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

  111. <a href="_distance_constraint_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="_two_body_constraint_8h.html">Jolt/Physics/Constraints/TwoBodyConstraint.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="_axis_constraint_part_8h.html">Jolt/Physics/Constraints/ConstraintPart/AxisConstraintPart.h</a>&gt;</span></div>
    119. 

  119. <div class="line"><a id="l00009" name="l00009"></a><span class="lineno">    9</span> </div>
    120. 

  120. <div class="line"><a id="l00010" name="l00010"></a><span class="lineno">   10</span><a class="code hl_define" href="_core_8h.html#ad14098b68b8c44ea6112601031268405">JPH_NAMESPACE_BEGIN</a></div>
    121. 

  121. <div class="line"><a id="l00011" name="l00011"></a><span class="lineno">   11</span> </div>
    122. 

  122. <div class="foldopen" id="foldopen00013" data-start="{" data-end="};">
    123. 

  123. <div class="line"><a id="l00013" name="l00013"></a><span class="lineno"><a class="line" href="class_distance_constraint_settings.html">   13</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_distance_constraint_settings.html">DistanceConstraintSettings</a> final : <span class="keyword">public</span> <a class="code hl_class" href="class_two_body_constraint_settings.html">TwoBodyConstraintSettings</a></div>
    124. 

  124. <div class="line"><a id="l00014" name="l00014"></a><span class="lineno">   14</span>{</div>
    125. 

  125. <div class="line"><a id="l00015" name="l00015"></a><span class="lineno">   15</span>    <a class="code hl_define" href="_serializable_object_8h.html#ad80cbee2b256f570ee204534dec05da4">JPH_DECLARE_SERIALIZABLE_VIRTUAL</a>(<a class="code hl_define" href="_core_8h.html#a2712a9b0f778ab9d1aa5118b4e8e6bd8">JPH_EXPORT</a>, <a class="code hl_class" href="class_distance_constraint_settings.html">DistanceConstraintSettings</a>)</div>
    126. 

  126. <div class="line"><a id="l00016" name="l00016"></a><span class="lineno">   16</span> </div>
    127. 

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

  128. <div class="line"><a id="l00018" name="l00018"></a><span class="lineno">   18</span>    <span class="comment">// See: ConstraintSettings::SaveBinaryState</span></div>
    129. 

  129. <div class="line"><a id="l00019" name="l00019"></a><span class="lineno">   19</span>    <span class="keyword">virtual</span> <span class="keywordtype">void</span>                <a class="code hl_function" href="class_constraint_settings.html#a3123d8d5dc6b127c2d19c95f6fe23a74">SaveBinaryState</a>(<a class="code hl_class" href="class_stream_out.html">StreamOut</a> &amp;inStream) <span class="keyword">const override</span>;</div>
    130. 

  130. <div class="line"><a id="l00020" name="l00020"></a><span class="lineno">   20</span> </div>
    131. 

  131. <div class="line"><a id="l00022" name="l00022"></a><span class="lineno">   22</span>    <span class="keyword">virtual</span> <a class="code hl_class" href="class_two_body_constraint.html">TwoBodyConstraint</a> * <a class="code hl_function" href="class_two_body_constraint_settings.html#a42e353e736b0254b02008b050a28f55b">Create</a>(<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 override</span>;</div>
    132. 

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

  133. <div class="line"><a id="l00025" name="l00025"></a><span class="lineno"><a class="line" href="class_distance_constraint_settings.html#a09098a011c7b8061c47260953e49e48b">   25</a></span>    <a class="code hl_enumeration" href="_constraint_8h.html#a5951578637c20f8aad819c13ad09b1be">EConstraintSpace</a>            mSpace = <a class="code hl_enumvalue" href="_constraint_8h.html#a5951578637c20f8aad819c13ad09b1bea43c5bd4a88c440bd0862f954e4faa177">EConstraintSpace::WorldSpace</a>;</div>
    134. 

  134. <div class="line"><a id="l00026" name="l00026"></a><span class="lineno">   26</span> </div>
    135. 

  135. <div class="line"><a id="l00030" name="l00030"></a><span class="lineno"><a class="line" href="class_distance_constraint_settings.html#a8ca1134032fe38952fcf59be4329c939">   30</a></span>    <a class="code hl_class" href="class_vec3.html">RVec3</a>                       mPoint1 = <a class="code hl_function" href="class_vec3.html#ad03c52ab27761bc1e64e33c47632ba51">RVec3::sZero</a>();</div>
    136. 

  136. <div class="line"><a id="l00031" name="l00031"></a><span class="lineno">   31</span> </div>
    137. 

  137. <div class="line"><a id="l00033" name="l00033"></a><span class="lineno"><a class="line" href="class_distance_constraint_settings.html#a18e1fbea7cbb304ce9e86168c1845475">   33</a></span>    <a class="code hl_class" href="class_vec3.html">RVec3</a>                       mPoint2 = <a class="code hl_function" href="class_vec3.html#ad03c52ab27761bc1e64e33c47632ba51">RVec3::sZero</a>();</div>
    138. 

