afdaf8583a278a760eae80b8169ee6989"> 667</a></span> <span class="keywordtype">void</span> <a class="code hl_function" href="class_axis_constraint_part.html#afdaf8583a278a760eae80b8169ee6989">RestoreState</a>(<a class="code hl_class" href="class_state_recorder.html">StateRecorder</a> &inStream)</div>
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+<div class="line"><a id="l00668" name="l00668"></a><span class="lineno"> 668</span> {</div>
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+<div class="line"><a id="l00669" name="l00669"></a><span class="lineno"> 669</span> inStream.<a class="code hl_function" href="class_stream_in.html#a5ae9304c310edfc5ef1c67a95e36b1f3">Read</a>(mTotalLambda);</div>
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+<div class="line"><a id="l00670" name="l00670"></a><span class="lineno"> 670</span> }</div>
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+</div>
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+<div class="line"><a id="l00671" name="l00671"></a><span class="lineno"> 671</span> </div>
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+<div class="line"><a id="l00672" name="l00672"></a><span class="lineno"> 672</span><span class="keyword">private</span>:</div>
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+<div class="line"><a id="l00673" name="l00673"></a><span class="lineno"> 673</span> <a class="code hl_class" href="class_float3.html">Float3</a> mR1PlusUxAxis;</div>
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+<div class="line"><a id="l00674" name="l00674"></a><span class="lineno"> 674</span> <a class="code hl_class" href="class_float3.html">Float3</a> mR2xAxis;</div>
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+<div class="line"><a id="l00675" name="l00675"></a><span class="lineno"> 675</span> <a class="code hl_class" href="class_float3.html">Float3</a> mInvI1_R1PlusUxAxis;</div>
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+<div class="line"><a id="l00676" name="l00676"></a><span class="lineno"> 676</span> <a class="code hl_class" href="class_float3.html">Float3</a> mInvI2_R2xAxis;</div>
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+<div class="line"><a id="l00677" name="l00677"></a><span class="lineno"> 677</span> <span class="keywordtype">float</span> mEffectiveMass = 0.0f;</div>
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+<div class="line"><a id="l00678" name="l00678"></a><span class="lineno"> 678</span> <a class="code hl_class" href="class_spring_part.html">SpringPart</a> mSpringPart;</div>
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+<div class="line"><a id="l00679" name="l00679"></a><span class="lineno"> 679</span> <span class="keywordtype">float</span> mTotalLambda = 0.0f;</div>
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+<div class="line"><a id="l00680" name="l00680"></a><span class="lineno"> 680</span>};</div>
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+</div>
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+<div class="line"><a id="l00681" name="l00681"></a><span class="lineno"> 681</span> </div>
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+<div class="line"><a id="l00682" name="l00682"></a><span class="lineno"> 682</span><a class="code hl_define" href="_core_8h.html#a73da8725998b00321a9db341202d650d">JPH_NAMESPACE_END</a></div>
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+<div class="ttc" id="a_body_8h_html"><div class="ttname"><a href="_body_8h.html">Body.h</a></div></div>
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+<div class="ttc" id="a_core_8h_html_a3feba9adfefa0cf951f6b4aeb4990fb4"><div class="ttname"><a href="_core_8h.html#a3feba9adfefa0cf951f6b4aeb4990fb4">JPH_IF_DEBUG</a></div><div class="ttdeci">#define JPH_IF_DEBUG(...)</div><div class="ttdef"><b>Definition</b> Core.h:549</div></div>
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+<div class="ttc" id="a_core_8h_html_a73da8725998b00321a9db341202d650d"><div class="ttname"><a href="_core_8h.html#a73da8725998b00321a9db341202d650d">JPH_NAMESPACE_END</a></div><div class="ttdeci">#define JPH_NAMESPACE_END</div><div class="ttdef"><b>Definition</b> Core.h:419</div></div>
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+<div class="ttc" id="a_core_8h_html_ad14098b68b8c44ea6112601031268405"><div class="ttname"><a href="_core_8h.html#ad14098b68b8c44ea6112601031268405">JPH_NAMESPACE_BEGIN</a></div><div class="ttdeci">#define JPH_NAMESPACE_BEGIN</div><div class="ttdef"><b>Definition</b> Core.h:413</div></div>
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+<div class="ttc" id="a_determinism_log_8h_html"><div class="ttname"><a href="_determinism_log_8h.html">DeterminismLog.h</a></div></div>
