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  108.   <div class="headertitle"><div class="title">ContactConstraintManager.h</div></div>
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  110. <div class="contents">
    111. 

  111. <a href="_contact_constraint_manager_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>
    112. 

  112. <div class="line"><a id="l00002" name="l00002"></a><span class="lineno">    2</span><span class="comment">// SPDX-FileCopyrightText: 2021 Jorrit Rouwe</span></div>
    113. 

  113. <div class="line"><a id="l00003" name="l00003"></a><span class="lineno">    3</span><span class="comment">// SPDX-License-Identifier: MIT</span></div>
    114. 

  114. <div class="line"><a id="l00004" name="l00004"></a><span class="lineno">    4</span> </div>
    115. 

  115. <div class="line"><a id="l00005" name="l00005"></a><span class="lineno">    5</span><span class="preprocessor">#pragma once</span></div>
    116. 

  116. <div class="line"><a id="l00006" name="l00006"></a><span class="lineno">    6</span> </div>
    117. 

  117. <div class="line"><a id="l00007" name="l00007"></a><span class="lineno">    7</span><span class="preprocessor">#include &lt;<a class="code" href="_static_array_8h.html">Jolt/Core/StaticArray.h</a>&gt;</span></div>
    118. 

  118. <div class="line"><a id="l00008" name="l00008"></a><span class="lineno">    8</span><span class="preprocessor">#include &lt;<a class="code" href="_lock_free_hash_map_8h.html">Jolt/Core/LockFreeHashMap.h</a>&gt;</span></div>
    119. 

  119. <div class="line"><a id="l00009" name="l00009"></a><span class="lineno">    9</span><span class="preprocessor">#include &lt;<a class="code" href="_e_physics_update_error_8h.html">Jolt/Physics/EPhysicsUpdateError.h</a>&gt;</span></div>
    120. 

  120. <div class="line"><a id="l00010" name="l00010"></a><span class="lineno">   10</span><span class="preprocessor">#include &lt;<a class="code" href="_body_pair_8h.html">Jolt/Physics/Body/BodyPair.h</a>&gt;</span></div>
    121. 

  121. <div class="line"><a id="l00011" name="l00011"></a><span class="lineno">   11</span><span class="preprocessor">#include &lt;<a class="code" href="_sub_shape_i_d_pair_8h.html">Jolt/Physics/Collision/Shape/SubShapeIDPair.h</a>&gt;</span></div>
    122. 

  122. <div class="line"><a id="l00012" name="l00012"></a><span class="lineno">   12</span><span class="preprocessor">#include &lt;<a class="code" href="_manifold_between_two_faces_8h.html">Jolt/Physics/Collision/ManifoldBetweenTwoFaces.h</a>&gt;</span></div>
    123. 

  123. <div class="line"><a id="l00013" name="l00013"></a><span class="lineno">   13</span><span class="preprocessor">#include &lt;<a class="code" href="_axis_constraint_part_8h.html">Jolt/Physics/Constraints/ConstraintPart/AxisConstraintPart.h</a>&gt;</span></div>
    124. 

  124. <div class="line"><a id="l00014" name="l00014"></a><span class="lineno">   14</span><span class="preprocessor">#include &lt;<a class="code" href="_dual_axis_constraint_part_8h.html">Jolt/Physics/Constraints/ConstraintPart/DualAxisConstraintPart.h</a>&gt;</span></div>
    125. 

  125. <div class="line"><a id="l00015" name="l00015"></a><span class="lineno">   15</span><span class="preprocessor">#include &lt;<a class="code" href="_hash_combine_8h.html">Jolt/Core/HashCombine.h</a>&gt;</span></div>
    126. 

  126. <div class="line"><a id="l00016" name="l00016"></a><span class="lineno">   16</span><span class="preprocessor">#include &lt;<a class="code" href="_non_copyable_8h.html">Jolt/Core/NonCopyable.h</a>&gt;</span></div>
    127. 

  127. <div class="line"><a id="l00017" name="l00017"></a><span class="lineno">   17</span> </div>
    128. 

  128. <div class="line"><a id="l00018" name="l00018"></a><span class="lineno">   18</span><a class="code hl_define" href="_core_8h.html#a4ac413403e9ca00d24a3e2f244cf5456">JPH_SUPPRESS_WARNINGS_STD_BEGIN</a></div>
    129. 

  129. <div class="line"><a id="l00019" name="l00019"></a><span class="lineno">   19</span><span class="preprocessor">#include &lt;atomic&gt;</span></div>
    130. 

  130. <div class="line"><a id="l00020" name="l00020"></a><span class="lineno">   20</span><a class="code hl_define" href="_core_8h.html#a5f6b64537a538d9204b253532b799467">JPH_SUPPRESS_WARNINGS_STD_END</a></div>
    131. 

  131. <div class="line"><a id="l00021" name="l00021"></a><span class="lineno">   21</span> </div>
    132. 

  132. <div class="line"><a id="l00022" name="l00022"></a><span class="lineno">   22</span><a class="code hl_define" href="_core_8h.html#ad14098b68b8c44ea6112601031268405">JPH_NAMESPACE_BEGIN</a></div>
    133. 

  133. <div class="line"><a id="l00023" name="l00023"></a><span class="lineno">   23</span> </div>
    134. 

  134. <div class="line"><a id="l00024" name="l00024"></a><span class="lineno">   24</span><span class="keyword">struct </span><a class="code hl_struct" href="struct_physics_settings.html">PhysicsSettings</a>;</div>
    135. 

  135. <div class="line"><a id="l00025" name="l00025"></a><span class="lineno">   25</span><span class="keyword">class </span>PhysicsUpdateContext;</div>
    136. 

  136. <div class="line"><a id="l00026" name="l00026"></a><span class="lineno">   26</span> </div>
    137. 

  137. <div class="foldopen" id="foldopen00030" data-start="{" data-end="};">
    138. 

  138. <div class="line"><a id="l00030" name="l00030"></a><span class="lineno"><a class="line" href="class_contact_constraint_manager.html">   30</a></span><span class="keyword">class </span><a class="code hl_define" href="_core_8h.html#a2712a9b0f778ab9d1aa5118b4e8e6bd8">JPH_EXPORT</a> <a class="code hl_class" href="class_contact_constraint_manager.html">ContactConstraintManager</a> : <span class="keyword">public</span> <a class="code hl_class" href="class_non_copyable.html">NonCopyable</a></div>
    139. 

  139. <div class="line"><a id="l00031" name="l00031"></a><span class="lineno">   31</span>{</div>
    140. 

  140. <div class="line"><a id="l00032" name="l00032"></a><span class="lineno">   32</span><span class="keyword">public</span>:</div>
    141. 

  141. <div class="line"><a id="l00033" name="l00033"></a><span class="lineno">   33</span>    <a class="code hl_define" href="_memory_8h.html#a91074fb218fe28954a0938c099ddd9e0">JPH_OVERRIDE_NEW_DELETE</a></div>
    142. 

  142. <div class="line"><a id="l00034" name="l00034"></a><span class="lineno">   34</span> </div>
    143. 

  143. <div class="line"><a id="l00036" name="l00036"></a><span class="lineno">   36</span>    <span class="keyword">explicit</span>                    <a class="code hl_class" href="class_contact_constraint_manager.html">ContactConstraintManager</a>(<span class="keyword">const</span> <a class="code hl_struct" href="struct_physics_settings.html">PhysicsSettings</a> &amp;inPhysicsSettings);</div>
    144. 

  144. <div class="line"><a id="l00037" name="l00037"></a><span class="lineno">   37</span>                                <a class="code hl_class" href="class_contact_constraint_manager.html">~ContactConstraintManager</a>();</div>
    145. 

  145. <div class="line"><a id="l00038" name="l00038"></a><span class="lineno">   38</span> </div>
    146. 

  146. <div class="line"><a id="l00042" name="l00042"></a><span class="lineno">   42</span>    <span class="keywordtype">void</span>                        Init(<a class="code hl_typedef" href="_core_8h.html#a69aa29b598b851b0640aa225a9e5d61d">uint</a> inMaxBodyPairs, <a class="code hl_typedef" href="_core_8h.html#a69aa29b598b851b0640aa225a9e5d61d">uint</a> inMaxContactConstraints);</div>
    147. 

  147. <div class="line"><a id="l00043" name="l00043"></a><span class="lineno">   43</span> </div>
    148. 

  148. <div class="line"><a id="l00045" name="l00045"></a><span class="lineno"><a class="line" href="class_contact_constraint_manager.html#acf262d3235f4eea01cd2aa8a9a3bfe83">   45</a></span>    <span class="keywordtype">void</span>                        <a class="code hl_function" href="class_contact_constraint_manager.html#acf262d3235f4eea01cd2aa8a9a3bfe83">SetContactListener</a>(<a class="code hl_class" href="class_contact_listener.html">ContactListener</a> *inListener)                     { mContactListener = inListener; }</div>
    149. 

  149. <div class="line"><a id="l00046" name="l00046"></a><span class="lineno"><a class="line" href="class_contact_constraint_manager.html#a7aa47c7b4d7470e83735deb74eae608d">   46</a></span>    <a class="code hl_class" href="class_contact_listener.html">ContactListener</a> *           <a class="code hl_function" href="class_contact_constraint_manager.html#a7aa47c7b4d7470e83735deb74eae608d">GetContactListener</a>()<span class="keyword"> const                                          </span>{ <span class="keywordflow">return</span> mContactListener; }</div>
    150. 

  150. <div class="line"><a id="l00047" name="l00047"></a><span class="lineno">   47</span> </div>
    151. 

  151. <div class="line"><a id="l00051" name="l00051"></a><span class="lineno"><a class="line" href="class_contact_constraint_manager.html#ad0b40a0f57d994f32b069744541fce56">   51</a></span>    <span class="keyword">using </span><a class="code hl_typedef" href="class_contact_constraint_manager.html#ad0b40a0f57d994f32b069744541fce56">CombineFunction</a> = float (*)(<span class="keyword">const</span> <a class="code hl_class" href="class_body.html">Body</a> &amp;inBody1, <span class="keyword">const</span> <a class="code hl_class" href="class_sub_shape_i_d.html">SubShapeID</a> &amp;inSubShapeID1, <span class="keyword">const</span> <a class="code hl_class" href="class_body.html">Body</a> &amp;inBody2, <span class="keyword">const</span> <a class="code hl_class" href="class_sub_shape_i_d.html">SubShapeID</a> &amp;inSubShapeID2);</div>
    152. 

  152. <div class="line"><a id="l00052" name="l00052"></a><span class="lineno">   52</span> </div>
    153. 

  153. <div class="line"><a id="l00055" name="l00055"></a><span class="lineno"><a class="line" href="class_contact_constraint_manager.html#aae82d70c097d2c5a514faebd73ee4873">   55</a></span>    <span class="keywordtype">void</span>                        <a class="code hl_function" href="class_contact_constraint_manager.html#aae82d70c097d2c5a514faebd73ee4873">SetCombineFriction</a>(<a class="code hl_typedef" href="class_contact_constraint_manager.html#ad0b40a0f57d994f32b069744541fce56">CombineFunction</a> inCombineFriction)               { mCombineFriction = inCombineFriction; }</div>
    154. 

  154. <div class="line"><a id="l00056" name="l00056"></a><span class="lineno"><a class="line" href="class_contact_constraint_manager.html#a2f9d4fe92f6b8a2952b51acb10f55258">   56</a></span>    <a class="code hl_typedef" href="class_contact_constraint_manager.html#ad0b40a0f57d994f32b069744541fce56">CombineFunction</a>             <a class="code hl_function" href="class_contact_constraint_manager.html#a2f9d4fe92f6b8a2952b51acb10f55258">GetCombineFriction</a>()<span class="keyword"> const                                          </span>{ <span class="keywordflow">return</span> mCombineFriction; }</div>
    155. 

  155. <div class="line"><a id="l00057" name="l00057"></a><span class="lineno">   57</span> </div>
    156. 

  156. <div class="line"><a id="l00060" name="l00060"></a><span class="lineno"><a class="line" href="class_contact_constraint_manager.html#ae324c787f7d2ab43ed3adb13d3e7f24e">   60</a></span>    <span class="keywordtype">void</span>                        <a class="code hl_function" href="class_contact_constraint_manager.html#ae324c787f7d2ab43ed3adb13d3e7f24e">SetCombineRestitution</a>(<a class="code hl_typedef" href="class_contact_constraint_manager.html#ad0b40a0f57d994f32b069744541fce56">CombineFunction</a> inCombineRestitution)         { mCombineRestitution = inCombineRestitution; }</div>
    157. 

  157. <div class="line"><a id="l00061" name="l00061"></a><span class="lineno"><a class="line" href="class_contact_constraint_manager.html#a3e9f74aa49c583d6656430fa421326ab">   61</a></span>    <a class="code hl_typedef" href="class_contact_constraint_manager.html#ad0b40a0f57d994f32b069744541fce56">CombineFunction</a>             <a class="code hl_function" href="class_contact_constraint_manager.html#a3e9f74aa49c583d6656430fa421326ab">GetCombineRestitution</a>()<span class="keyword"> const                                       </span>{ <span class="keywordflow">return</span> mCombineRestitution; }</div>
    158. 

  158. <div class="line"><a id="l00062" name="l00062"></a><span class="lineno">   62</span> </div>
    159. 

  159. <div class="line"><a id="l00064" name="l00064"></a><span class="lineno"><a class="line" href="class_contact_constraint_manager.html#a50938b07679f8a97fff61e98a209c87c">   64</a></span>    <a class="code hl_typedef" href="_core_8h.html#a8f95e75e58492e87412191fabadd8ca8">uint32</a>                      <a class="code hl_function" href="class_contact_constraint_manager.html#a50938b07679f8a97fff61e98a209c87c">GetMaxConstraints</a>()<span class="keyword"> const                                           </span>{ <span class="keywordflow">return</span> mMaxConstraints; }</div>
    160. 