  138. <div class="line"><a id="l00034" name="l00034"></a><span class="lineno">   34</span> </div>
    139. 

  139. <div class="line"><a id="l00036" name="l00036"></a><span class="lineno"><a class="line" href="class_distance_constraint_settings.html#a7dd98fea4e812f9bc4168804c1bc4742">   36</a></span>    <span class="keywordtype">float</span>                       mMinDistance = -1.0f;</div>
    140. 

  140. <div class="line"><a id="l00037" name="l00037"></a><span class="lineno"><a class="line" href="class_distance_constraint_settings.html#a2535335c96322853cd8243a199ce54d1">   37</a></span>    <span class="keywordtype">float</span>                       mMaxDistance = -1.0f;</div>
    141. 

  141. <div class="line"><a id="l00038" name="l00038"></a><span class="lineno">   38</span> </div>
    142. 

  142. <div class="line"><a id="l00040" name="l00040"></a><span class="lineno"><a class="line" href="class_distance_constraint_settings.html#a09758da3857c1883a7fcd1e128bdb175">   40</a></span>    <a class="code hl_class" href="class_spring_settings.html">SpringSettings</a>              <a class="code hl_variable" href="class_distance_constraint_settings.html#a09758da3857c1883a7fcd1e128bdb175">mLimitsSpringSettings</a>;</div>
    143. 

  143. <div class="line"><a id="l00041" name="l00041"></a><span class="lineno">   41</span> </div>
    144. 

  144. <div class="line"><a id="l00042" name="l00042"></a><span class="lineno">   42</span><span class="keyword">protected</span>:</div>
    145. 

  145. <div class="line"><a id="l00043" name="l00043"></a><span class="lineno">   43</span>    <span class="comment">// See: ConstraintSettings::RestoreBinaryState</span></div>
    146. 

  146. <div class="line"><a id="l00044" name="l00044"></a><span class="lineno">   44</span>    <span class="keyword">virtual</span> <span class="keywordtype">void</span>                <a class="code hl_function" href="class_constraint_settings.html#a71f815e6f2e1bd3e0c8be210936b0e79">RestoreBinaryState</a>(<a class="code hl_class" href="class_stream_in.html">StreamIn</a> &amp;inStream) <span class="keyword">override</span>;</div>
    147. 

  147. <div class="line"><a id="l00045" name="l00045"></a><span class="lineno">   45</span>};</div>
    148. 

  148. </div>
    149. 

  149. <div class="line"><a id="l00046" name="l00046"></a><span class="lineno">   46</span> </div>
    150. 

  150. <div class="foldopen" id="foldopen00048" data-start="{" data-end="};">
    151. 

  151. <div class="line"><a id="l00048" name="l00048"></a><span class="lineno"><a class="line" href="class_distance_constraint.html">   48</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_distance_constraint.html">DistanceConstraint</a> final : <span class="keyword">public</span> <a class="code hl_class" href="class_two_body_constraint.html">TwoBodyConstraint</a></div>
    152. 

  152. <div class="line"><a id="l00049" name="l00049"></a><span class="lineno">   49</span>{</div>
    153. 

  153. <div class="line"><a id="l00050" name="l00050"></a><span class="lineno">   50</span><span class="keyword">public</span>:</div>
    154. 

  154. <div class="line"><a id="l00051" name="l00051"></a><span class="lineno">   51</span>    <a class="code hl_define" href="_memory_8h.html#a91074fb218fe28954a0938c099ddd9e0">JPH_OVERRIDE_NEW_DELETE</a></div>
    155. 

  155. <div class="line"><a id="l00052" name="l00052"></a><span class="lineno">   52</span> </div>
    156. 

  156. <div class="line"><a id="l00054" name="l00054"></a><span class="lineno">   54</span>                                <a class="code hl_class" href="class_distance_constraint.html">DistanceConstraint</a>(<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_distance_constraint_settings.html">DistanceConstraintSettings</a> &amp;inSettings);</div>
    157. 

  157. <div class="line"><a id="l00055" name="l00055"></a><span class="lineno">   55</span> </div>
    158. 

  158. <div class="line"><a id="l00056" name="l00056"></a><span class="lineno">   56</span>    <span class="comment">// Generic interface of a constraint</span></div>
    159. 

  159. <div class="line"><a id="l00057" name="l00057"></a><span class="lineno"><a class="line" href="class_distance_constraint.html#aca72385bb8b1dede13ca841681e37cae">   57</a></span>    <span class="keyword">virtual</span> <a class="code hl_enumeration" href="_constraint_8h.html#adfc8350888df0c3a51714b7f372baf2d">EConstraintSubType</a>  <a class="code hl_function" href="class_distance_constraint.html#aca72385bb8b1dede13ca841681e37cae">GetSubType</a>()<span class="keyword"> const override                                 </span>{ <span class="keywordflow">return</span> <a class="code hl_enumvalue" href="_constraint_8h.html#adfc8350888df0c3a51714b7f372baf2da0aa6f4210bf373c95eda00232e93cd98">EConstraintSubType::Distance</a>; }</div>
    160. 