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+<div class="ttc" id="a_determinism_log_8h_html_a61c37041df47384bded07d7067fc8cf7"><div class="ttname"><a href="_determinism_log_8h.html#a61c37041df47384bded07d7067fc8cf7">JPH_DET_LOG</a></div><div class="ttdeci">#define JPH_DET_LOG(...)</div><div class="ttdoc">By default we log nothing.</div><div class="ttdef"><b>Definition</b> DeterminismLog.h:155</div></div>
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+<div class="ttc" id="a_issue_reporting_8h_html_aaf6b1df827e11b7ca5f6f8778bd8f8cd"><div class="ttname"><a href="_issue_reporting_8h.html#aaf6b1df827e11b7ca5f6f8778bd8f8cd">JPH_ASSERT</a></div><div class="ttdeci">#define JPH_ASSERT(...)</div><div class="ttdef"><b>Definition</b> IssueReporting.h:33</div></div>
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+<div class="ttc" id="a_math_8h_html_a05be8f8200a1a67cbfacd3d16b17ac21"><div class="ttname"><a href="_math_8h.html#a05be8f8200a1a67cbfacd3d16b17ac21">Clamp</a></div><div class="ttdeci">JPH_INLINE constexpr T Clamp(T inV, T inMin, T inMax)</div><div class="ttdoc">Clamp a value between two values.</div><div class="ttdef"><b>Definition</b> Math.h:48</div></div>
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+<div class="ttc" id="a_motion_type_8h_html_a328245ddbb758681fad3c44c9d488fd8"><div class="ttname"><a href="_motion_type_8h.html#a328245ddbb758681fad3c44c9d488fd8">EMotionType</a></div><div class="ttdeci">EMotionType</div><div class="ttdoc">Motion type of a physics body.</div><div class="ttdef"><b>Definition</b> MotionType.h:11</div></div>
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+<div class="ttc" id="a_motion_type_8h_html_a328245ddbb758681fad3c44c9d488fd8a40c78b58b86002ee38fad2d3c9dd787e"><div class="ttname"><a href="_motion_type_8h.html#a328245ddbb758681fad3c44c9d488fd8a40c78b58b86002ee38fad2d3c9dd787e">EMotionType::Kinematic</a></div><div class="ttdeci">@ Kinematic</div><div class="ttdoc">Movable using velocities only, does not respond to forces.</div></div>
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+<div class="ttc" id="a_motion_type_8h_html_a328245ddbb758681fad3c44c9d488fd8a84a8921b25f505d0d2077aeb5db4bc16"><div class="ttname"><a href="_motion_type_8h.html#a328245ddbb758681fad3c44c9d488fd8a84a8921b25f505d0d2077aeb5db4bc16">EMotionType::Static</a></div><div class="ttdeci">@ Static</div><div class="ttdoc">Non movable.</div></div>
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+<div class="ttc" id="a_motion_type_8h_html_a328245ddbb758681fad3c44c9d488fd8a971fd8cc345d8bd9f92e9f7d88fdf20c"><div class="ttname"><a href="_motion_type_8h.html#a328245ddbb758681fad3c44c9d488fd8a971fd8cc345d8bd9f92e9f7d88fdf20c">EMotionType::Dynamic</a></div><div class="ttdeci">@ Dynamic</div><div class="ttdoc">Responds to forces as a normal physics object.</div></div>
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+<div class="ttc" id="a_spring_part_8h_html"><div class="ttname"><a href="_spring_part_8h.html">SpringPart.h</a></div></div>
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+<div class="ttc" id="a_spring_settings_8h_html"><div class="ttname"><a href="_spring_settings_8h.html">SpringSettings.h</a></div></div>
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+<div class="ttc" id="a_spring_settings_8h_html_ac805e5e93f24003512d2ca7e0d71512da52630869b4ed10261d514c91e9c9c018"><div class="ttname"><a href="_spring_settings_8h.html#ac805e5e93f24003512d2ca7e0d71512da52630869b4ed10261d514c91e9c9c018">ESpringMode::FrequencyAndDamping</a></div><div class="ttdeci">@ FrequencyAndDamping</div><div class="ttdoc">Frequency and damping are specified.</div></div>
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+<div class="ttc" id="a_state_recorder_8h_html"><div class="ttname"><a href="_state_recorder_8h.html">StateRecorder.h</a></div></div>
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+<div class="ttc" id="aclass_axis_constraint_part_html"><div class="ttname"><a href="class_axis_constraint_part.html">AxisConstraintPart</a></div><div class="ttdef"><b>Definition</b> AxisConstraintPart.h:43</div></div>
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+<div class="ttc" id="aclass_axis_constraint_part_html_a012581aad01dbf091d9f8e2cf0ea6605"><div class="ttname"><a href="class_axis_constraint_part.html#a012581aad01dbf091d9f8e2cf0ea6605">AxisConstraintPart::GetTotalLambda</a></div><div class="ttdeci">float GetTotalLambda() const</div><div class="ttdoc">Return lagrange multiplier.</div><div class="ttdef"><b>Definition</b> AxisConstraintPart.h:655</div></div>
