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

  111. <a href="_fixed_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="_rotation_euler_constraint_part_8h.html">Jolt/Physics/Constraints/ConstraintPart/RotationEulerConstraintPart.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="_point_constraint_part_8h.html">Jolt/Physics/Constraints/ConstraintPart/PointConstraintPart.h</a>&gt;</span></div>
    120. 

  120. <div class="line"><a id="l00010" name="l00010"></a><span class="lineno">   10</span> </div>
    121. 

  121. <div class="line"><a id="l00011" name="l00011"></a><span class="lineno">   11</span><a class="code hl_define" href="_core_8h.html#ad14098b68b8c44ea6112601031268405">JPH_NAMESPACE_BEGIN</a></div>
    122. 

  122. <div class="line"><a id="l00012" name="l00012"></a><span class="lineno">   12</span> </div>
    123. 

  123. <div class="foldopen" id="foldopen00014" data-start="{" data-end="};">
    124. 

  124. <div class="line"><a id="l00014" name="l00014"></a><span class="lineno"><a class="line" href="class_fixed_constraint_settings.html">   14</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_fixed_constraint_settings.html">FixedConstraintSettings</a> final : <span class="keyword">public</span> <a class="code hl_class" href="class_two_body_constraint_settings.html">TwoBodyConstraintSettings</a></div>
    125. 

  125. <div class="line"><a id="l00015" name="l00015"></a><span class="lineno">   15</span>{</div>
    126. 

  126. <div class="line"><a id="l00016" name="l00016"></a><span class="lineno">   16</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_fixed_constraint_settings.html">FixedConstraintSettings</a>)</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><span class="keyword">public</span>:</div>
    129. 

  129. <div class="line"><a id="l00019" name="l00019"></a><span class="lineno">   19</span>    <span class="comment">// See: ConstraintSettings::SaveBinaryState</span></div>
    130. 

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

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

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

  133. <div class="line"><a id="l00024" name="l00024"></a><span class="lineno">   24</span> </div>
    134. 

  134. <div class="line"><a id="l00026" name="l00026"></a><span class="lineno"><a class="line" href="class_fixed_constraint_settings.html#a971cd8f2570d3236744b0d3a85e23422">   26</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>
    135. 

  135. <div class="line"><a id="l00027" name="l00027"></a><span class="lineno">   27</span> </div>
    136. 

  136. <div class="line"><a id="l00029" name="l00029"></a><span class="lineno"><a class="line" href="class_fixed_constraint_settings.html#a0e99692883e84c77f1f30de2b266ef6f">   29</a></span>    <span class="keywordtype">bool</span>                        mAutoDetectPoint = <span class="keyword">false</span>;</div>
    137. 

  137. <div class="line"><a id="l00030" name="l00030"></a><span class="lineno">   30</span> </div>
    138. 

  138. <div class="line"><a id="l00032" name="l00032"></a><span class="lineno"><a class="line" href="class_fixed_constraint_settings.html#a14be82859ede4faa881a35deb3b7c741">   32</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>
    139. 

  139. <div class="line"><a id="l00033" name="l00033"></a><span class="lineno"><a class="line" href="class_fixed_constraint_settings.html#ae6bfde77eec2f9421c1af7670900bb70">   33</a></span>    <a class="code hl_class" href="class_vec3.html">Vec3</a>                        mAxisX1 = <a class="code hl_function" href="class_vec3.html#a142cc5c79f08229eb11532c26f1a1e90">Vec3::sAxisX</a>();</div>
    140. 

  140. <div class="line"><a id="l00034" name="l00034"></a><span class="lineno"><a class="line" href="class_fixed_constraint_settings.html#accdfcbf32adb921cbb6e09afdcf94f64">   34</a></span>    <a class="code hl_class" href="class_vec3.html">Vec3</a>                        mAxisY1 = <a class="code hl_function" href="class_vec3.html#a2819718744feddb0bc150c6ccc26fad1">Vec3::sAxisY</a>();</div>
    141. 