  160. <div class="line"><a id="l00058" name="l00058"></a><span class="lineno">   58</span>    <span class="keyword">virtual</span> <span class="keywordtype">void</span>                NotifyShapeChanged(<span class="keyword">const</span> <a class="code hl_class" href="class_body_i_d.html">BodyID</a> &amp;inBodyID, <a class="code hl_class" href="class_vec3.html">Vec3Arg</a> inDeltaCOM) <span class="keyword">override</span>;</div>
    161. 

  161. <div class="line"><a id="l00059" name="l00059"></a><span class="lineno">   59</span>    <span class="keyword">virtual</span> <span class="keywordtype">void</span>                SetupVelocityConstraint(<span class="keywordtype">float</span> inDeltaTime) <span class="keyword">override</span>;</div>
    162. 

  162. <div class="line"><a id="l00060" name="l00060"></a><span class="lineno">   60</span>    <span class="keyword">virtual</span> <span class="keywordtype">void</span>                ResetWarmStart() <span class="keyword">override</span>;</div>
    163. 

  163. <div class="line"><a id="l00061" name="l00061"></a><span class="lineno">   61</span>    <span class="keyword">virtual</span> <span class="keywordtype">void</span>                WarmStartVelocityConstraint(<span class="keywordtype">float</span> inWarmStartImpulseRatio) <span class="keyword">override</span>;</div>
    164. 

  164. <div class="line"><a id="l00062" name="l00062"></a><span class="lineno">   62</span>    <span class="keyword">virtual</span> <span class="keywordtype">bool</span>                SolveVelocityConstraint(<span class="keywordtype">float</span> inDeltaTime) <span class="keyword">override</span>;</div>
    165. 

  165. <div class="line"><a id="l00063" name="l00063"></a><span class="lineno">   63</span>    <span class="keyword">virtual</span> <span class="keywordtype">bool</span>                SolvePositionConstraint(<span class="keywordtype">float</span> inDeltaTime, <span class="keywordtype">float</span> inBaumgarte) <span class="keyword">override</span>;</div>
    166. 

  166. <div class="line"><a id="l00064" name="l00064"></a><span class="lineno">   64</span><span class="preprocessor">#ifdef JPH_DEBUG_RENDERER</span></div>
    167. 

  167. <div class="line"><a id="l00065" name="l00065"></a><span class="lineno">   65</span>    <span class="keyword">virtual</span> <span class="keywordtype">void</span>                DrawConstraint(<a class="code hl_class" href="class_debug_renderer.html">DebugRenderer</a> *inRenderer) <span class="keyword">const override</span>;</div>
    168. 

  168. <div class="line"><a id="l00066" name="l00066"></a><span class="lineno">   66</span><span class="preprocessor">#endif </span><span class="comment">// JPH_DEBUG_RENDERER</span></div>
    169. 

  169. <div class="line"><a id="l00067" name="l00067"></a><span class="lineno">   67</span>    <span class="keyword">virtual</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 override</span>;</div>
    170. 

  170. <div class="line"><a id="l00068" name="l00068"></a><span class="lineno">   68</span>    <span class="keyword">virtual</span> <span class="keywordtype">void</span>                RestoreState(<a class="code hl_class" href="class_state_recorder.html">StateRecorder</a> &amp;inStream) <span class="keyword">override</span>;</div>
    171. 

  171. <div class="line"><a id="l00069" name="l00069"></a><span class="lineno">   69</span>    <span class="keyword">virtual</span> <a class="code hl_class" href="class_ref.html">Ref&lt;ConstraintSettings&gt;</a> GetConstraintSettings() <span class="keyword">const override</span>;</div>
    172. 

  172. <div class="line"><a id="l00070" name="l00070"></a><span class="lineno">   70</span> </div>
    173. 

  173. <div class="line"><a id="l00071" name="l00071"></a><span class="lineno">   71</span>    <span class="comment">// See: TwoBodyConstraint</span></div>
    174. 

  174. <div class="line"><a id="l00072" name="l00072"></a><span class="lineno"><a class="line" href="class_distance_constraint.html#affc0247d5a56e7448372aea456e0bd04">   72</a></span>    <span class="keyword">virtual</span> <a class="code hl_class" href="class_mat44.html">Mat44</a>               <a class="code hl_function" href="class_distance_constraint.html#affc0247d5a56e7448372aea456e0bd04">GetConstraintToBody1Matrix</a>()<span class="keyword"> const override                 </span>{ <span class="keywordflow">return</span> <a class="code hl_function" href="class_mat44.html#a8cc7184902ce670d0822a28a8906df52">Mat44::sTranslation</a>(mLocalSpacePosition1); }</div>
    175. 