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+<div class="ttc" id="aclass_axis_constraint_part_html_a0f72dffd609be0cba29f2619c5a2c63a"><div class="ttname"><a href="class_axis_constraint_part.html#a0f72dffd609be0cba29f2619c5a2c63a">AxisConstraintPart::SolveVelocityConstraint</a></div><div class="ttdeci">bool SolveVelocityConstraint(Body &ioBody1, Body &ioBody2, Vec3Arg inWorldSpaceAxis, float inMinLambda, float inMaxLambda)</div><div class="ttdef"><b>Definition</b> AxisConstraintPart.h:450</div></div>
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+<div class="ttc" id="aclass_axis_constraint_part_html_a0fa7dab4d8e1aa0b78e38ba24d926a9b"><div class="ttname"><a href="class_axis_constraint_part.html#a0fa7dab4d8e1aa0b78e38ba24d926a9b">AxisConstraintPart::CalculateConstraintPropertiesWithSettings</a></div><div class="ttdeci">void CalculateConstraintPropertiesWithSettings(float inDeltaTime, const Body &inBody1, Vec3Arg inR1PlusU, const Body &inBody2, Vec3Arg inR2, Vec3Arg inWorldSpaceAxis, float inBias, float inC, const SpringSettings &inSpringSettings)</div><div class="ttdoc">Selects one of the above functions based on the spring settings.</div><div class="ttdef"><b>Definition</b> AxisConstraintPart.h:329</div></div>
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+<div class="ttc" id="aclass_axis_constraint_part_html_a12a0588911733208e89fa65de7e2b2fc"><div class="ttname"><a href="class_axis_constraint_part.html#a12a0588911733208e89fa65de7e2b2fc">AxisConstraintPart::SolvePositionConstraint</a></div><div class="ttdeci">bool SolvePositionConstraint(Body &ioBody1, Body &ioBody2, Vec3Arg inWorldSpaceAxis, float inC, float inBaumgarte) const</div><div class="ttdef"><b>Definition</b> AxisConstraintPart.h:554</div></div>
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+<div class="ttc" id="aclass_axis_constraint_part_html_a20095a523dff24e09134b315841f1fcb"><div class="ttname"><a href="class_axis_constraint_part.html#a20095a523dff24e09134b315841f1fcb">AxisConstraintPart::IsActive</a></div><div class="ttdeci">bool IsActive() const</div><div class="ttdoc">Check if constraint is active.</div><div class="ttdef"><b>Definition</b> AxisConstraintPart.h:349</div></div>
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+<div class="ttc" id="aclass_axis_constraint_part_html_a21284d5ab7133a4e85f37fcfecb0be8e"><div class="ttname"><a href="class_axis_constraint_part.html#a21284d5ab7133a4e85f37fcfecb0be8e">AxisConstraintPart::SetTotalLambda</a></div><div class="ttdeci">void SetTotalLambda(float inLambda)</div><div class="ttdoc">Override total lagrange multiplier, can be used to set the initial value for warm starting.</div><div class="ttdef"><b>Definition</b> AxisConstraintPart.h:649</div></div>
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+<div class="ttc" id="aclass_axis_constraint_part_html_a24593248d2181c548e9621817beab264"><div class="ttname"><a href="class_axis_constraint_part.html#a24593248d2181c548e9621817beab264">AxisConstraintPart::TemplatedSolveVelocityConstraint</a></div><div class="ttdeci">bool TemplatedSolveVelocityConstraint(MotionProperties *ioMotionProperties1, float inInvMass1, MotionProperties *ioMotionProperties2, float inInvMass2, Vec3Arg inWorldSpaceAxis, float inMinLambda, float inMaxLambda)</div><div class="ttdoc">Templated form of SolveVelocityConstraint with the motion types baked in.</div><div class="ttdef"><b>Definition</b> AxisConstraintPart.h:434</div></div>
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+<div class="ttc" id="aclass_axis_constraint_part_html_a5a8bc2c7a35f60b63e233ed13db1749b"><div class="ttname"><a href="class_axis_constraint_part.html#a5a8bc2c7a35f60b63e233ed13db1749b">AxisConstraintPart::TemplatedCalculateConstraintProperties</a></div><div class="ttdeci">JPH_INLINE void TemplatedCalculateConstraintProperties(float inInvMass1, Mat44Arg inInvI1, Vec3Arg inR1PlusU, float inInvMass2, Mat44Arg inInvI2, Vec3Arg inR2, Vec3Arg inWorldSpaceAxis, float inBias=0.0f)</div><div class="ttdoc">Templated form of CalculateConstraintProperties with the motion types baked in.</div><div class="ttdef"><b>Definition</b> AxisConstraintPart.h:227</div></div>
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+<div class="ttc" id="aclass_axis_constraint_part_html_a5b0fcca001a8673716a9e6acaaf030a4"><div class="ttname"><a href="class_axis_constraint_part.html#a5b0fcca001a8673716a9e6acaaf030a4">AxisConstraintPart::CalculateConstraintPropertiesWithFrequencyAndDamping</a></div><div class="ttdeci">void CalculateConstraintPropertiesWithFrequencyAndDamping(float inDeltaTime, const Body &inBody1, Vec3Arg inR1PlusU, const Body &inBody2, Vec3Arg inR2, Vec3Arg inWorldSpaceAxis, float inBias, float inC, float inFrequency, float inDamping)</div><div class="ttdef"><b>Definition</b> AxisConstraintPart.h:297</div></div>