  160. <div class="line"><a id="l00065" name="l00065"></a><span class="lineno">   65</span> </div>
    161. 

  161. <div class="foldopen" id="foldopen00067" data-start="{" data-end="}">
    162. 

  162. <div class="line"><a id="l00067" name="l00067"></a><span class="lineno"><a class="line" href="class_contact_constraint_manager.html#a4abd47f225871f02cd3a0c964106439d">   67</a></span>    <span class="keyword">inline</span> <a class="code hl_enumeration" href="_contact_listener_8h.html#a996dd20903cf7428fc11a70e8676b93c">ValidateResult</a>       <a class="code hl_function" href="class_contact_constraint_manager.html#a4abd47f225871f02cd3a0c964106439d">ValidateContactPoint</a>(<span class="keyword">const</span> <a class="code hl_class" href="class_body.html">Body</a> &amp;inBody1, <span class="keyword">const</span> <a class="code hl_class" href="class_body.html">Body</a> &amp;inBody2, <a class="code hl_class" href="class_vec3.html">RVec3Arg</a> inBaseOffset, <span class="keyword">const</span> <a class="code hl_class" href="class_collide_shape_result.html">CollideShapeResult</a> &amp;inCollisionResult)<span class="keyword"> const</span></div>
    163. 

  163. <div class="line"><a id="l00068" name="l00068"></a><span class="lineno">   68</span><span class="keyword">    </span>{</div>
    164. 

  164. <div class="line"><a id="l00069" name="l00069"></a><span class="lineno">   69</span>        <span class="keywordflow">if</span> (mContactListener == <span class="keyword">nullptr</span>)</div>
    165. 

  165. <div class="line"><a id="l00070" name="l00070"></a><span class="lineno">   70</span>            <span class="keywordflow">return</span> <a class="code hl_enumvalue" href="_contact_listener_8h.html#a996dd20903cf7428fc11a70e8676b93ca8796185ae90c58f159c3940f24112507">ValidateResult::AcceptAllContactsForThisBodyPair</a>;</div>
    166. 

  166. <div class="line"><a id="l00071" name="l00071"></a><span class="lineno">   71</span> </div>
    167. 

  167. <div class="line"><a id="l00072" name="l00072"></a><span class="lineno">   72</span>        <span class="keywordflow">return</span> mContactListener-&gt;OnContactValidate(inBody1, inBody2, inBaseOffset, inCollisionResult);</div>
    168. 

  168. <div class="line"><a id="l00073" name="l00073"></a><span class="lineno">   73</span>    }</div>
    169. 

  169. </div>
    170. 

  170. <div class="line"><a id="l00074" name="l00074"></a><span class="lineno">   74</span> </div>
    171. 

  171. <div class="line"><a id="l00076" name="l00076"></a><span class="lineno">   76</span>    <span class="keywordtype">void</span>                        PrepareConstraintBuffer(PhysicsUpdateContext *inContext);</div>
    172. 

  172. <div class="line"><a id="l00077" name="l00077"></a><span class="lineno">   77</span> </div>
    173. 

  173. <div class="line"><a id="l00079" name="l00079"></a><span class="lineno"><a class="line" href="class_contact_constraint_manager.html#a18911ccd070e4d6d0d3c74605c0d211c">   79</a></span>    <span class="keyword">static</span> <span class="keyword">const</span> <span class="keywordtype">int</span>            MaxContactPoints = 4;</div>
    174. 

  174. <div class="line"><a id="l00080" name="l00080"></a><span class="lineno">   80</span> </div>
    175. 

  175. <div class="foldopen" id="foldopen00082" data-start="{" data-end="};">
    176. 

  176. <div class="line"><a id="l00082" name="l00082"></a><span class="lineno"><a class="line" href="class_contact_constraint_manager_1_1_contact_allocator.html">   82</a></span>    <span class="keyword">class </span><a class="code hl_class" href="class_contact_constraint_manager_1_1_contact_allocator.html">ContactAllocator</a> : <span class="keyword">public</span> <a class="code hl_class" href="class_l_f_h_m_allocator_context.html">LFHMAllocatorContext</a></div>
    177. 

  177. <div class="line"><a id="l00083" name="l00083"></a><span class="lineno">   83</span>    {</div>
    178. 

  178. <div class="line"><a id="l00084" name="l00084"></a><span class="lineno">   84</span>    <span class="keyword">public</span>:</div>
    179. 

  179. <div class="line"><a id="l00085" name="l00085"></a><span class="lineno">   85</span>        <span class="keyword">using </span><a class="code hl_function" href="class_l_f_h_m_allocator_context.html#a4937e72fe7c08c45687b9deb3c3dba32">LFHMAllocatorContext::LFHMAllocatorContext</a>;</div>
    180. 

  180. <div class="line"><a id="l00086" name="l00086"></a><span class="lineno">   86</span> </div>
    181. 

  181. <div class="line"><a id="l00087" name="l00087"></a><span class="lineno"><a class="line" href="class_contact_constraint_manager_1_1_contact_allocator.html#a1f988bcee137591463666032293d8357">   87</a></span>        <a class="code hl_typedef" href="_core_8h.html#a69aa29b598b851b0640aa225a9e5d61d">uint</a>                    mNumBodyPairs = 0;                                                  </div>
    182. 

  182. <div class="line"><a id="l00088" name="l00088"></a><span class="lineno"><a class="line" href="class_contact_constraint_manager_1_1_contact_allocator.html#a7a95eb0a19e0b32c637eadf107977c3c">   88</a></span>        <a class="code hl_typedef" href="_core_8h.html#a69aa29b598b851b0640aa225a9e5d61d">uint</a>                    mNumManifolds = 0;                                                  </div>
    183. 

  183. <div class="line"><a id="l00089" name="l00089"></a><span class="lineno"><a class="line" href="class_contact_constraint_manager_1_1_contact_allocator.html#a1968130257ab4041d6e18c676869fdd3">   89</a></span>        <a class="code hl_enumeration" href="_e_physics_update_error_8h.html#a1df3f14c5cc9f3be49f239b17470aaa1">EPhysicsUpdateError</a>     mErrors = <a class="code hl_enumvalue" href="_e_physics_update_error_8h.html#a1df3f14c5cc9f3be49f239b17470aaa1a6adf97f83acf6453d4a6a4b1070f3754">EPhysicsUpdateError::None</a>;                                </div>
    184. 

  184. <div class="line"><a id="l00090" name="l00090"></a><span class="lineno">   90</span>    };</div>
    185. 

  185. </div>
    186. 

  186. <div class="line"><a id="l00091" name="l00091"></a><span class="lineno">   91</span> </div>
    187. 

  187. <div class="line"><a id="l00093" name="l00093"></a><span class="lineno"><a class="line" href="class_contact_constraint_manager.html#ae52944ca4945e6255a0f31794cf2aed5">   93</a></span>    <a class="code hl_class" href="class_contact_constraint_manager_1_1_contact_allocator.html">ContactAllocator</a>            <a class="code hl_function" href="class_contact_constraint_manager.html#ae52944ca4945e6255a0f31794cf2aed5">GetContactAllocator</a>()                                               { <span class="keywordflow">return</span> mCache[mCacheWriteIdx].GetContactAllocator(); }</div>
    188. 

  188. <div class="line"><a id="l00094" name="l00094"></a><span class="lineno">   94</span> </div>
    189. 

  189. <div class="line"><a id="l00098" name="l00098"></a><span class="lineno">   98</span>    <span class="keywordtype">void</span>                        GetContactsFromCache(ContactAllocator &amp;ioContactAllocator, <a class="code hl_class" href="class_body.html">Body</a> &amp;inBody1, <a class="code hl_class" href="class_body.html">Body</a> &amp;inBody2, <span class="keywordtype">bool</span> &amp;outPairHandled, <span class="keywordtype">bool</span> &amp;outConstraintCreated);</div>
    190. 

  190. <div class="line"><a id="l00099" name="l00099"></a><span class="lineno">   99</span> </div>
    191. 

  191. <div class="line"><a id="l00101" name="l00101"></a><span class="lineno"><a class="line" href="class_contact_constraint_manager.html#a5d7bb30c442d466ba19b92f8b5ffb754">  101</a></span>    <span class="keyword">using </span><a class="code hl_typedef" href="class_contact_constraint_manager.html#a5d7bb30c442d466ba19b92f8b5ffb754">BodyPairHandle</a> = <span class="keywordtype">void</span> *;</div>
    192. 

  192. <div class="line"><a id="l00102" name="l00102"></a><span class="lineno">  102</span> </div>
    193. 

  193. <div class="line"><a id="l00105" name="l00105"></a><span class="lineno">  105</span>    <a class="code hl_typedef" href="class_contact_constraint_manager.html#a5d7bb30c442d466ba19b92f8b5ffb754">BodyPairHandle</a>              AddBodyPair(<a class="code hl_class" href="class_contact_constraint_manager_1_1_contact_allocator.html">ContactAllocator</a> &amp;ioContactAllocator, <span class="keyword">const</span> <a class="code hl_class" href="class_body.html">Body</a> &amp;inBody1, <span class="keyword">const</span> <a class="code hl_class" href="class_body.html">Body</a> &amp;inBody2);</div>
    194. 

  194. <div class="line"><a id="l00106" name="l00106"></a><span class="lineno">  106</span> </div>
    195. 

  195. <div class="line"><a id="l00148" name="l00148"></a><span class="lineno">  148</span>    <span class="keywordtype">bool</span>                        AddContactConstraint(<a class="code hl_class" href="class_contact_constraint_manager_1_1_contact_allocator.html">ContactAllocator</a> &amp;ioContactAllocator, <a class="code hl_typedef" href="class_contact_constraint_manager.html#a5d7bb30c442d466ba19b92f8b5ffb754">BodyPairHandle</a> inBodyPair, <a class="code hl_class" href="class_body.html">Body</a> &amp;inBody1, <a class="code hl_class" href="class_body.html">Body</a> &amp;inBody2, <span class="keyword">const</span> <a class="code hl_class" href="class_contact_manifold.html">ContactManifold</a> &amp;inManifold);</div>
    196. 

  196. <div class="line"><a id="l00149" name="l00149"></a><span class="lineno">  149</span> </div>
    197. 

  197. <div class="line"><a id="l00154" name="l00154"></a><span class="lineno">  154</span>    <span class="keywordtype">void</span>                        FinalizeContactCacheAndCallContactPointRemovedCallbacks(<a class="code hl_typedef" href="_core_8h.html#a69aa29b598b851b0640aa225a9e5d61d">uint</a> inExpectedNumBodyPairs, <a class="code hl_typedef" href="_core_8h.html#a69aa29b598b851b0640aa225a9e5d61d">uint</a> inExpectedNumManifolds);</div>
    198. 

  198. <div class="line"><a id="l00155" name="l00155"></a><span class="lineno">  155</span> </div>
    199. 

  199. <div class="line"><a id="l00158" name="l00158"></a><span class="lineno">  158</span>    <span class="keywordtype">bool</span>                        WereBodiesInContact(<span class="keyword">const</span> <a class="code hl_class" href="class_body_i_d.html">BodyID</a> &amp;inBody1ID, <span class="keyword">const</span> <a class="code hl_class" href="class_body_i_d.html">BodyID</a> &amp;inBody2ID) <span class="keyword">const</span>;</div>
    200. 

  200. <div class="line"><a id="l00159" name="l00159"></a><span class="lineno">  159</span> </div>
    201. 

  201. <div class="line"><a id="l00161" name="l00161"></a><span class="lineno"><a class="line" href="class_contact_constraint_manager.html#aad540014a518a8f5942842e1a347447f">  161</a></span>    <a class="code hl_typedef" href="_core_8h.html#a8f95e75e58492e87412191fabadd8ca8">uint32</a>                      <a class="code hl_function" href="class_contact_constraint_manager.html#aad540014a518a8f5942842e1a347447f">GetNumConstraints</a>()<span class="keyword"> const                                           </span>{ <span class="keywordflow">return</span> min&lt;uint32&gt;(mNumConstraints, mMaxConstraints); }</div>
    202. 

  202. <div class="line"><a id="l00162" name="l00162"></a><span class="lineno">  162</span> </div>
    203. 

  203. <div class="line"><a id="l00164" name="l00164"></a><span class="lineno">  164</span>    <span class="keywordtype">void</span>                        SortContacts(<a class="code hl_typedef" href="_core_8h.html#a8f95e75e58492e87412191fabadd8ca8">uint32</a> *inConstraintIdxBegin, <a class="code hl_typedef" href="_core_8h.html#a8f95e75e58492e87412191fabadd8ca8">uint32</a> *inConstraintIdxEnd) <span class="keyword">const</span>;</div>
    204. 

  204. <div class="line"><a id="l00165" name="l00165"></a><span class="lineno">  165</span> </div>
    205. 

  205. <div class="foldopen" id="foldopen00167" data-start="{" data-end="}">
    206. 

  206. <div class="line"><a id="l00167" name="l00167"></a><span class="lineno"><a class="line" href="class_contact_constraint_manager.html#a81dea14ac1bd33f74a07085690095403">  167</a></span>    <span class="keyword">inline</span> <span class="keywordtype">void</span>                 <a class="code hl_function" href="class_contact_constraint_manager.html#a81dea14ac1bd33f74a07085690095403">GetAffectedBodies</a>(<a class="code hl_typedef" href="_core_8h.html#a8f95e75e58492e87412191fabadd8ca8">uint32</a> inConstraintIdx, <span class="keyword">const</span> <a class="code hl_class" href="class_body.html">Body</a> *&amp;outBody1, <span class="keyword">const</span> <a class="code hl_class" href="class_body.html">Body</a> *&amp;outBody2)<span class="keyword"> const</span></div>
    207. 