  175. <div class="line"><a id="l00073" name="l00073"></a><span class="lineno"><a class="line" href="class_distance_constraint.html#a32c46e7b4a137df6a68f9bd7752ee0cc">   73</a></span>    <span class="keyword">virtual</span> <a class="code hl_class" href="class_mat44.html">Mat44</a>               <a class="code hl_function" href="class_distance_constraint.html#a32c46e7b4a137df6a68f9bd7752ee0cc">GetConstraintToBody2Matrix</a>()<span class="keyword"> const override                 </span>{ <span class="keywordflow">return</span> <a class="code hl_function" href="class_mat44.html#a8cc7184902ce670d0822a28a8906df52">Mat44::sTranslation</a>(mLocalSpacePosition2); } <span class="comment">// Note: Incorrect rotation as we don&#39;t track the original rotation difference, should not matter though as the constraint is not limiting rotation.</span></div>
    176. 

  176. <div class="line"><a id="l00074" name="l00074"></a><span class="lineno">   74</span> </div>
    177. 

  177. <div class="line"><a id="l00076" name="l00076"></a><span class="lineno"><a class="line" href="class_distance_constraint.html#acac4686ff8fd7d2e412af5cfcaea8d2c">   76</a></span>    <span class="keywordtype">void</span>                        <a class="code hl_function" href="class_distance_constraint.html#acac4686ff8fd7d2e412af5cfcaea8d2c">SetDistance</a>(<span class="keywordtype">float</span> inMinDistance, <span class="keywordtype">float</span> inMaxDistance)       { <a class="code hl_define" href="_issue_reporting_8h.html#aaf6b1df827e11b7ca5f6f8778bd8f8cd">JPH_ASSERT</a>(inMinDistance &lt;= inMaxDistance); mMinDistance = inMinDistance; mMaxDistance = inMaxDistance; }</div>
    178. 

  178. <div class="line"><a id="l00077" name="l00077"></a><span class="lineno"><a class="line" href="class_distance_constraint.html#a4417a1efabd5ff92a82b5657479eab93">   77</a></span>    <span class="keywordtype">float</span>                       <a class="code hl_function" href="class_distance_constraint.html#a4417a1efabd5ff92a82b5657479eab93">GetMinDistance</a>()<span class="keyword"> const                                      </span>{ <span class="keywordflow">return</span> mMinDistance; }</div>
    179. 

  179. <div class="line"><a id="l00078" name="l00078"></a><span class="lineno"><a class="line" href="class_distance_constraint.html#a4ed1c3635f00b8f94624290bb7b11f4f">   78</a></span>    <span class="keywordtype">float</span>                       <a class="code hl_function" href="class_distance_constraint.html#a4ed1c3635f00b8f94624290bb7b11f4f">GetMaxDistance</a>()<span class="keyword"> const                                      </span>{ <span class="keywordflow">return</span> mMaxDistance; }</div>
    180. 

  180. <div class="line"><a id="l00079" name="l00079"></a><span class="lineno">   79</span> </div>
    181. 

  181. <div class="line"><a id="l00081" name="l00081"></a><span class="lineno"><a class="line" href="class_distance_constraint.html#a1f191ffd4cf8e11747be8b483a71f298">   81</a></span>    <span class="keyword">const</span> <a class="code hl_class" href="class_spring_settings.html">SpringSettings</a> &amp;      <a class="code hl_function" href="class_distance_constraint.html#a1f191ffd4cf8e11747be8b483a71f298">GetLimitsSpringSettings</a>()<span class="keyword"> const                             </span>{ <span class="keywordflow">return</span> mLimitsSpringSettings; }</div>
    182. 

  182. <div class="line"><a id="l00082" name="l00082"></a><span class="lineno"><a class="line" href="class_distance_constraint.html#aff807f66dc7ea24c932ac32c94d37ec4">   82</a></span>    <a class="code hl_class" href="class_spring_settings.html">SpringSettings</a> &amp;            <a class="code hl_function" href="class_distance_constraint.html#aff807f66dc7ea24c932ac32c94d37ec4">GetLimitsSpringSettings</a>()                                   { <span class="keywordflow">return</span> mLimitsSpringSettings; }</div>
    183. 

  183. <div class="line"><a id="l00083" name="l00083"></a><span class="lineno"><a class="line" href="class_distance_constraint.html#a19b91e04a929e9ffac559677087875fc">   83</a></span>    <span class="keywordtype">void</span>                        <a class="code hl_function" href="class_distance_constraint.html#a19b91e04a929e9ffac559677087875fc">SetLimitsSpringSettings</a>(<span class="keyword">const</span> <a class="code hl_class" href="class_spring_settings.html">SpringSettings</a> &amp;inLimitsSpringSettings) { mLimitsSpringSettings = inLimitsSpringSettings; }</div>
    184. 

  184. <div class="line"><a id="l00084" name="l00084"></a><span class="lineno">   84</span> </div>
    185. 

  185. <div class="line"><a id="l00086" name="l00086"></a><span class="lineno"><a class="line" href="class_distance_constraint.html#a9c2f0f9859df29f33e5688f42e14471d">   86</a></span>    <span class="keyword">inline</span> <span class="keywordtype">float</span>                <a class="code hl_function" href="class_distance_constraint.html#a9c2f0f9859df29f33e5688f42e14471d">GetTotalLambdaPosition</a>()<span class="keyword"> const                              </span>{ <span class="keywordflow">return</span> mAxisConstraint.GetTotalLambda(); }</div>
    186. 