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+<div class="ttc" id="aclass_axis_constraint_part_html_a60befc8c7707dd567b633ecd7b870446"><div class="ttname"><a href="class_axis_constraint_part.html#a60befc8c7707dd567b633ecd7b870446">AxisConstraintPart::WarmStart</a></div><div class="ttdeci">void WarmStart(Body &ioBody1, Body &ioBody2, Vec3Arg inWorldSpaceAxis, float inWarmStartImpulseRatio)</div><div class="ttdef"><b>Definition</b> AxisConstraintPart.h:368</div></div>
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+<div class="ttc" id="aclass_axis_constraint_part_html_a6b2103009bf467876c92689dc3fec29d"><div class="ttname"><a href="class_axis_constraint_part.html#a6b2103009bf467876c92689dc3fec29d">AxisConstraintPart::Deactivate</a></div><div class="ttdeci">void Deactivate()</div><div class="ttdoc">Deactivate this constraint.</div><div class="ttdef"><b>Definition</b> AxisConstraintPart.h:342</div></div>
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+<div class="ttc" id="aclass_axis_constraint_part_html_a747c6cfe29af60b2e718af65f8066712"><div class="ttname"><a href="class_axis_constraint_part.html#a747c6cfe29af60b2e718af65f8066712">AxisConstraintPart::CalculateConstraintPropertiesWithMassOverride</a></div><div class="ttdeci">void CalculateConstraintPropertiesWithMassOverride(const Body &inBody1, float inInvMass1, float inInvInertiaScale1, Vec3Arg inR1PlusU, const Body &inBody2, float inInvMass2, float inInvInertiaScale2, Vec3Arg inR2, Vec3Arg inWorldSpaceAxis, float inBias=0.0f)</div><div class="ttdef"><b>Definition</b> AxisConstraintPart.h:273</div></div>
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+<div class="ttc" id="aclass_axis_constraint_part_html_a981dad22bd1333ed2147264f3285c112"><div class="ttname"><a href="class_axis_constraint_part.html#a981dad22bd1333ed2147264f3285c112">AxisConstraintPart::SolvePositionConstraintWithMassOverride</a></div><div class="ttdeci">bool SolvePositionConstraintWithMassOverride(Body &ioBody1, float inInvMass1, Body &ioBody2, float inInvMass2, Vec3Arg inWorldSpaceAxis, float inC, float inBaumgarte) const</div><div class="ttdef"><b>Definition</b> AxisConstraintPart.h:605</div></div>
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+<div class="ttc" id="aclass_axis_constraint_part_html_a9f2617fd84fcdd5a77f4502c6e327143"><div class="ttname"><a href="class_axis_constraint_part.html#a9f2617fd84fcdd5a77f4502c6e327143">AxisConstraintPart::TemplatedSolveVelocityConstraintGetTotalLambda</a></div><div class="ttdeci">JPH_INLINE float TemplatedSolveVelocityConstraintGetTotalLambda(const MotionProperties *ioMotionProperties1, const MotionProperties *ioMotionProperties2, Vec3Arg inWorldSpaceAxis) const</div><div class="ttdoc">Templated form of SolveVelocityConstraint with the motion types baked in, part 1: get the total lambd...</div><div class="ttdef"><b>Definition</b> AxisConstraintPart.h:394</div></div>
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+<div class="ttc" id="aclass_axis_constraint_part_html_aac25bbc0f7371f640c6e2af6a94c5cfc"><div class="ttname"><a href="class_axis_constraint_part.html#aac25bbc0f7371f640c6e2af6a94c5cfc">AxisConstraintPart::SolveVelocityConstraintWithMassOverride</a></div><div class="ttdeci">bool SolveVelocityConstraintWithMassOverride(Body &ioBody1, float inInvMass1, Body &ioBody2, float inInvMass2, Vec3Arg inWorldSpaceAxis, float inMinLambda, float inMaxLambda)</div><div class="ttdef"><b>Definition</b> AxisConstraintPart.h:503</div></div>
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+<div class="ttc" id="aclass_axis_constraint_part_html_aaf10ea43c5acaac802523b68dfbaf51d"><div class="ttname"><a href="class_axis_constraint_part.html#aaf10ea43c5acaac802523b68dfbaf51d">AxisConstraintPart::TemplatedSolveVelocityConstraintApplyLambda</a></div><div class="ttdeci">JPH_INLINE bool TemplatedSolveVelocityConstraintApplyLambda(MotionProperties *ioMotionProperties1, float inInvMass1, MotionProperties *ioMotionProperties2, float inInvMass2, Vec3Arg inWorldSpaceAxis, float inTotalLambda)</div><div class="ttdoc">Templated form of SolveVelocityConstraint with the motion types baked in, part 2: apply new lambda.</div><div class="ttdef"><b>Definition</b> AxisConstraintPart.h:424</div></div>
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+<div class="ttc" id="aclass_axis_constraint_part_html_ad17a6a0c982d958f3e96e3b460315e5f"><div class="ttname"><a href="class_axis_constraint_part.html#ad17a6a0c982d958f3e96e3b460315e5f">AxisConstraintPart::SaveState</a></div><div class="ttdeci">void SaveState(StateRecorder &inStream) const</div><div class="ttdoc">Save state of this constraint part.</div><div class="ttdef"><b>Definition</b> AxisConstraintPart.h:661</div></div>