  207. <div class="line"><a id="l00168" name="l00168"></a><span class="lineno">  168</span><span class="keyword">    </span>{</div>
    208. 

  208. <div class="line"><a id="l00169" name="l00169"></a><span class="lineno">  169</span>        <span class="keyword">const</span> ContactConstraint &amp;constraint = mConstraints[inConstraintIdx];</div>
    209. 

  209. <div class="line"><a id="l00170" name="l00170"></a><span class="lineno">  170</span>        outBody1 = constraint.mBody1;</div>
    210. 

  210. <div class="line"><a id="l00171" name="l00171"></a><span class="lineno">  171</span>        outBody2 = constraint.mBody2;</div>
    211. 

  211. <div class="line"><a id="l00172" name="l00172"></a><span class="lineno">  172</span>    }</div>
    212. 

  212. </div>
    213. 

  213. <div class="line"><a id="l00173" name="l00173"></a><span class="lineno">  173</span> </div>
    214. 

  214. <div class="line"><a id="l00175" name="l00175"></a><span class="lineno">  175</span>    <span class="keyword">template</span> &lt;<span class="keyword">class</span> MotionPropertiesCallback&gt;</div>
    215. 

  215. <div class="line"><a id="l00176" name="l00176"></a><span class="lineno">  176</span>    <span class="keywordtype">void</span>                        WarmStartVelocityConstraints(<span class="keyword">const</span> <a class="code hl_typedef" href="_core_8h.html#a8f95e75e58492e87412191fabadd8ca8">uint32</a> *inConstraintIdxBegin, <span class="keyword">const</span> <a class="code hl_typedef" href="_core_8h.html#a8f95e75e58492e87412191fabadd8ca8">uint32</a> *inConstraintIdxEnd, <span class="keywordtype">float</span> inWarmStartImpulseRatio, MotionPropertiesCallback &amp;ioCallback);</div>
    216. 

  216. <div class="line"><a id="l00177" name="l00177"></a><span class="lineno">  177</span> </div>
    217. 

  217. <div class="line"><a id="l00208" name="l00208"></a><span class="lineno">  208</span>    <span class="keywordtype">bool</span>                        SolveVelocityConstraints(<span class="keyword">const</span> <a class="code hl_typedef" href="_core_8h.html#a8f95e75e58492e87412191fabadd8ca8">uint32</a> *inConstraintIdxBegin, <span class="keyword">const</span> <a class="code hl_typedef" href="_core_8h.html#a8f95e75e58492e87412191fabadd8ca8">uint32</a> *inConstraintIdxEnd);</div>
    218. 

  218. <div class="line"><a id="l00209" name="l00209"></a><span class="lineno">  209</span> </div>
    219. 

  219. <div class="line"><a id="l00211" name="l00211"></a><span class="lineno">  211</span>    <span class="keywordtype">void</span>                        StoreAppliedImpulses(<span class="keyword">const</span> <a class="code hl_typedef" href="_core_8h.html#a8f95e75e58492e87412191fabadd8ca8">uint32</a> *inConstraintIdxBegin, <span class="keyword">const</span> <a class="code hl_typedef" href="_core_8h.html#a8f95e75e58492e87412191fabadd8ca8">uint32</a> *inConstraintIdxEnd) <span class="keyword">const</span>;</div>
    220. 

  220. <div class="line"><a id="l00212" name="l00212"></a><span class="lineno">  212</span> </div>
    221. 

  221. <div class="line"><a id="l00229" name="l00229"></a><span class="lineno">  229</span>    <span class="keywordtype">bool</span>                        SolvePositionConstraints(<span class="keyword">const</span> <a class="code hl_typedef" href="_core_8h.html#a8f95e75e58492e87412191fabadd8ca8">uint32</a> *inConstraintIdxBegin, <span class="keyword">const</span> <a class="code hl_typedef" href="_core_8h.html#a8f95e75e58492e87412191fabadd8ca8">uint32</a> *inConstraintIdxEnd);</div>
    222. 

  222. <div class="line"><a id="l00230" name="l00230"></a><span class="lineno">  230</span> </div>
    223. 

  223. <div class="line"><a id="l00232" name="l00232"></a><span class="lineno">  232</span>    <span class="keywordtype">void</span>                        RecycleConstraintBuffer();</div>
    224. 

  224. <div class="line"><a id="l00233" name="l00233"></a><span class="lineno">  233</span> </div>
    225. 

  225. <div class="line"><a id="l00235" name="l00235"></a><span class="lineno">  235</span>    <span class="keywordtype">void</span>                        FinishConstraintBuffer();</div>
    226. 

  226. <div class="line"><a id="l00236" name="l00236"></a><span class="lineno">  236</span> </div>
    227. 

  227. <div class="line"><a id="l00243" name="l00243"></a><span class="lineno">  243</span>    <span class="keywordtype">void</span>                        OnCCDContactAdded(ContactAllocator &amp;ioContactAllocator, <span class="keyword">const</span> <a class="code hl_class" href="class_body.html">Body</a> &amp;inBody1, <span class="keyword">const</span> <a class="code hl_class" href="class_body.html">Body</a> &amp;inBody2, <span class="keyword">const</span> <a class="code hl_class" href="class_contact_manifold.html">ContactManifold</a> &amp;inManifold, <a class="code hl_class" href="class_contact_settings.html">ContactSettings</a> &amp;outSettings);</div>
    228. 

  228. <div class="line"><a id="l00244" name="l00244"></a><span class="lineno">  244</span> </div>
    229. 

  229. <div class="line"><a id="l00245" name="l00245"></a><span class="lineno">  245</span><span class="preprocessor">#ifdef JPH_DEBUG_RENDERER</span></div>
    230. 

  230. <div class="line"><a id="l00246" name="l00246"></a><span class="lineno">  246</span>    <span class="comment">// Drawing properties</span></div>
    231. 

  231. <div class="line"><a id="l00247" name="l00247"></a><span class="lineno"><a class="line" href="class_contact_constraint_manager.html#a1c775cdd66c1e6c3c86fff836b4bc8f6">  247</a></span>    <span class="keyword">static</span> <span class="keywordtype">bool</span>                 <a class="code hl_variable" href="class_contact_constraint_manager.html#a1c775cdd66c1e6c3c86fff836b4bc8f6">sDrawContactPoint</a>;</div>
    232. 

  232. <div class="line"><a id="l00248" name="l00248"></a><span class="lineno"><a class="line" href="class_contact_constraint_manager.html#a7ffa89c50ba531470ecdfcfdbb073d5e">  248</a></span>    <span class="keyword">static</span> <span class="keywordtype">bool</span>                 <a class="code hl_variable" href="class_contact_constraint_manager.html#a7ffa89c50ba531470ecdfcfdbb073d5e">sDrawSupportingFaces</a>;</div>
    233. 

  233. <div class="line"><a id="l00249" name="l00249"></a><span class="lineno"><a class="line" href="class_contact_constraint_manager.html#a512778f011224018a58c7cdb04ec74df">  249</a></span>    <span class="keyword">static</span> <span class="keywordtype">bool</span>                 <a class="code hl_variable" href="class_contact_constraint_manager.html#a512778f011224018a58c7cdb04ec74df">sDrawContactPointReduction</a>;</div>
    234. 

  234. <div class="line"><a id="l00250" name="l00250"></a><span class="lineno"><a class="line" href="class_contact_constraint_manager.html#af60346481284d7b7f232d9b7130ccbab">  250</a></span>    <span class="keyword">static</span> <span class="keywordtype">bool</span>                 <a class="code hl_variable" href="class_contact_constraint_manager.html#af60346481284d7b7f232d9b7130ccbab">sDrawContactManifolds</a>;</div>
    235. 

  235. <div class="line"><a id="l00251" name="l00251"></a><span class="lineno">  251</span><span class="preprocessor">#endif </span><span class="comment">// JPH_DEBUG_RENDERER</span></div>
    236. 

  236. <div class="line"><a id="l00252" name="l00252"></a><span class="lineno">  252</span> </div>
    237. 

  237. <div class="line"><a id="l00254" name="l00254"></a><span class="lineno">  254</span>    <span class="keywordtype">void</span>                        SaveState(<a class="code hl_class" href="class_state_recorder.html">StateRecorder</a> &amp;inStream, <span class="keyword">const</span> <a class="code hl_class" href="class_state_recorder_filter.html">StateRecorderFilter</a> *inFilter) <span class="keyword">const</span>;</div>
    238. 

  238. <div class="line"><a id="l00255" name="l00255"></a><span class="lineno">  255</span> </div>
    239. 

  239. <div class="line"><a id="l00257" name="l00257"></a><span class="lineno">  257</span>    <span class="keywordtype">bool</span>                        RestoreState(<a class="code hl_class" href="class_state_recorder.html">StateRecorder</a> &amp;inStream, <span class="keyword">const</span> <a class="code hl_class" href="class_state_recorder_filter.html">StateRecorderFilter</a> *inFilter);</div>
    240. 

  240. <div class="line"><a id="l00258" name="l00258"></a><span class="lineno">  258</span> </div>
    241. 

  241. <div class="line"><a id="l00259" name="l00259"></a><span class="lineno">  259</span><span class="keyword">private</span>:</div>
    242. 

  242. <div class="line"><a id="l00261" name="l00261"></a><span class="lineno">  261</span>    <span class="keyword">class </span>CachedContactPoint</div>
    243. 

  243. <div class="line"><a id="l00262" name="l00262"></a><span class="lineno">  262</span>    {</div>
    244. 

  244. <div class="line"><a id="l00263" name="l00263"></a><span class="lineno">  263</span>    <span class="keyword">public</span>:</div>
    245. 

  245. <div class="line"><a id="l00265" name="l00265"></a><span class="lineno">  265</span>        <span class="keywordtype">void</span>                    SaveState(<a class="code hl_class" href="class_state_recorder.html">StateRecorder</a> &amp;inStream) <span class="keyword">const</span>;</div>
    246. 

  246. <div class="line"><a id="l00266" name="l00266"></a><span class="lineno">  266</span>        <span class="keywordtype">void</span>                    RestoreState(<a class="code hl_class" href="class_state_recorder.html">StateRecorder</a> &amp;inStream);</div>
    247. 

  247. <div class="line"><a id="l00267" name="l00267"></a><span class="lineno">  267</span> </div>
    248. 

  248. <div class="line"><a id="l00270" name="l00270"></a><span class="lineno">  270</span>        <a class="code hl_class" href="class_float3.html">Float3</a>                  mPosition1;</div>
    249. 

  249. <div class="line"><a id="l00271" name="l00271"></a><span class="lineno">  271</span>        <a class="code hl_class" href="class_float3.html">Float3</a>                  mPosition2;</div>
    250. 

  250. <div class="line"><a id="l00272" name="l00272"></a><span class="lineno">  272</span> </div>
    251. 

  251. <div class="line"><a id="l00274" name="l00274"></a><span class="lineno">  274</span>        <span class="keywordtype">float</span>                   mNonPenetrationLambda;</div>
    252. 

  252. <div class="line"><a id="l00275" name="l00275"></a><span class="lineno">  275</span>        <a class="code hl_class" href="class_vector.html">Vector&lt;2&gt;</a>               mFrictionLambda;</div>
    253. 

  253. <div class="line"><a id="l00276" name="l00276"></a><span class="lineno">  276</span>    };</div>
    254. 

  254. <div class="line"><a id="l00277" name="l00277"></a><span class="lineno">  277</span> </div>
    255. 

  255. <div class="line"><a id="l00278" name="l00278"></a><span class="lineno">  278</span>    <span class="keyword">static_assert</span>(<span class="keyword">sizeof</span>(CachedContactPoint) == 36, <span class="stringliteral">&quot;Unexpected size&quot;</span>);</div>
    256. 

  256. <div class="line"><a id="l00279" name="l00279"></a><span class="lineno">  279</span>    <span class="keyword">static_assert</span>(<span class="keyword">alignof</span>(CachedContactPoint) == 4, <span class="stringliteral">&quot;Assuming 4 byte aligned&quot;</span>);</div>
    257. 

  257. <div class="line"><a id="l00280" name="l00280"></a><span class="lineno">  280</span> </div>
    258. 

  258. <div class="line"><a id="l00282" name="l00282"></a><span class="lineno">  282</span>    <span class="keyword">class </span>CachedManifold</div>
    259. 

  259. <div class="line"><a id="l00283" name="l00283"></a><span class="lineno">  283</span>    {</div>
    260. 

  260. <div class="line"><a id="l00284" name="l00284"></a><span class="lineno">  284</span>    <span class="keyword">public</span>:</div>
    261. 

  261. <div class="line"><a id="l00286" name="l00286"></a><span class="lineno">  286</span>        <span class="keyword">static</span> <span class="keywordtype">int</span>              sGetRequiredExtraSize(<span class="keywordtype">int</span> inNumContactPoints)                       { <span class="keywordflow">return</span> max(0, inNumContactPoints - 1) * <span class="keyword">sizeof</span>(CachedContactPoint); }</div>
    262. 

  262. <div class="line"><a id="l00287" name="l00287"></a><span class="lineno">  287</span> </div>
    263. 

  263. <div class="line"><a id="l00289" name="l00289"></a><span class="lineno">  289</span>        <span class="keyword">static</span> <span class="keywordtype">int</span>              sGetRequiredTotalSize(<span class="keywordtype">int</span> inNumContactPoints)                       { <span class="keywordflow">return</span> <span class="keyword">sizeof</span>(CachedManifold) + sGetRequiredExtraSize(inNumContactPoints); }</div>
    264. 

  264. <div class="line"><a id="l00290" name="l00290"></a><span class="lineno">  290</span> </div>
    265. 