  186. <div class="line"><a id="l00087" name="l00087"></a><span class="lineno">   87</span> </div>
    187. 

  187. <div class="line"><a id="l00088" name="l00088"></a><span class="lineno">   88</span><span class="keyword">private</span>:</div>
    188. 

  188. <div class="line"><a id="l00089" name="l00089"></a><span class="lineno">   89</span>    <span class="comment">// Internal helper function to calculate the values below</span></div>
    189. 

  189. <div class="line"><a id="l00090" name="l00090"></a><span class="lineno">   90</span>    <span class="keywordtype">void</span>                        CalculateConstraintProperties(<span class="keywordtype">float</span> inDeltaTime);</div>
    190. 

  190. <div class="line"><a id="l00091" name="l00091"></a><span class="lineno">   91</span> </div>
    191. 

  191. <div class="line"><a id="l00092" name="l00092"></a><span class="lineno">   92</span>    <span class="comment">// CONFIGURATION PROPERTIES FOLLOW</span></div>
    192. 

  192. <div class="line"><a id="l00093" name="l00093"></a><span class="lineno">   93</span> </div>
    193. 

  193. <div class="line"><a id="l00094" name="l00094"></a><span class="lineno">   94</span>    <span class="comment">// Local space constraint positions</span></div>
    194. 

  194. <div class="line"><a id="l00095" name="l00095"></a><span class="lineno">   95</span>    <a class="code hl_class" href="class_vec3.html">Vec3</a>                        mLocalSpacePosition1;</div>
    195. 

  195. <div class="line"><a id="l00096" name="l00096"></a><span class="lineno">   96</span>    <a class="code hl_class" href="class_vec3.html">Vec3</a>                        mLocalSpacePosition2;</div>
    196. 

  196. <div class="line"><a id="l00097" name="l00097"></a><span class="lineno">   97</span> </div>
    197. 

  197. <div class="line"><a id="l00098" name="l00098"></a><span class="lineno">   98</span>    <span class="comment">// Min/max distance that must be kept between the world space points</span></div>
    198. 

  198. <div class="line"><a id="l00099" name="l00099"></a><span class="lineno">   99</span>    <span class="keywordtype">float</span>                       mMinDistance;</div>
    199. 

  199. <div class="line"><a id="l00100" name="l00100"></a><span class="lineno">  100</span>    <span class="keywordtype">float</span>                       mMaxDistance;</div>
    200. 

  200. <div class="line"><a id="l00101" name="l00101"></a><span class="lineno">  101</span> </div>
    201. 

  201. <div class="line"><a id="l00102" name="l00102"></a><span class="lineno">  102</span>    <span class="comment">// Soft constraint limits</span></div>
    202. 

  202. <div class="line"><a id="l00103" name="l00103"></a><span class="lineno">  103</span>    <a class="code hl_class" href="class_spring_settings.html">SpringSettings</a>              mLimitsSpringSettings;</div>
    203. 

  203. <div class="line"><a id="l00104" name="l00104"></a><span class="lineno">  104</span> </div>
    204. 

  204. <div class="line"><a id="l00105" name="l00105"></a><span class="lineno">  105</span>    <span class="comment">// RUN TIME PROPERTIES FOLLOW</span></div>
    205. 

  205. <div class="line"><a id="l00106" name="l00106"></a><span class="lineno">  106</span> </div>
    206. 

  206. <div class="line"><a id="l00107" name="l00107"></a><span class="lineno">  107</span>    <span class="comment">// World space positions and normal</span></div>
    207. 

  207. <div class="line"><a id="l00108" name="l00108"></a><span class="lineno">  108</span>    <a class="code hl_class" href="class_vec3.html">RVec3</a>                       mWorldSpacePosition1;</div>
    208. 

  208. <div class="line"><a id="l00109" name="l00109"></a><span class="lineno">  109</span>    <a class="code hl_class" href="class_vec3.html">RVec3</a>                       mWorldSpacePosition2;</div>
    209. 

  209. <div class="line"><a id="l00110" name="l00110"></a><span class="lineno">  110</span>    <a class="code hl_class" href="class_vec3.html">Vec3</a>                        mWorldSpaceNormal;</div>
    210. 

  210. <div class="line"><a id="l00111" name="l00111"></a><span class="lineno">  111</span> </div>
    211. 

  211. <div class="line"><a id="l00112" name="l00112"></a><span class="lineno">  112</span>    <span class="comment">// Depending on if the distance &lt; min or distance &gt; max we can apply forces to prevent further violations</span></div>
    212. 

  212. <div class="line"><a id="l00113" name="l00113"></a><span class="lineno">  113</span>    <span class="keywordtype">float</span>                       mMinLambda;</div>
    213. 

  213. <div class="line"><a id="l00114" name="l00114"></a><span class="lineno">  114</span>    <span class="keywordtype">float</span>                       mMaxLambda;</div>
    214. 

  214. <div class="line"><a id="l00115" name="l00115"></a><span class="lineno">  115</span> </div>
    215. 

  215. <div class="line"><a id="l00116" name="l00116"></a><span class="lineno">  116</span>    <span class="comment">// The constraint part</span></div>
    216. 