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+<div class="ttc" id="aclass_axis_constraint_part_html_adb5b5d041b1261d227b2d657a93cabd9"><div class="ttname"><a href="class_axis_constraint_part.html#adb5b5d041b1261d227b2d657a93cabd9">AxisConstraintPart::TemplatedWarmStart</a></div><div class="ttdeci">void TemplatedWarmStart(MotionProperties *ioMotionProperties1, float inInvMass1, MotionProperties *ioMotionProperties2, float inInvMass2, Vec3Arg inWorldSpaceAxis, float inWarmStartImpulseRatio)</div><div class="ttdoc">Templated form of WarmStart with the motion types baked in.</div><div class="ttdef"><b>Definition</b> AxisConstraintPart.h:356</div></div>
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+<div class="ttc" id="aclass_axis_constraint_part_html_ae8c4a8375c2a6f88e2adf1398743bed3"><div class="ttname"><a href="class_axis_constraint_part.html#ae8c4a8375c2a6f88e2adf1398743bed3">AxisConstraintPart::CalculateConstraintPropertiesWithStiffnessAndDamping</a></div><div class="ttdeci">void CalculateConstraintPropertiesWithStiffnessAndDamping(float inDeltaTime, const Body &inBody1, Vec3Arg inR1PlusU, const Body &inBody2, Vec3Arg inR2, Vec3Arg inWorldSpaceAxis, float inBias, float inC, float inStiffness, float inDamping)</div><div class="ttdef"><b>Definition</b> AxisConstraintPart.h:318</div></div>
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+<div class="ttc" id="aclass_axis_constraint_part_html_aeff890db41d91de6fddb9a2872d9e146"><div class="ttname"><a href="class_axis_constraint_part.html#aeff890db41d91de6fddb9a2872d9e146">AxisConstraintPart::CalculateConstraintProperties</a></div><div class="ttdeci">void CalculateConstraintProperties(const Body &inBody1, Vec3Arg inR1PlusU, const Body &inBody2, Vec3Arg inR2, Vec3Arg inWorldSpaceAxis, float inBias=0.0f)</div><div class="ttdef"><b>Definition</b> AxisConstraintPart.h:249</div></div>
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+<div class="ttc" id="aclass_axis_constraint_part_html_afdaf8583a278a760eae80b8169ee6989"><div class="ttname"><a href="class_axis_constraint_part.html#afdaf8583a278a760eae80b8169ee6989">AxisConstraintPart::RestoreState</a></div><div class="ttdeci">void RestoreState(StateRecorder &inStream)</div><div class="ttdoc">Restore state of this constraint part.</div><div class="ttdef"><b>Definition</b> AxisConstraintPart.h:667</div></div>
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+<div class="ttc" id="aclass_body_html"><div class="ttname"><a href="class_body.html">Body</a></div><div class="ttdef"><b>Definition</b> Body.h:39</div></div>
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+<div class="ttc" id="aclass_body_html_a0d39987255227c4221fcea66cb1fc041"><div class="ttname"><a href="class_body.html#a0d39987255227c4221fcea66cb1fc041">Body::GetMotionProperties</a></div><div class="ttdeci">const MotionProperties * GetMotionProperties() const</div><div class="ttdoc">Access to the motion properties.</div><div class="ttdef"><b>Definition</b> Body.h:308</div></div>
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+<div class="ttc" id="aclass_body_html_a146a4745ed28c3d9b06abe02ee3d3490"><div class="ttname"><a href="class_body.html#a146a4745ed28c3d9b06abe02ee3d3490">Body::GetMotionType</a></div><div class="ttdeci">EMotionType GetMotionType() const</div><div class="ttdoc">Get the bodies motion type.</div><div class="ttdef"><b>Definition</b> Body.h:118</div></div>
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+<div class="ttc" id="aclass_body_html_a1b21c30907c8c9ce30c176a054057bef"><div class="ttname"><a href="class_body.html#a1b21c30907c8c9ce30c176a054057bef">Body::IsDynamic</a></div><div class="ttdeci">bool IsDynamic() const</div><div class="ttdoc">Check if this body is dynamic, which means that it moves and forces can act on it.</div><div class="ttdef"><b>Definition</b> Body.h:67</div></div>
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+<div class="ttc" id="aclass_body_html_a3385650a73d75c7d9c16d13ea2d5519f"><div class="ttname"><a href="class_body.html#a3385650a73d75c7d9c16d13ea2d5519f">Body::AddRotationStep</a></div><div class="ttdeci">void AddRotationStep(Vec3Arg inAngularVelocityTimesDeltaTime)</div><div class="ttdoc">Update rotation using an Euler step (used during position integrate & constraint solving)</div><div class="ttdef"><b>Definition</b> Body.inl:81</div></div>
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+<div class="ttc" id="aclass_body_html_a3c0a6198eb89412439dfcaef56eadade"><div class="ttname"><a href="class_body.html#a3c0a6198eb89412439dfcaef56eadade">Body::SubPositionStep</a></div><div class="ttdeci">void SubPositionStep(Vec3Arg inLinearVelocityTimesDeltaTime)</div><div class="ttdef"><b>Definition</b> Body.h:343</div></div>