  141. <div class="line"><a id="l00035" name="l00035"></a><span class="lineno">   35</span> </div>
    142. 

  142. <div class="line"><a id="l00037" name="l00037"></a><span class="lineno"><a class="line" href="class_fixed_constraint_settings.html#a8226bd6f6ac595c055c22b0934ae8f36">   37</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>
    143. 

  143. <div class="line"><a id="l00038" name="l00038"></a><span class="lineno"><a class="line" href="class_fixed_constraint_settings.html#a335f3fa823a9ce1f7a501a659e2764a3">   38</a></span>    <a class="code hl_class" href="class_vec3.html">Vec3</a>                        mAxisX2 = <a class="code hl_function" href="class_vec3.html#a142cc5c79f08229eb11532c26f1a1e90">Vec3::sAxisX</a>();</div>
    144. 

  144. <div class="line"><a id="l00039" name="l00039"></a><span class="lineno"><a class="line" href="class_fixed_constraint_settings.html#a16437f93ded1ac0e3f7f2651c850950c">   39</a></span>    <a class="code hl_class" href="class_vec3.html">Vec3</a>                        mAxisY2 = <a class="code hl_function" href="class_vec3.html#a2819718744feddb0bc150c6ccc26fad1">Vec3::sAxisY</a>();</div>
    145. 

  145. <div class="line"><a id="l00040" name="l00040"></a><span class="lineno">   40</span> </div>
    146. 

  146. <div class="line"><a id="l00041" name="l00041"></a><span class="lineno">   41</span><span class="keyword">protected</span>:</div>
    147. 

  147. <div class="line"><a id="l00042" name="l00042"></a><span class="lineno">   42</span>    <span class="comment">// See: ConstraintSettings::RestoreBinaryState</span></div>
    148. 

  148. <div class="line"><a id="l00043" name="l00043"></a><span class="lineno">   43</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>
    149. 

  149. <div class="line"><a id="l00044" name="l00044"></a><span class="lineno">   44</span>};</div>
    150. 

  150. </div>
    151. 

  151. <div class="line"><a id="l00045" name="l00045"></a><span class="lineno">   45</span> </div>
    152. 

  152. <div class="foldopen" id="foldopen00048" data-start="{" data-end="};">
    153. 

  153. <div class="line"><a id="l00048" name="l00048"></a><span class="lineno"><a class="line" href="class_fixed_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_fixed_constraint.html">FixedConstraint</a> final : <span class="keyword">public</span> <a class="code hl_class" href="class_two_body_constraint.html">TwoBodyConstraint</a></div>
    154. 

  154. <div class="line"><a id="l00049" name="l00049"></a><span class="lineno">   49</span>{</div>
    155. 

  155. <div class="line"><a id="l00050" name="l00050"></a><span class="lineno">   50</span><span class="keyword">public</span>:</div>
    156. 

  156. <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>
    157. 

  157. <div class="line"><a id="l00052" name="l00052"></a><span class="lineno">   52</span> </div>
    158. 

  158. <div class="line"><a id="l00054" name="l00054"></a><span class="lineno">   54</span>                                <a class="code hl_class" href="class_fixed_constraint.html">FixedConstraint</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_fixed_constraint_settings.html">FixedConstraintSettings</a> &amp;inSettings);</div>
    159. 

  159. <div class="line"><a id="l00055" name="l00055"></a><span class="lineno">   55</span> </div>
    160. 

  160. <div class="line"><a id="l00056" name="l00056"></a><span class="lineno">   56</span>    <span class="comment">// Generic interface of a constraint</span></div>
    161. 

  161. <div class="line"><a id="l00057" name="l00057"></a><span class="lineno"><a class="line" href="class_fixed_constraint.html#ae4a226e769a4bab140f41f72a2aff9b5">   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_fixed_constraint.html#ae4a226e769a4bab140f41f72a2aff9b5">GetSubType</a>()<span class="keyword"> const override                                 </span>{ <span class="keywordflow">return</span> <a class="code hl_enumvalue" href="_constraint_8h.html#adfc8350888df0c3a51714b7f372baf2da4457d440870ad6d42bab9082d9bf9b61">EConstraintSubType::Fixed</a>; }</div>
    162. 