  265. <div class="line"><a id="l00292" name="l00292"></a><span class="lineno">  292</span>        <span class="keywordtype">void</span>                    SaveState(<a class="code hl_class" href="class_state_recorder.html">StateRecorder</a> &amp;inStream) <span class="keyword">const</span>;</div>
    266. 

  266. <div class="line"><a id="l00293" name="l00293"></a><span class="lineno">  293</span>        <span class="keywordtype">void</span>                    RestoreState(<a class="code hl_class" href="class_state_recorder.html">StateRecorder</a> &amp;inStream);</div>
    267. 

  267. <div class="line"><a id="l00294" name="l00294"></a><span class="lineno">  294</span> </div>
    268. 

  268. <div class="line"><a id="l00296" name="l00296"></a><span class="lineno">  296</span>        <a class="code hl_typedef" href="_core_8h.html#a8f95e75e58492e87412191fabadd8ca8">uint32</a>                  mNextWithSameBodyPair;</div>
    269. 

  269. <div class="line"><a id="l00297" name="l00297"></a><span class="lineno">  297</span> </div>
    270. 

  270. <div class="line"><a id="l00300" name="l00300"></a><span class="lineno">  300</span>        <a class="code hl_class" href="class_float3.html">Float3</a>                  mContactNormal;</div>
    271. 

  271. <div class="line"><a id="l00301" name="l00301"></a><span class="lineno">  301</span> </div>
    272. 

  272. <div class="line"><a id="l00303" name="l00303"></a><span class="lineno">  303</span>        <span class="keyword">enum class</span> EFlags : <a class="code hl_typedef" href="_core_8h.html#aea9840dd402bd5d5201bef4633398cb3">uint16</a></div>
    273. 

  273. <div class="line"><a id="l00304" name="l00304"></a><span class="lineno">  304</span>        {</div>
    274. 

  274. <div class="line"><a id="l00305" name="l00305"></a><span class="lineno">  305</span>            ContactPersisted    = 1,                                                                </div>
    275. 

  275. <div class="line"><a id="l00306" name="l00306"></a><span class="lineno">  306</span>            CCDContact          = 2                                                                 </div>
    276. 

  276. <div class="line"><a id="l00307" name="l00307"></a><span class="lineno">  307</span>        };</div>
    277. 

  277. <div class="line"><a id="l00308" name="l00308"></a><span class="lineno">  308</span> </div>
    278. 

  278. <div class="line"><a id="l00310" name="l00310"></a><span class="lineno">  310</span>        <span class="keyword">mutable</span> atomic&lt;uint16&gt;  mFlags { 0 };</div>
    279. 

  279. <div class="line"><a id="l00311" name="l00311"></a><span class="lineno">  311</span> </div>
    280. 

  280. <div class="line"><a id="l00313" name="l00313"></a><span class="lineno">  313</span>        <a class="code hl_typedef" href="_core_8h.html#aea9840dd402bd5d5201bef4633398cb3">uint16</a>                  mNumContactPoints;</div>
    281. 

  281. <div class="line"><a id="l00314" name="l00314"></a><span class="lineno">  314</span> </div>
    282. 

  282. <div class="line"><a id="l00316" name="l00316"></a><span class="lineno">  316</span>        CachedContactPoint      mContactPoints[1];</div>
    283. 

  283. <div class="line"><a id="l00317" name="l00317"></a><span class="lineno">  317</span>    };</div>
    284. 

  284. <div class="line"><a id="l00318" name="l00318"></a><span class="lineno">  318</span> </div>
    285. 

  285. <div class="line"><a id="l00319" name="l00319"></a><span class="lineno">  319</span>    <span class="keyword">static_assert</span>(<span class="keyword">sizeof</span>(CachedManifold) == 56, <span class="stringliteral">&quot;This structure is expect to not contain any waste due to alignment&quot;</span>);</div>
    286. 

  286. <div class="line"><a id="l00320" name="l00320"></a><span class="lineno">  320</span>    <span class="keyword">static_assert</span>(<span class="keyword">alignof</span>(CachedManifold) == 4, <span class="stringliteral">&quot;Assuming 4 byte aligned&quot;</span>);</div>
    287. 

  287. <div class="line"><a id="l00321" name="l00321"></a><span class="lineno">  321</span> </div>
    288. 

  288. <div class="line"><a id="l00323" name="l00323"></a><span class="lineno">  323</span>    <span class="keyword">using </span>ManifoldMap = <a class="code hl_class" href="class_lock_free_hash_map.html">LockFreeHashMap&lt;SubShapeIDPair, CachedManifold&gt;</a>;</div>
    289. 

  289. <div class="line"><a id="l00324" name="l00324"></a><span class="lineno">  324</span>    <span class="keyword">using </span>MKeyValue = ManifoldMap::KeyValue;</div>
    290. 

  290. <div class="line"><a id="l00325" name="l00325"></a><span class="lineno">  325</span>    <span class="keyword">using </span>MKVAndCreated = std::pair&lt;MKeyValue *, bool&gt;;</div>
    291. 

  291. <div class="line"><a id="l00326" name="l00326"></a><span class="lineno">  326</span> </div>
    292. 

  292. <div class="line"><a id="l00328" name="l00328"></a><span class="lineno">  328</span>    <span class="keyword">class </span>CachedBodyPair</div>
    293. 

  293. <div class="line"><a id="l00329" name="l00329"></a><span class="lineno">  329</span>    {</div>
    294. 

  294. <div class="line"><a id="l00330" name="l00330"></a><span class="lineno">  330</span>    <span class="keyword">public</span>:</div>
    295. 

  295. <div class="line"><a id="l00332" name="l00332"></a><span class="lineno">  332</span>        <span class="keywordtype">void</span>                    SaveState(<a class="code hl_class" href="class_state_recorder.html">StateRecorder</a> &amp;inStream) <span class="keyword">const</span>;</div>
    296. 

  296. <div class="line"><a id="l00333" name="l00333"></a><span class="lineno">  333</span>        <span class="keywordtype">void</span>                    RestoreState(<a class="code hl_class" href="class_state_recorder.html">StateRecorder</a> &amp;inStream);</div>
    297. 

  297. <div class="line"><a id="l00334" name="l00334"></a><span class="lineno">  334</span> </div>
    298. 

  298. <div class="line"><a id="l00337" name="l00337"></a><span class="lineno">  337</span>        <a class="code hl_class" href="class_float3.html">Float3</a>                  mDeltaPosition;</div>
    299. 

  299. <div class="line"><a id="l00338" name="l00338"></a><span class="lineno">  338</span> </div>
    300. 

  300. <div class="line"><a id="l00341" name="l00341"></a><span class="lineno">  341</span>        <a class="code hl_class" href="class_float3.html">Float3</a>                  mDeltaRotation;</div>
    301. 

  301. <div class="line"><a id="l00342" name="l00342"></a><span class="lineno">  342</span> </div>
    302. 

  302. <div class="line"><a id="l00344" name="l00344"></a><span class="lineno">  344</span>        <a class="code hl_typedef" href="_core_8h.html#a8f95e75e58492e87412191fabadd8ca8">uint32</a>                  mFirstCachedManifold;</div>
    303. 

  303. <div class="line"><a id="l00345" name="l00345"></a><span class="lineno">  345</span>    };</div>
    304. 

  304. <div class="line"><a id="l00346" name="l00346"></a><span class="lineno">  346</span> </div>
    305. 

  305. <div class="line"><a id="l00347" name="l00347"></a><span class="lineno">  347</span>    <span class="keyword">static_assert</span>(<span class="keyword">sizeof</span>(CachedBodyPair) == 28, <span class="stringliteral">&quot;Unexpected size&quot;</span>);</div>
    306. 

  306. <div class="line"><a id="l00348" name="l00348"></a><span class="lineno">  348</span>    <span class="keyword">static_assert</span>(<span class="keyword">alignof</span>(CachedBodyPair) == 4, <span class="stringliteral">&quot;Assuming 4 byte aligned&quot;</span>);</div>
    307. 

  307. <div class="line"><a id="l00349" name="l00349"></a><span class="lineno">  349</span> </div>
    308. 

  308. <div class="line"><a id="l00351" name="l00351"></a><span class="lineno">  351</span>    <span class="keyword">using </span>BodyPairMap = <a class="code hl_class" href="class_lock_free_hash_map.html">LockFreeHashMap&lt;BodyPair, CachedBodyPair&gt;</a>;</div>
    309. 

  309. <div class="line"><a id="l00352" name="l00352"></a><span class="lineno">  352</span>    <span class="keyword">using </span>BPKeyValue = BodyPairMap::KeyValue;</div>
    310. 

  310. <div class="line"><a id="l00353" name="l00353"></a><span class="lineno">  353</span> </div>
    311. 

  311. <div class="line"><a id="l00355" name="l00355"></a><span class="lineno">  355</span>    <span class="keyword">class </span>ManifoldCache</div>
    312. 

  312. <div class="line"><a id="l00356" name="l00356"></a><span class="lineno">  356</span>    {</div>
    313. 

  313. <div class="line"><a id="l00357" name="l00357"></a><span class="lineno">  357</span>    <span class="keyword">public</span>:</div>
    314. 

  314. <div class="line"><a id="l00359" name="l00359"></a><span class="lineno">  359</span>        <span class="keywordtype">void</span>                    Init(<a class="code hl_typedef" href="_core_8h.html#a69aa29b598b851b0640aa225a9e5d61d">uint</a> inMaxBodyPairs, <a class="code hl_typedef" href="_core_8h.html#a69aa29b598b851b0640aa225a9e5d61d">uint</a> inMaxContactConstraints, <a class="code hl_typedef" href="_core_8h.html#a69aa29b598b851b0640aa225a9e5d61d">uint</a> inCachedManifoldsSize);</div>
    315. 

  315. <div class="line"><a id="l00360" name="l00360"></a><span class="lineno">  360</span> </div>
    316. 

  316. <div class="line"><a id="l00362" name="l00362"></a><span class="lineno">  362</span>        <span class="keywordtype">void</span>                    Clear();</div>
    317. 

  317. <div class="line"><a id="l00363" name="l00363"></a><span class="lineno">  363</span> </div>
    318. 

  318. <div class="line"><a id="l00366" name="l00366"></a><span class="lineno">  366</span>        <span class="keywordtype">void</span>                    Prepare(<a class="code hl_typedef" href="_core_8h.html#a69aa29b598b851b0640aa225a9e5d61d">uint</a> inExpectedNumBodyPairs, <a class="code hl_typedef" href="_core_8h.html#a69aa29b598b851b0640aa225a9e5d61d">uint</a> inExpectedNumManifolds);</div>
    319. 

  319. <div class="line"><a id="l00367" name="l00367"></a><span class="lineno">  367</span> </div>
    320. 

  320. <div class="line"><a id="l00369" name="l00369"></a><span class="lineno">  369</span>        ContactAllocator        GetContactAllocator()                       { <span class="keywordflow">return</span> ContactAllocator(mAllocator, cAllocatorBlockSize); }</div>
    321. 

  321. <div class="line"><a id="l00370" name="l00370"></a><span class="lineno">  370</span> </div>
    322. 

  322. <div class="line"><a id="l00372" name="l00372"></a><span class="lineno">  372</span>        <span class="keyword">const</span> MKeyValue *       Find(<span class="keyword">const</span> <a class="code hl_class" href="class_sub_shape_i_d_pair.html">SubShapeIDPair</a> &amp;inKey, <a class="code hl_typedef" href="_core_8h.html#a60e8696a4678cd348e991a1f172e53f7">uint64</a> inKeyHash) <span class="keyword">const</span>;</div>
    323. 

  323. <div class="line"><a id="l00373" name="l00373"></a><span class="lineno">  373</span>        MKeyValue *             Create(ContactAllocator &amp;ioContactAllocator, <span class="keyword">const</span> <a class="code hl_class" href="class_sub_shape_i_d_pair.html">SubShapeIDPair</a> &amp;inKey, <a class="code hl_typedef" href="_core_8h.html#a60e8696a4678cd348e991a1f172e53f7">uint64</a> inKeyHash, <span class="keywordtype">int</span> inNumContactPoints);</div>
    324. 

  324. <div class="line"><a id="l00374" name="l00374"></a><span class="lineno">  374</span>        MKVAndCreated           FindOrCreate(ContactAllocator &amp;ioContactAllocator, <span class="keyword">const</span> <a class="code hl_class" href="class_sub_shape_i_d_pair.html">SubShapeIDPair</a> &amp;inKey, <a class="code hl_typedef" href="_core_8h.html#a60e8696a4678cd348e991a1f172e53f7">uint64</a> inKeyHash, <span class="keywordtype">int</span> inNumContactPoints);</div>
    325. 

  325. <div class="line"><a id="l00375" name="l00375"></a><span class="lineno">  375</span>        <a class="code hl_typedef" href="_core_8h.html#a8f95e75e58492e87412191fabadd8ca8">uint32</a>                  ToHandle(<span class="keyword">const</span> MKeyValue *inKeyValue) <span class="keyword">const</span>;</div>
    326. 

  326. <div class="line"><a id="l00376" name="l00376"></a><span class="lineno">  376</span>        <span class="keyword">const</span> MKeyValue *       FromHandle(<a class="code hl_typedef" href="_core_8h.html#a8f95e75e58492e87412191fabadd8ca8">uint32</a> inHandle) <span class="keyword">const</span>;</div>
    327. 

  327. <div class="line"><a id="l00377" name="l00377"></a><span class="lineno">  377</span> </div>
    328. 

  328. <div class="line"><a id="l00379" name="l00379"></a><span class="lineno">  379</span>        <span class="keyword">const</span> BPKeyValue *      Find(<span class="keyword">const</span> <a class="code hl_struct" href="struct_body_pair.html">BodyPair</a> &amp;inKey, <a class="code hl_typedef" href="_core_8h.html#a60e8696a4678cd348e991a1f172e53f7">uint64</a> inKeyHash) <span class="keyword">const</span>;</div>
    329. 