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+<div class="ttc" id="aclass_body_html_a731f2a92e9e215ff87efc831999e0e6e"><div class="ttname"><a href="class_body.html#a731f2a92e9e215ff87efc831999e0e6e">Body::GetInverseInertia</a></div><div class="ttdeci">Mat44 GetInverseInertia() const</div><div class="ttdoc">Get inverse inertia tensor in world space.</div><div class="ttdef"><b>Definition</b> Body.inl:120</div></div>
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+<div class="ttc" id="aclass_body_html_ab0df53d82e3a8356fac91d178b30c369"><div class="ttname"><a href="class_body.html#ab0df53d82e3a8356fac91d178b30c369">Body::SubRotationStep</a></div><div class="ttdeci">void SubRotationStep(Vec3Arg inAngularVelocityTimesDeltaTime)</div><div class="ttdef"><b>Definition</b> Body.inl:100</div></div>
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+<div class="ttc" id="aclass_body_html_abe012219037c12313c7ef1116ee74865"><div class="ttname"><a href="class_body.html#abe012219037c12313c7ef1116ee74865">Body::GetMotionPropertiesUnchecked</a></div><div class="ttdeci">const MotionProperties * GetMotionPropertiesUnchecked() const</div><div class="ttdoc">Access to the motion properties (version that does not check if the object is kinematic or dynamic)</div><div class="ttdef"><b>Definition</b> Body.h:312</div></div>
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+<div class="ttc" id="aclass_body_html_af98f831df76bd7e54eeb92d79fa3c8cd"><div class="ttname"><a href="class_body.html#af98f831df76bd7e54eeb92d79fa3c8cd">Body::AddPositionStep</a></div><div class="ttdeci">void AddPositionStep(Vec3Arg inLinearVelocityTimesDeltaTime)</div><div class="ttdoc">Update position using an Euler step (used during position integrate & constraint solving)</div><div class="ttdef"><b>Definition</b> Body.h:342</div></div>
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+<div class="ttc" id="aclass_float3_html"><div class="ttname"><a href="class_float3.html">Float3</a></div><div class="ttdoc">Class that holds 3 floats. Used as a storage class. Convert to Vec3 for calculations.</div><div class="ttdef"><b>Definition</b> Float3.h:13</div></div>
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+<div class="ttc" id="aclass_mat44_html"><div class="ttname"><a href="class_mat44.html">Mat44</a></div><div class="ttdoc">Holds a 4x4 matrix of floats, but supports also operations on the 3x3 upper left part of the matrix.</div><div class="ttdef"><b>Definition</b> Mat44.h:13</div></div>
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+<div class="ttc" id="aclass_mat44_html_ab599aaeab3e4b832f7f4097816650b14"><div class="ttname"><a href="class_mat44.html#ab599aaeab3e4b832f7f4097816650b14">Mat44::Multiply3x3</a></div><div class="ttdeci">JPH_INLINE Vec3 Multiply3x3(Vec3Arg inV) const</div><div class="ttdoc">Multiply vector by only 3x3 part of the matrix.</div><div class="ttdef"><b>Definition</b> Mat44.inl:316</div></div>
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+<div class="ttc" id="aclass_motion_properties_html"><div class="ttname"><a href="class_motion_properties.html">MotionProperties</a></div><div class="ttdoc">The Body class only keeps track of state for static bodies, the MotionProperties class keeps the addi...</div><div class="ttdef"><b>Definition</b> MotionProperties.h:29</div></div>
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+<div class="ttc" id="aclass_motion_properties_html_a5b570eb5488b3ca5f0c1b48ef0cf6dbe"><div class="ttname"><a href="class_motion_properties.html#a5b570eb5488b3ca5f0c1b48ef0cf6dbe">MotionProperties::AddLinearVelocityStep</a></div><div class="ttdeci">void AddLinearVelocityStep(Vec3Arg inLinearVelocityChange)</div><div class="ttdef"><b>Definition</b> MotionProperties.h:195</div></div>
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+<div class="ttc" id="aclass_motion_properties_html_a6478c1ccabfc23ee9ce98faa0643c080"><div class="ttname"><a href="class_motion_properties.html#a6478c1ccabfc23ee9ce98faa0643c080">MotionProperties::GetLinearVelocity</a></div><div class="ttdeci">Vec3 GetLinearVelocity() const</div><div class="ttdoc">Get world space linear velocity of the center of mass.</div><div class="ttdef"><b>Definition</b> MotionProperties.h:43</div></div>
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+<div class="ttc" id="aclass_motion_properties_html_a66348339a05a43b730e1591273aace18"><div class="ttname"><a href="class_motion_properties.html#a66348339a05a43b730e1591273aace18">MotionProperties::GetAngularVelocity</a></div><div class="ttdeci">Vec3 GetAngularVelocity() const</div><div class="ttdoc">Get world space angular velocity of the center of mass.</div><div class="ttdef"><b>Definition</b> MotionProperties.h:52</div></div>