  216. <div class="line"><a id="l00117" name="l00117"></a><span class="lineno">  117</span>    <a class="code hl_class" href="class_axis_constraint_part.html">AxisConstraintPart</a>          mAxisConstraint;</div>
    217. 

  217. <div class="line"><a id="l00118" name="l00118"></a><span class="lineno">  118</span>};</div>
    218. 

  218. </div>
    219. 

  219. <div class="line"><a id="l00119" name="l00119"></a><span class="lineno">  119</span> </div>
    220. 

  220. <div class="line"><a id="l00120" name="l00120"></a><span class="lineno">  120</span><a class="code hl_define" href="_core_8h.html#a73da8725998b00321a9db341202d650d">JPH_NAMESPACE_END</a></div>
    221. 

  221. <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>
    222. 

  222. <div class="ttc" id="a_constraint_8h_html_a5951578637c20f8aad819c13ad09b1be"><div class="ttname"><a href="_constraint_8h.html#a5951578637c20f8aad819c13ad09b1be">EConstraintSpace</a></div><div class="ttdeci">EConstraintSpace</div><div class="ttdoc">Certain constraints support setting them up in local or world space. This governs what is used.</div><div class="ttdef"><b>Definition</b> Constraint.h:58</div></div>
    223. 

  223. <div class="ttc" id="a_constraint_8h_html_a5951578637c20f8aad819c13ad09b1bea43c5bd4a88c440bd0862f954e4faa177"><div class="ttname"><a href="_constraint_8h.html#a5951578637c20f8aad819c13ad09b1bea43c5bd4a88c440bd0862f954e4faa177">EConstraintSpace::WorldSpace</a></div><div class="ttdeci">@ WorldSpace</div><div class="ttdoc">All constraint properties are specified in world space.</div></div>
    224. 

  224. <div class="ttc" id="a_constraint_8h_html_adfc8350888df0c3a51714b7f372baf2d"><div class="ttname"><a href="_constraint_8h.html#adfc8350888df0c3a51714b7f372baf2d">EConstraintSubType</a></div><div class="ttdeci">EConstraintSubType</div><div class="ttdoc">Enum to identify constraint sub type.</div><div class="ttdef"><b>Definition</b> Constraint.h:34</div></div>
    225. 

  225. <div class="ttc" id="a_constraint_8h_html_adfc8350888df0c3a51714b7f372baf2da0aa6f4210bf373c95eda00232e93cd98"><div class="ttname"><a href="_constraint_8h.html#adfc8350888df0c3a51714b7f372baf2da0aa6f4210bf373c95eda00232e93cd98">EConstraintSubType::Distance</a></div><div class="ttdeci">@ Distance</div></div>
    226. 

  226. <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>
    227. 

  227. <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>
    228. 

  228. <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>
    229. 

  229. <div class="ttc" id="a_issue_reporting_8h_html_aaf6b1df827e11b7ca5f6f8778bd8f8cd"><div class="ttname"><a href="_issue_reporting_8h.html#aaf6b1df827e11b7ca5f6f8778bd8f8cd">JPH_ASSERT</a></div><div class="ttdeci">#define JPH_ASSERT(...)</div><div class="ttdef"><b>Definition</b> IssueReporting.h:33</div></div>
    230. 

  230. <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>
    231. 

  231. <div class="ttc" id="a_serializable_object_8h_html_ad80cbee2b256f570ee204534dec05da4"><div class="ttname"><a href="_serializable_object_8h.html#ad80cbee2b256f570ee204534dec05da4">JPH_DECLARE_SERIALIZABLE_VIRTUAL</a></div><div class="ttdeci">#define JPH_DECLARE_SERIALIZABLE_VIRTUAL(linkage, class_name)</div><div class="ttdef"><b>Definition</b> SerializableObject.h:109</div></div>
    232. 

  232. <div class="ttc" id="a_two_body_constraint_8h_html"><div class="ttname"><a href="_two_body_constraint_8h.html">TwoBodyConstraint.h</a></div></div>
    233. 

  233. <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>
    234. 

  234. <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>
    235. 

  235. <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>
    236. 

  236. <div class="ttc" id="aclass_constraint_settings_html_a3123d8d5dc6b127c2d19c95f6fe23a74"><div class="ttname"><a href="class_constraint_settings.html#a3123d8d5dc6b127c2d19c95f6fe23a74">ConstraintSettings::SaveBinaryState</a></div><div class="ttdeci">virtual void SaveBinaryState(StreamOut &amp;inStream) const</div><div class="ttdoc">Saves the contents of the constraint settings in binary form to inStream.</div><div class="ttdef"><b>Definition</b> Constraint.cpp:26</div></div>
    237. 

  237. <div class="ttc" id="aclass_constraint_settings_html_a71f815e6f2e1bd3e0c8be210936b0e79"><div class="ttname"><a href="class_constraint_settings.html#a71f815e6f2e1bd3e0c8be210936b0e79">ConstraintSettings::RestoreBinaryState</a></div><div class="ttdeci">virtual void RestoreBinaryState(StreamIn &amp;inStream)</div><div class="ttdoc">This function should not be called directly, it is used by sRestoreFromBinaryState.</div><div class="ttdef"><b>Definition</b> Constraint.cpp:36</div></div>
    238. 