  329. <div class="line"><a id="l00380" name="l00380"></a><span class="lineno">  380</span>        BPKeyValue *            Create(ContactAllocator &amp;ioContactAllocator, <span class="keyword">const</span> <a class="code hl_struct" href="struct_body_pair.html">BodyPair</a> &amp;inKey, <a class="code hl_typedef" href="_core_8h.html#a60e8696a4678cd348e991a1f172e53f7">uint64</a> inKeyHash);</div>
    330. 

  330. <div class="line"><a id="l00381" name="l00381"></a><span class="lineno">  381</span>        <span class="keywordtype">void</span>                    GetAllBodyPairsSorted(<a class="code hl_class" href="class_array.html">Array&lt;const BPKeyValue *&gt;</a> &amp;outAll) <span class="keyword">const</span>;</div>
    331. 

  331. <div class="line"><a id="l00382" name="l00382"></a><span class="lineno">  382</span>        <span class="keywordtype">void</span>                    GetAllManifoldsSorted(<span class="keyword">const</span> CachedBodyPair &amp;inBodyPair, <a class="code hl_class" href="class_array.html">Array&lt;const MKeyValue *&gt;</a> &amp;outAll) <span class="keyword">const</span>;</div>
    332. 

  332. <div class="line"><a id="l00383" name="l00383"></a><span class="lineno">  383</span>        <span class="keywordtype">void</span>                    GetAllCCDManifoldsSorted(<a class="code hl_class" href="class_array.html">Array&lt;const MKeyValue *&gt;</a> &amp;outAll) <span class="keyword">const</span>;</div>
    333. 

  333. <div class="line"><a id="l00384" name="l00384"></a><span class="lineno">  384</span>        <span class="keywordtype">void</span>                    ContactPointRemovedCallbacks(<a class="code hl_class" href="class_contact_listener.html">ContactListener</a> *inListener);</div>
    334. 

  334. <div class="line"><a id="l00385" name="l00385"></a><span class="lineno">  385</span> </div>
    335. 

  335. <div class="line"><a id="l00386" name="l00386"></a><span class="lineno">  386</span><span class="preprocessor">#ifdef JPH_ENABLE_ASSERTS</span></div>
    336. 

  336. <div class="line"><a id="l00388" name="l00388"></a><span class="lineno">  388</span>        <a class="code hl_typedef" href="_core_8h.html#a69aa29b598b851b0640aa225a9e5d61d">uint</a>                    GetNumManifolds()<span class="keyword"> const                     </span>{ <span class="keywordflow">return</span> mCachedManifolds.GetNumKeyValues(); }</div>
    337. 

  337. <div class="line"><a id="l00389" name="l00389"></a><span class="lineno">  389</span> </div>
    338. 

  338. <div class="line"><a id="l00391" name="l00391"></a><span class="lineno">  391</span>        <a class="code hl_typedef" href="_core_8h.html#a69aa29b598b851b0640aa225a9e5d61d">uint</a>                    GetNumBodyPairs()<span class="keyword"> const                     </span>{ <span class="keywordflow">return</span> mCachedBodyPairs.GetNumKeyValues(); }</div>
    339. 

  339. <div class="line"><a id="l00392" name="l00392"></a><span class="lineno">  392</span> </div>
    340. 

  340. <div class="line"><a id="l00394" name="l00394"></a><span class="lineno">  394</span>        <span class="keywordtype">void</span>                    Finalize();</div>
    341. 

  341. <div class="line"><a id="l00395" name="l00395"></a><span class="lineno">  395</span><span class="preprocessor">#endif</span></div>
    342. 

  342. <div class="line"><a id="l00396" name="l00396"></a><span class="lineno">  396</span> </div>
    343. 

  343. <div class="line"><a id="l00398" name="l00398"></a><span class="lineno">  398</span>        <span class="keywordtype">void</span>                    SaveState(<a class="code hl_class" href="class_state_recorder.html">StateRecorder</a> &amp;inStream, <span class="keyword">const</span> <a class="code hl_class" href="class_state_recorder_filter.html">StateRecorderFilter</a> *inFilter) <span class="keyword">const</span>;</div>
    344. 

  344. <div class="line"><a id="l00399" name="l00399"></a><span class="lineno">  399</span>        <span class="keywordtype">bool</span>                    RestoreState(<span class="keyword">const</span> ManifoldCache &amp;inReadCache, <a class="code hl_class" href="class_state_recorder.html">StateRecorder</a> &amp;inStream, <span class="keyword">const</span> <a class="code hl_class" href="class_state_recorder_filter.html">StateRecorderFilter</a> *inFilter);</div>
    345. 

  345. <div class="line"><a id="l00400" name="l00400"></a><span class="lineno">  400</span> </div>
    346. 

  346. <div class="line"><a id="l00401" name="l00401"></a><span class="lineno">  401</span>    <span class="keyword">private</span>:</div>
    347. 

  347. <div class="line"><a id="l00403" name="l00403"></a><span class="lineno">  403</span>        <span class="keyword">static</span> <span class="keyword">constexpr</span> <a class="code hl_typedef" href="_core_8h.html#a8f95e75e58492e87412191fabadd8ca8">uint32</a> cAllocatorBlockSize = 4096;</div>
    348. 

  348. <div class="line"><a id="l00404" name="l00404"></a><span class="lineno">  404</span> </div>
    349. 

  349. <div class="line"><a id="l00406" name="l00406"></a><span class="lineno">  406</span>        <a class="code hl_class" href="class_l_f_h_m_allocator.html">LFHMAllocator</a>           mAllocator;</div>
    350. 

  350. <div class="line"><a id="l00407" name="l00407"></a><span class="lineno">  407</span> </div>
    351. 

  351. <div class="line"><a id="l00409" name="l00409"></a><span class="lineno">  409</span>        ManifoldMap             mCachedManifolds { mAllocator };</div>
    352. 

  352. <div class="line"><a id="l00410" name="l00410"></a><span class="lineno">  410</span> </div>
    353. 

  353. <div class="line"><a id="l00412" name="l00412"></a><span class="lineno">  412</span>        BodyPairMap             mCachedBodyPairs { mAllocator };</div>
    354. 

  354. <div class="line"><a id="l00413" name="l00413"></a><span class="lineno">  413</span> </div>
    355. 

  355. <div class="line"><a id="l00414" name="l00414"></a><span class="lineno">  414</span><span class="preprocessor">#ifdef JPH_ENABLE_ASSERTS</span></div>
    356. 

  356. <div class="line"><a id="l00415" name="l00415"></a><span class="lineno">  415</span>        <span class="keywordtype">bool</span>                    mIsFinalized = <span class="keyword">false</span>;                       </div>
    357. 

  357. <div class="line"><a id="l00416" name="l00416"></a><span class="lineno">  416</span><span class="preprocessor">#endif</span></div>
    358. 

  358. <div class="line"><a id="l00417" name="l00417"></a><span class="lineno">  417</span>    };</div>
    359. 

  359. <div class="line"><a id="l00418" name="l00418"></a><span class="lineno">  418</span> </div>
    360. 

  360. <div class="line"><a id="l00419" name="l00419"></a><span class="lineno">  419</span>    ManifoldCache               mCache[2];                                  </div>
    361. 

  361. <div class="line"><a id="l00420" name="l00420"></a><span class="lineno">  420</span>    <span class="keywordtype">int</span>                         mCacheWriteIdx = 0;                         </div>
    362. 

  362. <div class="line"><a id="l00421" name="l00421"></a><span class="lineno">  421</span> </div>
    363. 

  363. <div class="line"><a id="l00423" name="l00423"></a><span class="lineno">  423</span>    <span class="keyword">class </span>WorldContactPoint</div>
    364. 

  364. <div class="line"><a id="l00424" name="l00424"></a><span class="lineno">  424</span>    {</div>
    365. 

  365. <div class="line"><a id="l00425" name="l00425"></a><span class="lineno">  425</span>    <span class="keyword">public</span>:</div>
    366. 

  366. <div class="line"><a id="l00427" name="l00427"></a><span class="lineno">  427</span>        <span class="keywordtype">void</span>                    CalculateNonPenetrationConstraintProperties(<span class="keyword">const</span> <a class="code hl_class" href="class_body.html">Body</a> &amp;inBody1, <span class="keywordtype">float</span> inInvMass1, <span class="keywordtype">float</span> inInvInertiaScale1, <span class="keyword">const</span> <a class="code hl_class" href="class_body.html">Body</a> &amp;inBody2, <span class="keywordtype">float</span> inInvMass2, <span class="keywordtype">float</span> inInvInertiaScale2, <a class="code hl_class" href="class_vec3.html">RVec3Arg</a> inWorldSpacePosition1, <a class="code hl_class" href="class_vec3.html">RVec3Arg</a> inWorldSpacePosition2, <a class="code hl_class" href="class_vec3.html">Vec3Arg</a> inWorldSpaceNormal);</div>
    367. 

  367. <div class="line"><a id="l00428" name="l00428"></a><span class="lineno">  428</span> </div>
    368. 

  368. <div class="line"><a id="l00429" name="l00429"></a><span class="lineno">  429</span>        <span class="keyword">template</span> &lt;EMotionType Type1, EMotionType Type2&gt;</div>
    369. 

  369. <div class="line"><a id="l00430" name="l00430"></a><span class="lineno">  430</span>        JPH_INLINE <span class="keywordtype">void</span>         TemplatedCalculateFrictionAndNonPenetrationConstraintProperties(<span class="keywordtype">float</span> inDeltaTime, <span class="keywordtype">float</span> inGravityDeltaTimeDotNormal, <span class="keyword">const</span> <a class="code hl_class" href="class_body.html">Body</a> &amp;inBody1, <span class="keyword">const</span> <a class="code hl_class" href="class_body.html">Body</a> &amp;inBody2, <span class="keywordtype">float</span> inInvM1, <span class="keywordtype">float</span> inInvM2, <a class="code hl_class" href="class_mat44.html">Mat44Arg</a> inInvI1, <a class="code hl_class" href="class_mat44.html">Mat44Arg</a> inInvI2, <a class="code hl_class" href="class_vec3.html">RVec3Arg</a> inWorldSpacePosition1, <a class="code hl_class" href="class_vec3.html">RVec3Arg</a> inWorldSpacePosition2, <a class="code hl_class" href="class_vec3.html">Vec3Arg</a> inWorldSpaceNormal, <a class="code hl_class" href="class_vec3.html">Vec3Arg</a> inWorldSpaceTangent1, <a class="code hl_class" href="class_vec3.html">Vec3Arg</a> inWorldSpaceTangent2, <span class="keyword">const</span> <a class="code hl_class" href="class_contact_settings.html">ContactSettings</a> &amp;inSettings, <span class="keywordtype">float</span> inMinVelocityForRestitution);</div>
    370. 

  370. <div class="line"><a id="l00431" name="l00431"></a><span class="lineno">  431</span> </div>
    371. 

  371. <div class="line"><a id="l00433" name="l00433"></a><span class="lineno">  433</span>        <a class="code hl_class" href="class_axis_constraint_part.html">AxisConstraintPart</a>      mNonPenetrationConstraint;</div>
    372. 

  372. <div class="line"><a id="l00434" name="l00434"></a><span class="lineno">  434</span>        <a class="code hl_class" href="class_axis_constraint_part.html">AxisConstraintPart</a>      mFrictionConstraint1;</div>
    373. 

  373. <div class="line"><a id="l00435" name="l00435"></a><span class="lineno">  435</span>        <a class="code hl_class" href="class_axis_constraint_part.html">AxisConstraintPart</a>      mFrictionConstraint2;</div>
    374. 

  374. <div class="line"><a id="l00436" name="l00436"></a><span class="lineno">  436</span> </div>
    375. 

  375. <div class="line"><a id="l00438" name="l00438"></a><span class="lineno">  438</span>        CachedContactPoint *    mContactPoint;</div>
    376. 

  376. <div class="line"><a id="l00439" name="l00439"></a><span class="lineno">  439</span>    };</div>
    377. 

  377. <div class="line"><a id="l00440" name="l00440"></a><span class="lineno">  440</span> </div>
    378. 

  378. <div class="line"><a id="l00441" name="l00441"></a><span class="lineno">  441</span>    <span class="keyword">using </span>WorldContactPoints = <a class="code hl_class" href="class_static_array.html">StaticArray&lt;WorldContactPoint, MaxContactPoints&gt;</a>;</div>
    379. 

  379. <div class="line"><a id="l00442" name="l00442"></a><span class="lineno">  442</span> </div>
    380. 

  380. <div class="line"><a id="l00444" name="l00444"></a><span class="lineno">  444</span>    <span class="keyword">class </span>ContactConstraint</div>
    381. 

  381. <div class="line"><a id="l00445" name="l00445"></a><span class="lineno">  445</span>    {</div>
    382. 

  382. <div class="line"><a id="l00446" name="l00446"></a><span class="lineno">  446</span>    <span class="keyword">public</span>:</div>
    383. 

  383. <div class="line"><a id="l00447" name="l00447"></a><span class="lineno">  447</span><span class="preprocessor">    #ifdef JPH_DEBUG_RENDERER</span></div>
    384. 

  384. <div class="line"><a id="l00449" name="l00449"></a><span class="lineno">  449</span>        <span class="keywordtype">void</span>                    Draw(<a class="code hl_class" href="class_debug_renderer.html">DebugRenderer</a> *inRenderer, <a class="code hl_class" href="class_color.html">ColorArg</a> inManifoldColor) <span class="keyword">const</span>;</div>
    385. 