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+<div class="ttc" id="aclass_motion_properties_html_a81a597bd1f9f40f3fbf36991203a5280"><div class="ttname"><a href="class_motion_properties.html#a81a597bd1f9f40f3fbf36991203a5280">MotionProperties::SubLinearVelocityStep</a></div><div class="ttdeci">void SubLinearVelocityStep(Vec3Arg inLinearVelocityChange)</div><div class="ttdef"><b>Definition</b> MotionProperties.h:196</div></div>
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+<div class="ttc" id="aclass_motion_properties_html_a8a959bd2f7d8eb581d999e3b01920aa8"><div class="ttname"><a href="class_motion_properties.html#a8a959bd2f7d8eb581d999e3b01920aa8">MotionProperties::GetInverseMass</a></div><div class="ttdeci">float GetInverseMass() const</div><div class="ttdoc">Get inverse mass (1 / mass). Should only be called on a dynamic object (static or kinematic bodies ha...</div><div class="ttdef"><b>Definition</b> MotionProperties.h:95</div></div>
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+<div class="ttc" id="aclass_motion_properties_html_a98672fc0c6884643944e570e1d78ac07"><div class="ttname"><a href="class_motion_properties.html#a98672fc0c6884643944e570e1d78ac07">MotionProperties::SubAngularVelocityStep</a></div><div class="ttdeci">void SubAngularVelocityStep(Vec3Arg inAngularVelocityChange)</div><div class="ttdef"><b>Definition</b> MotionProperties.h:198</div></div>
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+<div class="ttc" id="aclass_motion_properties_html_afb12aa823a651145b46b271570a7af59"><div class="ttname"><a href="class_motion_properties.html#afb12aa823a651145b46b271570a7af59">MotionProperties::AddAngularVelocityStep</a></div><div class="ttdeci">void AddAngularVelocityStep(Vec3Arg inAngularVelocityChange)</div><div class="ttdef"><b>Definition</b> MotionProperties.h:197</div></div>
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+<div class="ttc" id="aclass_spring_part_html"><div class="ttname"><a href="class_spring_part.html">SpringPart</a></div><div class="ttdoc">Class used in other constraint parts to calculate the required bias factor in the lagrange multiplier...</div><div class="ttdef"><b>Definition</b> SpringPart.h:14</div></div>
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+<div class="ttc" id="aclass_spring_part_html_a0414048df549022dee152c2b18b31126"><div class="ttname"><a href="class_spring_part.html#a0414048df549022dee152c2b18b31126">SpringPart::CalculateSpringPropertiesWithFrequencyAndDamping</a></div><div class="ttdeci">void CalculateSpringPropertiesWithFrequencyAndDamping(float inDeltaTime, float inInvEffectiveMass, float inBias, float inC, float inFrequency, float inDamping, float &outEffectiveMass)</div><div class="ttdef"><b>Definition</b> SpringPart.h:86</div></div>
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+<div class="ttc" id="aclass_spring_part_html_a318ab5426c6b10a8ceebd3258144d20a"><div class="ttname"><a href="class_spring_part.html#a318ab5426c6b10a8ceebd3258144d20a">SpringPart::CalculateSpringPropertiesWithStiffnessAndDamping</a></div><div class="ttdeci">void CalculateSpringPropertiesWithStiffnessAndDamping(float inDeltaTime, float inInvEffectiveMass, float inBias, float inC, float inStiffness, float inDamping, float &outEffectiveMass)</div><div class="ttdef"><b>Definition</b> SpringPart.h:116</div></div>
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+<div class="ttc" id="aclass_spring_part_html_a42a39d96e15ae84419256c35067e12ad"><div class="ttname"><a href="class_spring_part.html#a42a39d96e15ae84419256c35067e12ad">SpringPart::GetBias</a></div><div class="ttdeci">float GetBias(float inTotalLambda) const</div><div class="ttdoc">Get total bias b, including supplied bias and bias for spring: lambda = J v + b.</div><div class="ttdef"><b>Definition</b> SpringPart.h:137</div></div>
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+<div class="ttc" id="aclass_spring_part_html_a9dbe7d09f4a6aaf7f5edd106fb6fe335"><div class="ttname"><a href="class_spring_part.html#a9dbe7d09f4a6aaf7f5edd106fb6fe335">SpringPart::IsActive</a></div><div class="ttdeci">bool IsActive() const</div><div class="ttdoc">Returns if this spring is active.</div><div class="ttdef"><b>Definition</b> SpringPart.h:131</div></div>
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+<div class="ttc" id="aclass_spring_settings_html"><div class="ttname"><a href="class_spring_settings.html">SpringSettings</a></div><div class="ttdoc">Settings for a linear or angular spring.</div><div class="ttdef"><b>Definition</b> SpringSettings.h:23</div></div>
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+<div class="ttc" id="aclass_spring_settings_html_a72165bbe14974afb17df18e88f6d205e"><div class="ttname"><a href="class_spring_settings.html#a72165bbe14974afb17df18e88f6d205e">SpringSettings::mDamping</a></div><div class="ttdeci">float mDamping</div><div class="ttdef"><b>Definition</b> SpringSettings.h:67</div></div>