  238. <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>
    239. 

  239. <div class="ttc" id="aclass_distance_constraint_html"><div class="ttname"><a href="class_distance_constraint.html">DistanceConstraint</a></div><div class="ttdoc">This constraint is a stiff spring that holds 2 points at a fixed distance from each other.</div><div class="ttdef"><b>Definition</b> DistanceConstraint.h:49</div></div>
    240. 

  240. <div class="ttc" id="aclass_distance_constraint_html_a19b91e04a929e9ffac559677087875fc"><div class="ttname"><a href="class_distance_constraint.html#a19b91e04a929e9ffac559677087875fc">DistanceConstraint::SetLimitsSpringSettings</a></div><div class="ttdeci">void SetLimitsSpringSettings(const SpringSettings &amp;inLimitsSpringSettings)</div><div class="ttdef"><b>Definition</b> DistanceConstraint.h:83</div></div>
    241. 

  241. <div class="ttc" id="aclass_distance_constraint_html_a1f191ffd4cf8e11747be8b483a71f298"><div class="ttname"><a href="class_distance_constraint.html#a1f191ffd4cf8e11747be8b483a71f298">DistanceConstraint::GetLimitsSpringSettings</a></div><div class="ttdeci">const SpringSettings &amp; GetLimitsSpringSettings() const</div><div class="ttdoc">Update the limits spring settings.</div><div class="ttdef"><b>Definition</b> DistanceConstraint.h:81</div></div>
    242. 

  242. <div class="ttc" id="aclass_distance_constraint_html_a32c46e7b4a137df6a68f9bd7752ee0cc"><div class="ttname"><a href="class_distance_constraint.html#a32c46e7b4a137df6a68f9bd7752ee0cc">DistanceConstraint::GetConstraintToBody2Matrix</a></div><div class="ttdeci">virtual Mat44 GetConstraintToBody2Matrix() const override</div><div class="ttdoc">Calculates the transform that transforms from constraint space to body 2 space. The first column of t...</div><div class="ttdef"><b>Definition</b> DistanceConstraint.h:73</div></div>
    243. 

  243. <div class="ttc" id="aclass_distance_constraint_html_a4417a1efabd5ff92a82b5657479eab93"><div class="ttname"><a href="class_distance_constraint.html#a4417a1efabd5ff92a82b5657479eab93">DistanceConstraint::GetMinDistance</a></div><div class="ttdeci">float GetMinDistance() const</div><div class="ttdef"><b>Definition</b> DistanceConstraint.h:77</div></div>
    244. 

  244. <div class="ttc" id="aclass_distance_constraint_html_a4ed1c3635f00b8f94624290bb7b11f4f"><div class="ttname"><a href="class_distance_constraint.html#a4ed1c3635f00b8f94624290bb7b11f4f">DistanceConstraint::GetMaxDistance</a></div><div class="ttdeci">float GetMaxDistance() const</div><div class="ttdef"><b>Definition</b> DistanceConstraint.h:78</div></div>
    245. 

  245. <div class="ttc" id="aclass_distance_constraint_html_a9c2f0f9859df29f33e5688f42e14471d"><div class="ttname"><a href="class_distance_constraint.html#a9c2f0f9859df29f33e5688f42e14471d">DistanceConstraint::GetTotalLambdaPosition</a></div><div class="ttdeci">float GetTotalLambdaPosition() const</div><div class="ttdef"><b>Definition</b> DistanceConstraint.h:86</div></div>
    246. 

  246. <div class="ttc" id="aclass_distance_constraint_html_aca72385bb8b1dede13ca841681e37cae"><div class="ttname"><a href="class_distance_constraint.html#aca72385bb8b1dede13ca841681e37cae">DistanceConstraint::GetSubType</a></div><div class="ttdeci">virtual EConstraintSubType GetSubType() const override</div><div class="ttdoc">Get the sub type of a constraint.</div><div class="ttdef"><b>Definition</b> DistanceConstraint.h:57</div></div>
    247. 

  247. <div class="ttc" id="aclass_distance_constraint_html_acac4686ff8fd7d2e412af5cfcaea8d2c"><div class="ttname"><a href="class_distance_constraint.html#acac4686ff8fd7d2e412af5cfcaea8d2c">DistanceConstraint::SetDistance</a></div><div class="ttdeci">void SetDistance(float inMinDistance, float inMaxDistance)</div><div class="ttdoc">Update the minimum and maximum distance for the constraint.</div><div class="ttdef"><b>Definition</b> DistanceConstraint.h:76</div></div>
    248. 

  248. <div class="ttc" id="aclass_distance_constraint_html_aff807f66dc7ea24c932ac32c94d37ec4"><div class="ttname"><a href="class_distance_constraint.html#aff807f66dc7ea24c932ac32c94d37ec4">DistanceConstraint::GetLimitsSpringSettings</a></div><div class="ttdeci">SpringSettings &amp; GetLimitsSpringSettings()</div><div class="ttdef"><b>Definition</b> DistanceConstraint.h:82</div></div>
    249. 