  385. <div class="line"><a id="l00450" name="l00450"></a><span class="lineno">  450</span><span class="preprocessor">    #endif </span><span class="comment">// JPH_DEBUG_RENDERER</span></div>
    386. 

  386. <div class="line"><a id="l00451" name="l00451"></a><span class="lineno">  451</span> </div>
    387. 

  387. <div class="line"><a id="l00453" name="l00453"></a><span class="lineno">  453</span>        JPH_INLINE <a class="code hl_class" href="class_vec3.html">Vec3</a>         GetWorldSpaceNormal()<span class="keyword"> const</span></div>
    388. 

  388. <div class="line"><a id="l00454" name="l00454"></a><span class="lineno">  454</span><span class="keyword">        </span>{</div>
    389. 

  389. <div class="line"><a id="l00455" name="l00455"></a><span class="lineno">  455</span>            <span class="keywordflow">return</span> <a class="code hl_function" href="class_vec3.html#aea30fe731618ffa249ecdcba2c66ab4e">Vec3::sLoadFloat3Unsafe</a>(mWorldSpaceNormal);</div>
    390. 

  390. <div class="line"><a id="l00456" name="l00456"></a><span class="lineno">  456</span>        }</div>
    391. 

  391. <div class="line"><a id="l00457" name="l00457"></a><span class="lineno">  457</span> </div>
    392. 

  392. <div class="line"><a id="l00459" name="l00459"></a><span class="lineno">  459</span>        JPH_INLINE <span class="keywordtype">void</span>         GetTangents(<a class="code hl_class" href="class_vec3.html">Vec3</a> &amp;outTangent1, <a class="code hl_class" href="class_vec3.html">Vec3</a> &amp;outTangent2)<span class="keyword"> const</span></div>
    393. 

  393. <div class="line"><a id="l00460" name="l00460"></a><span class="lineno">  460</span><span class="keyword">        </span>{</div>
    394. 

  394. <div class="line"><a id="l00461" name="l00461"></a><span class="lineno">  461</span>            <a class="code hl_class" href="class_vec3.html">Vec3</a> ws_normal = GetWorldSpaceNormal();</div>
    395. 

  395. <div class="line"><a id="l00462" name="l00462"></a><span class="lineno">  462</span>            outTangent1 = ws_normal.<a class="code hl_function" href="class_vec3.html#a24a96972fdbe04ae9a3e340fd4c39b81">GetNormalizedPerpendicular</a>();</div>
    396. 

  396. <div class="line"><a id="l00463" name="l00463"></a><span class="lineno">  463</span>            outTangent2 = ws_normal.<a class="code hl_function" href="class_vec3.html#a224811af391ccfd1e05282eda22d1de8">Cross</a>(outTangent1);</div>
    397. 

  397. <div class="line"><a id="l00464" name="l00464"></a><span class="lineno">  464</span>        }</div>
    398. 

  398. <div class="line"><a id="l00465" name="l00465"></a><span class="lineno">  465</span> </div>
    399. 

  399. <div class="line"><a id="l00466" name="l00466"></a><span class="lineno">  466</span>        <a class="code hl_class" href="class_body.html">Body</a> *                  mBody1;</div>
    400. 

  400. <div class="line"><a id="l00467" name="l00467"></a><span class="lineno">  467</span>        <a class="code hl_class" href="class_body.html">Body</a> *                  mBody2;</div>
    401. 

  401. <div class="line"><a id="l00468" name="l00468"></a><span class="lineno">  468</span>        <a class="code hl_typedef" href="_core_8h.html#a60e8696a4678cd348e991a1f172e53f7">uint64</a>                  mSortKey;</div>
    402. 

  402. <div class="line"><a id="l00469" name="l00469"></a><span class="lineno">  469</span>        <a class="code hl_class" href="class_float3.html">Float3</a>                  mWorldSpaceNormal;</div>
    403. 

  403. <div class="line"><a id="l00470" name="l00470"></a><span class="lineno">  470</span>        <span class="keywordtype">float</span>                   mCombinedFriction;</div>
    404. 

  404. <div class="line"><a id="l00471" name="l00471"></a><span class="lineno">  471</span>        <span class="keywordtype">float</span>                   mInvMass1;</div>
    405. 

  405. <div class="line"><a id="l00472" name="l00472"></a><span class="lineno">  472</span>        <span class="keywordtype">float</span>                   mInvInertiaScale1;</div>
    406. 

  406. <div class="line"><a id="l00473" name="l00473"></a><span class="lineno">  473</span>        <span class="keywordtype">float</span>                   mInvMass2;</div>
    407. 

  407. <div class="line"><a id="l00474" name="l00474"></a><span class="lineno">  474</span>        <span class="keywordtype">float</span>                   mInvInertiaScale2;</div>
    408. 

  408. <div class="line"><a id="l00475" name="l00475"></a><span class="lineno">  475</span>        WorldContactPoints      mContactPoints;</div>
    409. 

  409. <div class="line"><a id="l00476" name="l00476"></a><span class="lineno">  476</span>    };</div>
    410. 

  410. <div class="line"><a id="l00477" name="l00477"></a><span class="lineno">  477</span> </div>
    411. 

  411. <div class="line"><a id="l00478" name="l00478"></a><span class="lineno">  478</span><span class="keyword">public</span>:</div>
    412. 

  412. <div class="line"><a id="l00480" name="l00480"></a><span class="lineno"><a class="line" href="class_contact_constraint_manager.html#ab7c0537666b9da75d92086dcc20804da">  480</a></span>    <span class="keyword">static</span> <span class="keyword">constexpr</span> <a class="code hl_typedef" href="_core_8h.html#a69aa29b598b851b0640aa225a9e5d61d">uint</a>       cMaxContactConstraintsLimit = <a class="code hl_typedef" href="_core_8h.html#a69aa29b598b851b0640aa225a9e5d61d">~uint</a>(0) / <span class="keyword">sizeof</span>(ContactConstraint);</div>
    413. 

  413. <div class="line"><a id="l00481" name="l00481"></a><span class="lineno">  481</span> </div>
    414. 

  414. <div class="line"><a id="l00483" name="l00483"></a><span class="lineno"><a class="line" href="class_contact_constraint_manager.html#ae8752f9dc2598bcc1449924bf105ede6">  483</a></span>    <span class="keyword">static</span> <span class="keyword">constexpr</span> <a class="code hl_typedef" href="_core_8h.html#a69aa29b598b851b0640aa225a9e5d61d">uint</a>       cMaxBodyPairsLimit = <a class="code hl_typedef" href="_core_8h.html#a69aa29b598b851b0640aa225a9e5d61d">~uint</a>(0) / <span class="keyword">sizeof</span>(BodyPairMap::KeyValue);</div>
    415. 

  415. <div class="line"><a id="l00484" name="l00484"></a><span class="lineno">  484</span> </div>
    416. 

  416. <div class="line"><a id="l00485" name="l00485"></a><span class="lineno">  485</span><span class="keyword">private</span>:</div>
    417. 

  417. <div class="line"><a id="l00487" name="l00487"></a><span class="lineno">  487</span>    <span class="keyword">template</span> &lt;EMotionType Type1, EMotionType Type2&gt;</div>
    418. 

  418. <div class="line"><a id="l00488" name="l00488"></a><span class="lineno">  488</span>    JPH_INLINE <span class="keywordtype">void</span>             TemplatedCalculateFrictionAndNonPenetrationConstraintProperties(ContactConstraint &amp;ioConstraint, <span class="keyword">const</span> <a class="code hl_class" href="class_contact_settings.html">ContactSettings</a> &amp;inSettings, <span class="keywordtype">float</span> inDeltaTime, <a class="code hl_class" href="class_vec3.html">Vec3Arg</a> inGravityDeltaTime, <a class="code hl_class" href="class_mat44.html">RMat44Arg</a> inTransformBody1, <a class="code hl_class" href="class_mat44.html">RMat44Arg</a> inTransformBody2, <span class="keyword">const</span> <a class="code hl_class" href="class_body.html">Body</a> &amp;inBody1, <span class="keyword">const</span> <a class="code hl_class" href="class_body.html">Body</a> &amp;inBody2);</div>
    419. 

  419. <div class="line"><a id="l00489" name="l00489"></a><span class="lineno">  489</span> </div>
    420. 

  420. <div class="line"><a id="l00491" name="l00491"></a><span class="lineno">  491</span>    <span class="keyword">inline</span> <span class="keywordtype">void</span>                 CalculateFrictionAndNonPenetrationConstraintProperties(ContactConstraint &amp;ioConstraint, <span class="keyword">const</span> <a class="code hl_class" href="class_contact_settings.html">ContactSettings</a> &amp;inSettings, <span class="keywordtype">float</span> inDeltaTime, <a class="code hl_class" href="class_vec3.html">Vec3Arg</a> inGravityDeltaTime, <a class="code hl_class" href="class_mat44.html">RMat44Arg</a> inTransformBody1, <a class="code hl_class" href="class_mat44.html">RMat44Arg</a> inTransformBody2, <span class="keyword">const</span> <a class="code hl_class" href="class_body.html">Body</a> &amp;inBody1, <span class="keyword">const</span> <a class="code hl_class" href="class_body.html">Body</a> &amp;inBody2);</div>
    421. 

  421. <div class="line"><a id="l00492" name="l00492"></a><span class="lineno">  492</span> </div>
    422. 

  422. <div class="line"><a id="l00494" name="l00494"></a><span class="lineno">  494</span>    <span class="keyword">template</span> &lt;EMotionType Type1, EMotionType Type2&gt;</div>
    423. 

  423. <div class="line"><a id="l00495" name="l00495"></a><span class="lineno">  495</span>    <span class="keywordtype">bool</span>                        TemplatedAddContactConstraint(<a class="code hl_class" href="class_contact_constraint_manager_1_1_contact_allocator.html">ContactAllocator</a> &amp;ioContactAllocator, <a class="code hl_typedef" href="class_contact_constraint_manager.html#a5d7bb30c442d466ba19b92f8b5ffb754">BodyPairHandle</a> inBodyPairHandle, <a class="code hl_class" href="class_body.html">Body</a> &amp;inBody1, <a class="code hl_class" href="class_body.html">Body</a> &amp;inBody2, <span class="keyword">const</span> <a class="code hl_class" href="class_contact_manifold.html">ContactManifold</a> &amp;inManifold);</div>
    424. 

  424. <div class="line"><a id="l00496" name="l00496"></a><span class="lineno">  496</span> </div>
    425. 

  425. <div class="line"><a id="l00498" name="l00498"></a><span class="lineno">  498</span>    <span class="keyword">template</span> &lt;EMotionType Type1, EMotionType Type2&gt;</div>
    426. 

  426. <div class="line"><a id="l00499" name="l00499"></a><span class="lineno">  499</span>    JPH_INLINE <span class="keyword">static</span> <span class="keywordtype">void</span>      sWarmStartConstraint(ContactConstraint &amp;ioConstraint, <a class="code hl_class" href="class_motion_properties.html">MotionProperties</a> *ioMotionProperties1, <a class="code hl_class" href="class_motion_properties.html">MotionProperties</a> *ioMotionProperties2, <span class="keywordtype">float</span> inWarmStartImpulseRatio);</div>
    427. 

  427. <div class="line"><a id="l00500" name="l00500"></a><span class="lineno">  500</span> </div>
    428. 

  428. <div class="line"><a id="l00502" name="l00502"></a><span class="lineno">  502</span>    <span class="keyword">template</span> &lt;EMotionType Type1, EMotionType Type2&gt;</div>
    429. 

  429. <div class="line"><a id="l00503" name="l00503"></a><span class="lineno">  503</span>    JPH_INLINE <span class="keyword">static</span> <span class="keywordtype">bool</span>      sSolveVelocityConstraint(ContactConstraint &amp;ioConstraint, <a class="code hl_class" href="class_motion_properties.html">MotionProperties</a> *ioMotionProperties1, <a class="code hl_class" href="class_motion_properties.html">MotionProperties</a> *ioMotionProperties2);</div>
    430. 

  430. <div class="line"><a id="l00504" name="l00504"></a><span class="lineno">  504</span> </div>
    431. 

  431. <div class="line"><a id="l00506" name="l00506"></a><span class="lineno">  506</span>    <span class="keyword">const</span> <a class="code hl_struct" href="struct_physics_settings.html">PhysicsSettings</a> &amp;     mPhysicsSettings;</div>
    432. 

  432. <div class="line"><a id="l00507" name="l00507"></a><span class="lineno">  507</span> </div>
    433. 

  433. <div class="line"><a id="l00509" name="l00509"></a><span class="lineno">  509</span>    <a class="code hl_class" href="class_contact_listener.html">ContactListener</a> *           mContactListener = <span class="keyword">nullptr</span>;</div>
    434. 

  434. <div class="line"><a id="l00510" name="l00510"></a><span class="lineno">  510</span> </div>
    435. 

  435. <div class="line"><a id="l00512" name="l00512"></a><span class="lineno">  512</span>    <a class="code hl_typedef" href="class_contact_constraint_manager.html#ad0b40a0f57d994f32b069744541fce56">CombineFunction</a>             mCombineFriction = [](<span class="keyword">const</span> <a class="code hl_class" href="class_body.html">Body</a> &amp;inBody1, <span class="keyword">const</span> <a class="code hl_class" href="class_sub_shape_i_d.html">SubShapeID</a> &amp;, <span class="keyword">const</span> <a class="code hl_class" href="class_body.html">Body</a> &amp;inBody2, <span class="keyword">const</span> <a class="code hl_class" href="class_sub_shape_i_d.html">SubShapeID</a> &amp;) { <span class="keywordflow">return</span> sqrt(inBody1.<a class="code hl_function" href="class_body.html#abb35a0778672e9f3622d8cfa93b428b3">GetFriction</a>() * inBody2.GetFriction()); };</div>
    436. 