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+<div class="ttc" id="aclass_spring_settings_html_a7d27c541e7d25d9da0c263ec99ea528a"><div class="ttname"><a href="class_spring_settings.html#a7d27c541e7d25d9da0c263ec99ea528a">SpringSettings::mMode</a></div><div class="ttdeci">ESpringMode mMode</div><div class="ttdef"><b>Definition</b> SpringSettings.h:44</div></div>
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+<div class="ttc" id="aclass_spring_settings_html_acea8e3f5767edbfaffa01417733b5dc0"><div class="ttname"><a href="class_spring_settings.html#acea8e3f5767edbfaffa01417733b5dc0">SpringSettings::mFrequency</a></div><div class="ttdeci">float mFrequency</div><div class="ttdef"><b>Definition</b> SpringSettings.h:51</div></div>
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+<div class="ttc" id="aclass_state_recorder_html"><div class="ttname"><a href="class_state_recorder.html">StateRecorder</a></div><div class="ttdef"><b>Definition</b> StateRecorder.h:110</div></div>
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+<div class="ttc" id="aclass_stream_in_html_a5ae9304c310edfc5ef1c67a95e36b1f3"><div class="ttname"><a href="class_stream_in.html#a5ae9304c310edfc5ef1c67a95e36b1f3">StreamIn::Read</a></div><div class="ttdeci">void Read(T &outT)</div><div class="ttdoc">Read a primitive (e.g. float, int, etc.) from the binary stream.</div><div class="ttdef"><b>Definition</b> StreamIn.h:30</div></div>
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+<div class="ttc" id="aclass_stream_out_html_a879dce6c6c6ca5e63835fe61cc745966"><div class="ttname"><a href="class_stream_out.html#a879dce6c6c6ca5e63835fe61cc745966">StreamOut::Write</a></div><div class="ttdeci">void Write(const T &inT)</div><div class="ttdoc">Write a primitive (e.g. float, int, etc.) to the binary stream.</div><div class="ttdef"><b>Definition</b> StreamOut.h:26</div></div>
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+<div class="ttc" id="aclass_vec3_html"><div class="ttname"><a href="class_vec3.html">Vec3</a></div><div class="ttdef"><b>Definition</b> Vec3.h:17</div></div>
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+<div class="ttc" id="aclass_vec3_html_a0e078ff09f69e669db71a2b0e37939ff"><div class="ttname"><a href="class_vec3.html#a0e078ff09f69e669db71a2b0e37939ff">Vec3::Dot</a></div><div class="ttdeci">JPH_INLINE float Dot(Vec3Arg inV2) const</div><div class="ttdoc">Dot product.</div><div class="ttdef"><b>Definition</b> Vec3.inl:650</div></div>
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+<div class="ttc" id="aclass_vec3_html_a224811af391ccfd1e05282eda22d1de8"><div class="ttname"><a href="class_vec3.html#a224811af391ccfd1e05282eda22d1de8">Vec3::Cross</a></div><div class="ttdeci">JPH_INLINE Vec3 Cross(Vec3Arg inV2) const</div><div class="ttdoc">Cross product.</div><div class="ttdef"><b>Definition</b> Vec3.inl:595</div></div>
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+<div class="ttc" id="aclass_vec3_html_a2f10743d69960eaac721399e4ede190a"><div class="ttname"><a href="class_vec3.html#a2f10743d69960eaac721399e4ede190a">Vec3::IsNormalized</a></div><div class="ttdeci">JPH_INLINE bool IsNormalized(float inTolerance=1.0e-6f) const</div><div class="ttdoc">Test if vector is normalized.</div><div class="ttdef"><b>Definition</b> Vec3.inl:752</div></div>
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+<div class="ttc" id="aclass_vec3_html_ab22c62c48d2de13947c0cd3413018364"><div class="ttname"><a href="class_vec3.html#ab22c62c48d2de13947c0cd3413018364">Vec3::StoreFloat3</a></div><div class="ttdeci">JPH_INLINE void StoreFloat3(Float3 *outV) const</div><div class="ttdoc">Store 3 floats to memory.</div><div class="ttdef"><b>Definition</b> Vec3.inl:772</div></div>
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+<div class="ttc" id="aclass_vec3_html_aea30fe731618ffa249ecdcba2c66ab4e"><div class="ttname"><a href="class_vec3.html#aea30fe731618ffa249ecdcba2c66ab4e">Vec3::sLoadFloat3Unsafe</a></div><div class="ttdeci">static JPH_INLINE Vec3 sLoadFloat3Unsafe(const Float3 &inV)</div><div class="ttdoc">Load 3 floats from memory (reads 32 bits extra which it doesn't use)</div><div class="ttdef"><b>Definition</b> Vec3.inl:135</div></div>
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+<div class="ttc" id="aclass_vec3_html_aee68177ac267822e1823a9a0f7525014"><div class="ttname"><a href="class_vec3.html#aee68177ac267822e1823a9a0f7525014">Vec3::sNaN</a></div><div class="ttdeci">static JPH_INLINE Vec3 sNaN()</div><div class="ttdoc">Vector with all NaN's.</div><div class="ttdef"><b>Definition</b> Vec3.inl:130</div></div>
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jrouwe
2 days ago