  249. <div class="ttc" id="aclass_distance_constraint_html_affc0247d5a56e7448372aea456e0bd04"><div class="ttname"><a href="class_distance_constraint.html#affc0247d5a56e7448372aea456e0bd04">DistanceConstraint::GetConstraintToBody1Matrix</a></div><div class="ttdeci">virtual Mat44 GetConstraintToBody1Matrix() const override</div><div class="ttdoc">Calculates the transform that transforms from constraint space to body 1 space. The first column of t...</div><div class="ttdef"><b>Definition</b> DistanceConstraint.h:72</div></div>
    250. 

  250. <div class="ttc" id="aclass_distance_constraint_settings_html"><div class="ttname"><a href="class_distance_constraint_settings.html">DistanceConstraintSettings</a></div><div class="ttdoc">Distance constraint settings, used to create a distance constraint.</div><div class="ttdef"><b>Definition</b> DistanceConstraint.h:14</div></div>
    251. 

  251. <div class="ttc" id="aclass_distance_constraint_settings_html_a09758da3857c1883a7fcd1e128bdb175"><div class="ttname"><a href="class_distance_constraint_settings.html#a09758da3857c1883a7fcd1e128bdb175">DistanceConstraintSettings::mLimitsSpringSettings</a></div><div class="ttdeci">SpringSettings mLimitsSpringSettings</div><div class="ttdoc">When enabled, this makes the limits soft. When the constraint exceeds the limits, a spring force will...</div><div class="ttdef"><b>Definition</b> DistanceConstraint.h:40</div></div>
    252. 

  252. <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>
    253. 

  253. <div class="ttc" id="aclass_mat44_html_a8cc7184902ce670d0822a28a8906df52"><div class="ttname"><a href="class_mat44.html#a8cc7184902ce670d0822a28a8906df52">Mat44::sTranslation</a></div><div class="ttdeci">static JPH_INLINE Mat44 sTranslation(Vec3Arg inV)</div><div class="ttdoc">Get matrix that translates.</div><div class="ttdef"><b>Definition</b> Mat44.inl:144</div></div>
    254. 

  254. <div class="ttc" id="aclass_ref_html"><div class="ttname"><a href="class_ref.html">Ref</a></div><div class="ttdef"><b>Definition</b> Reference.h:107</div></div>
    255. 

  255. <div class="ttc" id="aclass_spring_settings_html"><div class="ttname"><a href="class_spring_settings.html">SpringSettings</a></div><div class="ttdoc">Settings for a linear or angular spring.</div><div class="ttdef"><b>Definition</b> SpringSettings.h:23</div></div>
    256. 

  256. <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>
    257. 

  257. <div class="ttc" id="aclass_stream_in_html"><div class="ttname"><a href="class_stream_in.html">StreamIn</a></div><div class="ttdoc">Simple binary input stream.</div><div class="ttdef"><b>Definition</b> StreamIn.h:13</div></div>
    258. 

  258. <div class="ttc" id="aclass_stream_out_html"><div class="ttname"><a href="class_stream_out.html">StreamOut</a></div><div class="ttdoc">Simple binary output stream.</div><div class="ttdef"><b>Definition</b> StreamOut.h:13</div></div>
    259. 

  259. <div class="ttc" id="aclass_two_body_constraint_html"><div class="ttname"><a href="class_two_body_constraint.html">TwoBodyConstraint</a></div><div class="ttdoc">Base class for all constraints that involve 2 bodies. Body1 is usually considered the parent,...</div><div class="ttdef"><b>Definition</b> TwoBodyConstraint.h:27</div></div>
    260. 

  260. <div class="ttc" id="aclass_two_body_constraint_settings_html"><div class="ttname"><a href="class_two_body_constraint_settings.html">TwoBodyConstraintSettings</a></div><div class="ttdoc">Base class for settings for all constraints that involve 2 bodies.</div><div class="ttdef"><b>Definition</b> TwoBodyConstraint.h:16</div></div>
    261. 

  261. <div class="ttc" id="aclass_two_body_constraint_settings_html_a42e353e736b0254b02008b050a28f55b"><div class="ttname"><a href="class_two_body_constraint_settings.html#a42e353e736b0254b02008b050a28f55b">TwoBodyConstraintSettings::Create</a></div><div class="ttdeci">virtual TwoBodyConstraint * Create(Body &amp;inBody1, Body &amp;inBody2) const =0</div></div>
    262. 

  262. <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>
    263. 

  263. <div class="ttc" id="aclass_vec3_html_ad03c52ab27761bc1e64e33c47632ba51"><div class="ttname"><a href="class_vec3.html#ad03c52ab27761bc1e64e33c47632ba51">Vec3::sZero</a></div><div class="ttdeci">static JPH_INLINE Vec3 sZero()</div><div class="ttdoc">Vector with all zeros.</div><div class="ttdef"><b>Definition</b> Vec3.inl:103</div></div>
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