  436. <div class="line"><a id="l00513" name="l00513"></a><span class="lineno">  513</span>    CombineFunction             mCombineRestitution = [](<span class="keyword">const</span> <a class="code hl_class" href="class_body.html">Body</a> &amp;inBody1, <span class="keyword">const</span> <a class="code hl_class" href="class_sub_shape_i_d.html">SubShapeID</a> &amp;, <span class="keyword">const</span> <a class="code hl_class" href="class_body.html">Body</a> &amp;inBody2, <span class="keyword">const</span> <a class="code hl_class" href="class_sub_shape_i_d.html">SubShapeID</a> &amp;) { <span class="keywordflow">return</span> max(inBody1.<a class="code hl_function" href="class_body.html#a5657cc63a5fd9ee1e4a8408ac51affcc">GetRestitution</a>(), inBody2.GetRestitution()); };</div>
    437. 

  437. <div class="line"><a id="l00514" name="l00514"></a><span class="lineno">  514</span> </div>
    438. 

  438. <div class="line"><a id="l00516" name="l00516"></a><span class="lineno">  516</span>    ContactConstraint *         mConstraints = <span class="keyword">nullptr</span>;</div>
    439. 

  439. <div class="line"><a id="l00517" name="l00517"></a><span class="lineno">  517</span>    <a class="code hl_typedef" href="_core_8h.html#a8f95e75e58492e87412191fabadd8ca8">uint32</a>                      mMaxConstraints = 0;</div>
    440. 

  440. <div class="line"><a id="l00518" name="l00518"></a><span class="lineno">  518</span>    atomic&lt;uint32&gt;              mNumConstraints { 0 };</div>
    441. 

  441. <div class="line"><a id="l00519" name="l00519"></a><span class="lineno">  519</span> </div>
    442. 

  442. <div class="line"><a id="l00521" name="l00521"></a><span class="lineno">  521</span>    PhysicsUpdateContext *      mUpdateContext;</div>
    443. 

  443. <div class="line"><a id="l00522" name="l00522"></a><span class="lineno">  522</span>};</div>
    444. 

  444. </div>
    445. 

  445. <div class="line"><a id="l00523" name="l00523"></a><span class="lineno">  523</span> </div>
    446. 

  446. <div class="line"><a id="l00524" name="l00524"></a><span class="lineno">  524</span><a class="code hl_define" href="_core_8h.html#a73da8725998b00321a9db341202d650d">JPH_NAMESPACE_END</a></div>
    447. 

  447. <div class="ttc" id="a_axis_constraint_part_8h_html"><div class="ttname"><a href="_axis_constraint_part_8h.html">AxisConstraintPart.h</a></div></div>
    448. 

  448. <div class="ttc" id="a_body_pair_8h_html"><div class="ttname"><a href="_body_pair_8h.html">BodyPair.h</a></div></div>
    449. 

  449. <div class="ttc" id="a_contact_listener_8h_html_a996dd20903cf7428fc11a70e8676b93c"><div class="ttname"><a href="_contact_listener_8h.html#a996dd20903cf7428fc11a70e8676b93c">ValidateResult</a></div><div class="ttdeci">ValidateResult</div><div class="ttdef"><b>Definition</b> ContactListener.h:57</div></div>
    450. 

  450. <div class="ttc" id="a_contact_listener_8h_html_a996dd20903cf7428fc11a70e8676b93ca8796185ae90c58f159c3940f24112507"><div class="ttname"><a href="_contact_listener_8h.html#a996dd20903cf7428fc11a70e8676b93ca8796185ae90c58f159c3940f24112507">ValidateResult::AcceptAllContactsForThisBodyPair</a></div><div class="ttdeci">@ AcceptAllContactsForThisBodyPair</div><div class="ttdoc">Accept this and any further contact points for this body pair.</div></div>
    451. 

  451. <div class="ttc" id="a_core_8h_html_a2712a9b0f778ab9d1aa5118b4e8e6bd8"><div class="ttname"><a href="_core_8h.html#a2712a9b0f778ab9d1aa5118b4e8e6bd8">JPH_EXPORT</a></div><div class="ttdeci">#define JPH_EXPORT</div><div class="ttdef"><b>Definition</b> Core.h:275</div></div>
    452. 

  452. <div class="ttc" id="a_core_8h_html_a4ac413403e9ca00d24a3e2f244cf5456"><div class="ttname"><a href="_core_8h.html#a4ac413403e9ca00d24a3e2f244cf5456">JPH_SUPPRESS_WARNINGS_STD_BEGIN</a></div><div class="ttdeci">#define JPH_SUPPRESS_WARNINGS_STD_BEGIN</div><div class="ttdef"><b>Definition</b> Core.h:430</div></div>
    453. 

  453. <div class="ttc" id="a_core_8h_html_a5f6b64537a538d9204b253532b799467"><div class="ttname"><a href="_core_8h.html#a5f6b64537a538d9204b253532b799467">JPH_SUPPRESS_WARNINGS_STD_END</a></div><div class="ttdeci">#define JPH_SUPPRESS_WARNINGS_STD_END</div><div class="ttdef"><b>Definition</b> Core.h:443</div></div>
    454. 

  454. <div class="ttc" id="a_core_8h_html_a60e8696a4678cd348e991a1f172e53f7"><div class="ttname"><a href="_core_8h.html#a60e8696a4678cd348e991a1f172e53f7">uint64</a></div><div class="ttdeci">std::uint64_t uint64</div><div class="ttdef"><b>Definition</b> Core.h:504</div></div>
    455. 

  455. <div class="ttc" id="a_core_8h_html_a69aa29b598b851b0640aa225a9e5d61d"><div class="ttname"><a href="_core_8h.html#a69aa29b598b851b0640aa225a9e5d61d">uint</a></div><div class="ttdeci">unsigned int uint</div><div class="ttdef"><b>Definition</b> Core.h:500</div></div>
    456. 

  456. <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:425</div></div>
    457. 

  457. <div class="ttc" id="a_core_8h_html_a8f95e75e58492e87412191fabadd8ca8"><div class="ttname"><a href="_core_8h.html#a8f95e75e58492e87412191fabadd8ca8">uint32</a></div><div class="ttdeci">std::uint32_t uint32</div><div class="ttdef"><b>Definition</b> Core.h:503</div></div>
    458. 

  458. <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:419</div></div>
    459. 

  459. <div class="ttc" id="a_core_8h_html_aea9840dd402bd5d5201bef4633398cb3"><div class="ttname"><a href="_core_8h.html#aea9840dd402bd5d5201bef4633398cb3">uint16</a></div><div class="ttdeci">std::uint16_t uint16</div><div class="ttdef"><b>Definition</b> Core.h:502</div></div>
    460. 

  460. <div class="ttc" id="a_dual_axis_constraint_part_8h_html"><div class="ttname"><a href="_dual_axis_constraint_part_8h.html">DualAxisConstraintPart.h</a></div></div>
    461. 

  461. <div class="ttc" id="a_e_physics_update_error_8h_html"><div class="ttname"><a href="_e_physics_update_error_8h.html">EPhysicsUpdateError.h</a></div></div>
    462. 

  462. <div class="ttc" id="a_e_physics_update_error_8h_html_a1df3f14c5cc9f3be49f239b17470aaa1"><div class="ttname"><a href="_e_physics_update_error_8h.html#a1df3f14c5cc9f3be49f239b17470aaa1">EPhysicsUpdateError</a></div><div class="ttdeci">EPhysicsUpdateError</div><div class="ttdoc">Enum used by PhysicsSystem to report error conditions during the PhysicsSystem::Update call....</div><div class="ttdef"><b>Definition</b> EPhysicsUpdateError.h:11</div></div>
    463. 

  463. <div class="ttc" id="a_e_physics_update_error_8h_html_a1df3f14c5cc9f3be49f239b17470aaa1a6adf97f83acf6453d4a6a4b1070f3754"><div class="ttname"><a href="_e_physics_update_error_8h.html#a1df3f14c5cc9f3be49f239b17470aaa1a6adf97f83acf6453d4a6a4b1070f3754">EPhysicsUpdateError::None</a></div><div class="ttdeci">@ None</div><div class="ttdoc">No errors.</div></div>
    464. 

  464. <div class="ttc" id="a_hash_combine_8h_html"><div class="ttname"><a href="_hash_combine_8h.html">HashCombine.h</a></div></div>
    465. 

  465. <div class="ttc" id="a_lock_free_hash_map_8h_html"><div class="ttname"><a href="_lock_free_hash_map_8h.html">LockFreeHashMap.h</a></div></div>
    466. 

  466. <div class="ttc" id="a_manifold_between_two_faces_8h_html"><div class="ttname"><a href="_manifold_between_two_faces_8h.html">ManifoldBetweenTwoFaces.h</a></div></div>
    467. 

  467. <div class="ttc" id="a_memory_8h_html_a91074fb218fe28954a0938c099ddd9e0"><div class="ttname"><a href="_memory_8h.html#a91074fb218fe28954a0938c099ddd9e0">JPH_OVERRIDE_NEW_DELETE</a></div><div class="ttdeci">#define JPH_OVERRIDE_NEW_DELETE</div><div class="ttdoc">Macro to override the new and delete functions.</div><div class="ttdef"><b>Definition</b> Memory.h:50</div></div>
    468. 

  468. <div class="ttc" id="a_non_copyable_8h_html"><div class="ttname"><a href="_non_copyable_8h.html">NonCopyable.h</a></div></div>
    469. 

  469. <div class="ttc" id="a_static_array_8h_html"><div class="ttname"><a href="_static_array_8h.html">StaticArray.h</a></div></div>
    470. 

  470. <div class="ttc" id="a_sub_shape_i_d_pair_8h_html"><div class="ttname"><a href="_sub_shape_i_d_pair_8h.html">SubShapeIDPair.h</a></div></div>
    471. 

  471. <div class="ttc" id="aclass_array_html"><div class="ttname"><a href="class_array.html">Array</a></div><div class="ttdef"><b>Definition</b> Array.h:36</div></div>
    472. 

  472. <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>
    473. 

  473. <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>
    474. 

  474. <div class="ttc" id="aclass_body_html_a5657cc63a5fd9ee1e4a8408ac51affcc"><div class="ttname"><a href="class_body.html#a5657cc63a5fd9ee1e4a8408ac51affcc">Body::GetRestitution</a></div><div class="ttdeci">float GetRestitution() const</div><div class="ttdoc">Restitution (dimensionless number, usually between 0 and 1, 0 = completely inelastic collision respon...</div><div class="ttdef"><b>Definition</b> Body.h:146</div></div>
    475. 

  475. <div class="ttc" id="aclass_body_html_abb35a0778672e9f3622d8cfa93b428b3"><div class="ttname"><a href="class_body.html#abb35a0778672e9f3622d8cfa93b428b3">Body::GetFriction</a></div><div class="ttdeci">float GetFriction() const</div><div class="ttdoc">Friction (dimensionless number, usually between 0 and 1, 0 = no friction, 1 = friction force equals f...</div><div class="ttdef"><b>Definition</b> Body.h:142</div></div>
    476. 

  476. <div class="ttc" id="aclass_body_i_d_html"><div class="ttname"><a href="class_body_i_d.html">BodyID</a></div><div class="ttdoc">ID of a body. This is a way of reasoning about bodies in a multithreaded simulation while avoiding ra...</div><div class="ttdef"><b>Definition</b> BodyID.h:13</div></div>
    477. 

  477. <div class="ttc" id="aclass_collide_shape_result_html"><div class="ttname"><a href="class_collide_shape_result.html">CollideShapeResult</a></div><div class="ttdoc">Class that contains all information of two colliding shapes.</div><div class="ttdef"><b>Definition</b> CollideShape.h:19</div></div>
    478. 

  478. <div class="ttc" id="aclass_color_html"><div class="ttname"><a href="class_color.html">Color</a></div><div class="ttdoc">Class that holds an RGBA color with 8-bits per component.</div><div class="ttdef"><b>Definition</b> Color.h:16</div></div>
    479. 

  479. <div class="ttc" id="aclass_contact_constraint_manager_1_1_contact_allocator_html"><div class="ttname"><a href="class_contact_constraint_manager_1_1_contact_allocator.html">ContactConstraintManager::ContactAllocator</a></div><div class="ttdoc">Contacts are allocated in a lock free hash map.</div><div class="ttdef"><b>Definition</b> ContactConstraintManager.h:83</div></div>
    480. 

  480. <div class="ttc" id="aclass_contact_constraint_manager_html"><div class="ttname"><a href="class_contact_constraint_manager.html">ContactConstraintManager</a></div><div class="ttdef"><b>Definition</b> ContactConstraintManager.h:31</div></div>
    481. 

  481. <div class="ttc" id="aclass_contact_constraint_manager_html_a1c775cdd66c1e6c3c86fff836b4bc8f6"><div class="ttname"><a href="class_contact_constraint_manager.html#a1c775cdd66c1e6c3c86fff836b4bc8f6">ContactConstraintManager::sDrawContactPoint</a></div><div class="ttdeci">static bool sDrawContactPoint</div><div class="ttdef"><b>Definition</b> ContactConstraintManager.h:247</div></div>
    482. 

  482. <div class="ttc" id="aclass_contact_constraint_manager_html_a2f9d4fe92f6b8a2952b51acb10f55258"><div class="ttname"><a href="class_contact_constraint_manager.html#a2f9d4fe92f6b8a2952b51acb10f55258">ContactConstraintManager::GetCombineFriction</a></div><div class="ttdeci">CombineFunction GetCombineFriction() const</div><div class="ttdef"><b>Definition</b> ContactConstraintManager.h:56</div></div>
    483. 

  483. <div class="ttc" id="aclass_contact_constraint_manager_html_a3e9f74aa49c583d6656430fa421326ab"><div class="ttname"><a href="class_contact_constraint_manager.html#a3e9f74aa49c583d6656430fa421326ab">ContactConstraintManager::GetCombineRestitution</a></div><div class="ttdeci">CombineFunction GetCombineRestitution() const</div><div class="ttdef"><b>Definition</b> ContactConstraintManager.h:61</div></div>
    484. 

  484. <div class="ttc" id="aclass_contact_constraint_manager_html_a4abd47f225871f02cd3a0c964106439d"><div class="ttname"><a href="class_contact_constraint_manager.html#a4abd47f225871f02cd3a0c964106439d">ContactConstraintManager::ValidateContactPoint</a></div><div class="ttdeci">ValidateResult ValidateContactPoint(const Body &amp;inBody1, const Body &amp;inBody2, RVec3Arg inBaseOffset, const CollideShapeResult &amp;inCollisionResult) const</div><div class="ttdoc">Check with the listener if inBody1 and inBody2 could collide, returns false if not.</div><div class="ttdef"><b>Definition</b> ContactConstraintManager.h:67</div></div>
    485. 

  485. <div class="ttc" id="aclass_contact_constraint_manager_html_a50938b07679f8a97fff61e98a209c87c"><div class="ttname"><a href="class_contact_constraint_manager.html#a50938b07679f8a97fff61e98a209c87c">ContactConstraintManager::GetMaxConstraints</a></div><div class="ttdeci">uint32 GetMaxConstraints() const</div><div class="ttdoc">Get the max number of contact constraints that are allowed.</div><div class="ttdef"><b>Definition</b> ContactConstraintManager.h:64</div></div>
    486. 

  486. <div class="ttc" id="aclass_contact_constraint_manager_html_a512778f011224018a58c7cdb04ec74df"><div class="ttname"><a href="class_contact_constraint_manager.html#a512778f011224018a58c7cdb04ec74df">ContactConstraintManager::sDrawContactPointReduction</a></div><div class="ttdeci">static bool sDrawContactPointReduction</div><div class="ttdef"><b>Definition</b> ContactConstraintManager.h:249</div></div>
    487. 

  487. <div class="ttc" id="aclass_contact_constraint_manager_html_a5d7bb30c442d466ba19b92f8b5ffb754"><div class="ttname"><a href="class_contact_constraint_manager.html#a5d7bb30c442d466ba19b92f8b5ffb754">ContactConstraintManager::BodyPairHandle</a></div><div class="ttdeci">void * BodyPairHandle</div><div class="ttdoc">Handle used to keep track of the current body pair.</div><div class="ttdef"><b>Definition</b> ContactConstraintManager.h:101</div></div>
    488. 

  488. <div class="ttc" id="aclass_contact_constraint_manager_html_a7aa47c7b4d7470e83735deb74eae608d"><div class="ttname"><a href="class_contact_constraint_manager.html#a7aa47c7b4d7470e83735deb74eae608d">ContactConstraintManager::GetContactListener</a></div><div class="ttdeci">ContactListener * GetContactListener() const</div><div class="ttdef"><b>Definition</b> ContactConstraintManager.h:46</div></div>
    489. 

  489. <div class="ttc" id="aclass_contact_constraint_manager_html_a7ffa89c50ba531470ecdfcfdbb073d5e"><div class="ttname"><a href="class_contact_constraint_manager.html#a7ffa89c50ba531470ecdfcfdbb073d5e">ContactConstraintManager::sDrawSupportingFaces</a></div><div class="ttdeci">static bool sDrawSupportingFaces</div><div class="ttdef"><b>Definition</b> ContactConstraintManager.h:248</div></div>
    490. 

  490. <div class="ttc" id="aclass_contact_constraint_manager_html_a81dea14ac1bd33f74a07085690095403"><div class="ttname"><a href="class_contact_constraint_manager.html#a81dea14ac1bd33f74a07085690095403">ContactConstraintManager::GetAffectedBodies</a></div><div class="ttdeci">void GetAffectedBodies(uint32 inConstraintIdx, const Body *&amp;outBody1, const Body *&amp;outBody2) const</div><div class="ttdoc">Get the affected bodies for a given constraint.</div><div class="ttdef"><b>Definition</b> ContactConstraintManager.h:167</div></div>
    491. 

  491. <div class="ttc" id="aclass_contact_constraint_manager_html_aad540014a518a8f5942842e1a347447f"><div class="ttname"><a href="class_contact_constraint_manager.html#aad540014a518a8f5942842e1a347447f">ContactConstraintManager::GetNumConstraints</a></div><div class="ttdeci">uint32 GetNumConstraints() const</div><div class="ttdoc">Get the number of contact constraints that were found.</div><div class="ttdef"><b>Definition</b> ContactConstraintManager.h:161</div></div>
    492. 

  492. <div class="ttc" id="aclass_contact_constraint_manager_html_aae82d70c097d2c5a514faebd73ee4873"><div class="ttname"><a href="class_contact_constraint_manager.html#aae82d70c097d2c5a514faebd73ee4873">ContactConstraintManager::SetCombineFriction</a></div><div class="ttdeci">void SetCombineFriction(CombineFunction inCombineFriction)</div><div class="ttdef"><b>Definition</b> ContactConstraintManager.h:55</div></div>
    493. 

  493. <div class="ttc" id="aclass_contact_constraint_manager_html_acf262d3235f4eea01cd2aa8a9a3bfe83"><div class="ttname"><a href="class_contact_constraint_manager.html#acf262d3235f4eea01cd2aa8a9a3bfe83">ContactConstraintManager::SetContactListener</a></div><div class="ttdeci">void SetContactListener(ContactListener *inListener)</div><div class="ttdoc">Listener that is notified whenever a contact point between two bodies is added/updated/removed.</div><div class="ttdef"><b>Definition</b> ContactConstraintManager.h:45</div></div>
    494. 

  494. <div class="ttc" id="aclass_contact_constraint_manager_html_ad0b40a0f57d994f32b069744541fce56"><div class="ttname"><a href="class_contact_constraint_manager.html#ad0b40a0f57d994f32b069744541fce56">ContactConstraintManager::CombineFunction</a></div><div class="ttdeci">float(*)(const Body &amp;inBody1, const SubShapeID &amp;inSubShapeID1, const Body &amp;inBody2, const SubShapeID &amp;inSubShapeID2) CombineFunction</div><div class="ttdef"><b>Definition</b> ContactConstraintManager.h:51</div></div>
    495. 

  495. <div class="ttc" id="aclass_contact_constraint_manager_html_ae324c787f7d2ab43ed3adb13d3e7f24e"><div class="ttname"><a href="class_contact_constraint_manager.html#ae324c787f7d2ab43ed3adb13d3e7f24e">ContactConstraintManager::SetCombineRestitution</a></div><div class="ttdeci">void SetCombineRestitution(CombineFunction inCombineRestitution)</div><div class="ttdef"><b>Definition</b> ContactConstraintManager.h:60</div></div>
    496. 

  496. <div class="ttc" id="aclass_contact_constraint_manager_html_ae52944ca4945e6255a0f31794cf2aed5"><div class="ttname"><a href="class_contact_constraint_manager.html#ae52944ca4945e6255a0f31794cf2aed5">ContactConstraintManager::GetContactAllocator</a></div><div class="ttdeci">ContactAllocator GetContactAllocator()</div><div class="ttdoc">Get a new allocator context for storing contacts. Note that you should call this once and then add mu...</div><div class="ttdef"><b>Definition</b> ContactConstraintManager.h:93</div></div>
    497. 

  497. <div class="ttc" id="aclass_contact_constraint_manager_html_af60346481284d7b7f232d9b7130ccbab"><div class="ttname"><a href="class_contact_constraint_manager.html#af60346481284d7b7f232d9b7130ccbab">ContactConstraintManager::sDrawContactManifolds</a></div><div class="ttdeci">static bool sDrawContactManifolds</div><div class="ttdef"><b>Definition</b> ContactConstraintManager.h:250</div></div>
    498. 

  498. <div class="ttc" id="aclass_contact_listener_html"><div class="ttname"><a href="class_contact_listener.html">ContactListener</a></div><div class="ttdef"><b>Definition</b> ContactListener.h:79</div></div>
    499. 

  499. <div class="ttc" id="aclass_contact_manifold_html"><div class="ttname"><a href="class_contact_manifold.html">ContactManifold</a></div><div class="ttdoc">Manifold class, describes the contact surface between two bodies.</div><div class="ttdef"><b>Definition</b> ContactListener.h:20</div></div>
    500. 

  500. <div class="ttc" id="aclass_contact_settings_html"><div class="ttname"><a href="class_contact_settings.html">ContactSettings</a></div><div class="ttdef"><b>Definition</b> ContactListener.h:41</div></div>
    501. 

  501. <div class="ttc" id="aclass_debug_renderer_html"><div class="ttname"><a href="class_debug_renderer.html">DebugRenderer</a></div><div class="ttdef"><b>Definition</b> DebugRenderer.h:47</div></div>
    502. 

  502. <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>
    503. 

  503. <div class="ttc" id="aclass_l_f_h_m_allocator_context_html"><div class="ttname"><a href="class_l_f_h_m_allocator_context.html">LFHMAllocatorContext</a></div><div class="ttdef"><b>Definition</b> LockFreeHashMap.h:49</div></div>
    504. 

  504. <div class="ttc" id="aclass_l_f_h_m_allocator_context_html_a4937e72fe7c08c45687b9deb3c3dba32"><div class="ttname"><a href="class_l_f_h_m_allocator_context.html#a4937e72fe7c08c45687b9deb3c3dba32">LFHMAllocatorContext::LFHMAllocatorContext</a></div><div class="ttdeci">LFHMAllocatorContext(LFHMAllocator &amp;inAllocator, uint32 inBlockSize)</div><div class="ttdoc">Construct a new allocator context.</div><div class="ttdef"><b>Definition</b> LockFreeHashMap.inl:80</div></div>
    505. 

  505. <div class="ttc" id="aclass_l_f_h_m_allocator_html"><div class="ttname"><a href="class_l_f_h_m_allocator.html">LFHMAllocator</a></div><div class="ttdoc">Allocator for a lock free hash map.</div><div class="ttdef"><b>Definition</b> LockFreeHashMap.h:14</div></div>
    506. 

  506. <div class="ttc" id="aclass_lock_free_hash_map_html"><div class="ttname"><a href="class_lock_free_hash_map.html">LockFreeHashMap</a></div><div class="ttdef"><b>Definition</b> LockFreeHashMap.h:72</div></div>
    507. 

  507. <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>
    508. 

  508. <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>
    509. 

  509. <div class="ttc" id="aclass_non_copyable_html"><div class="ttname"><a href="class_non_copyable.html">NonCopyable</a></div><div class="ttdoc">Class that makes another class non-copyable. Usage: Inherit from NonCopyable.</div><div class="ttdef"><b>Definition</b> NonCopyable.h:11</div></div>
    510. 

  510. <div class="ttc" id="aclass_state_recorder_filter_html"><div class="ttname"><a href="class_state_recorder_filter.html">StateRecorderFilter</a></div><div class="ttdoc">User callbacks that allow determining which parts of the simulation should be saved by a StateRecorde...</div><div class="ttdef"><b>Definition</b> StateRecorder.h:79</div></div>
    511. 

  511. <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>
    512. 

  512. <div class="ttc" id="aclass_static_array_html"><div class="ttname"><a href="class_static_array.html">StaticArray</a></div><div class="ttdoc">Simple variable length array backed by a fixed size buffer.</div><div class="ttdef"><b>Definition</b> StaticArray.h:14</div></div>
    513. 

  513. <div class="ttc" id="aclass_sub_shape_i_d_html"><div class="ttname"><a href="class_sub_shape_i_d.html">SubShapeID</a></div><div class="ttdoc">A sub shape id contains a path to an element (usually a triangle or other primitive type) of a compou...</div><div class="ttdef"><b>Definition</b> SubShapeID.h:23</div></div>
    514. 

  514. <div class="ttc" id="aclass_sub_shape_i_d_pair_html"><div class="ttname"><a href="class_sub_shape_i_d_pair.html">SubShapeIDPair</a></div><div class="ttdoc">A pair of bodies and their sub shape ID's. Can be used as a key in a map to find a contact point.</div><div class="ttdef"><b>Definition</b> SubShapeIDPair.h:15</div></div>
    515. 

  515. <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>
    516. 

  516. <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>
    517. 

  517. <div class="ttc" id="aclass_vec3_html_a24a96972fdbe04ae9a3e340fd4c39b81"><div class="ttname"><a href="class_vec3.html#a24a96972fdbe04ae9a3e340fd4c39b81">Vec3::GetNormalizedPerpendicular</a></div><div class="ttdeci">JPH_INLINE Vec3 GetNormalizedPerpendicular() const</div><div class="ttdoc">Get normalized vector that is perpendicular to this vector.</div><div class="ttdef"><b>Definition</b> Vec3.inl:827</div></div>
    518. 

  518. <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 &amp;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>
    519. 

  519. <div class="ttc" id="aclass_vector_html"><div class="ttname"><a href="class_vector.html">Vector</a></div><div class="ttdoc">Templatized vector class.</div><div class="ttdef"><b>Definition</b> Vector.h:12</div></div>
    520. 

  520. <div class="ttc" id="astruct_body_pair_html"><div class="ttname"><a href="struct_body_pair.html">BodyPair</a></div><div class="ttdoc">Structure that holds a body pair.</div><div class="ttdef"><b>Definition</b> BodyPair.h:14</div></div>
    521. 

  521. <div class="ttc" id="astruct_physics_settings_html"><div class="ttname"><a href="struct_physics_settings.html">PhysicsSettings</a></div><div class="ttdef"><b>Definition</b> PhysicsSettings.h:28</div></div>
    522. 

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