  162. <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>
    163. 

  163. <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>
    164. 

  164. <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>
    165. 

  165. <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>
    166. 

  166. <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>
    167. 

  167. <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>
    168. 

  168. <div class="line"><a id="l00064" name="l00064"></a><span class="lineno">   64</span><span class="preprocessor">#ifdef JPH_DEBUG_RENDERER</span></div>
    169. 

  169. <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>
    170. 

  170. <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>
    171. 

  171. <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>
    172. 

  172. <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>
    173. 

  173. <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>
    174. 

  174. <div class="line"><a id="l00070" name="l00070"></a><span class="lineno">   70</span> </div>
    175. 

  175. <div class="line"><a id="l00071" name="l00071"></a><span class="lineno">   71</span>    <span class="comment">// See: TwoBodyConstraint</span></div>
    176. 

  176. <div class="line"><a id="l00072" name="l00072"></a><span class="lineno"><a class="line" href="class_fixed_constraint.html#a852ac2a355651a1ba586554d1551bcbc">   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_fixed_constraint.html#a852ac2a355651a1ba586554d1551bcbc">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>
    177. 

  177. <div class="line"><a id="l00073" name="l00073"></a><span class="lineno"><a class="line" href="class_fixed_constraint.html#a7782ad778c9f110835e6be7a299bfcc7">   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_fixed_constraint.html#a7782ad778c9f110835e6be7a299bfcc7">GetConstraintToBody2Matrix</a>()<span class="keyword"> const override                 </span>{ <span class="keywordflow">return</span> <a class="code hl_function" href="class_mat44.html#aba5427f45393b40263d52ec614cfa985">Mat44::sRotationTranslation</a>(mInvInitialOrientation, mLocalSpacePosition2); }</div>
    178. 

  178. <div class="line"><a id="l00074" name="l00074"></a><span class="lineno">   74</span> </div>
    179. 

  179. <div class="line"><a id="l00076" name="l00076"></a><span class="lineno"><a class="line" href="class_fixed_constraint.html#a1f2e160cf0bac4e5a08a10a4db32fe27">   76</a></span>    <span class="keyword">inline</span> <a class="code hl_class" href="class_vec3.html">Vec3</a>                 <a class="code hl_function" href="class_fixed_constraint.html#a1f2e160cf0bac4e5a08a10a4db32fe27">GetTotalLambdaPosition</a>()<span class="keyword"> const                              </span>{ <span class="keywordflow">return</span> mPointConstraintPart.GetTotalLambda(); }</div>
    180. 

  180. <div class="line"><a id="l00077" name="l00077"></a><span class="lineno"><a class="line" href="class_fixed_constraint.html#a28f17b6379474d45e29faebfef63e670">   77</a></span>    <span class="keyword">inline</span> <a class="code hl_class" href="class_vec3.html">Vec3</a>                 <a class="code hl_function" href="class_fixed_constraint.html#a28f17b6379474d45e29faebfef63e670">GetTotalLambdaRotation</a>()<span class="keyword"> const                              </span>{ <span class="keywordflow">return</span> mRotationConstraintPart.GetTotalLambda(); }</div>
    181. 

  181. <div class="line"><a id="l00078" name="l00078"></a><span class="lineno">   78</span> </div>
    182. 

  182. <div class="line"><a id="l00079" name="l00079"></a><span class="lineno">   79</span><span class="keyword">private</span>:</div>
    183. 

  183. <div class="line"><a id="l00080" name="l00080"></a><span class="lineno">   80</span>    <span class="comment">// CONFIGURATION PROPERTIES FOLLOW</span></div>
    184. 

  184. <div class="line"><a id="l00081" name="l00081"></a><span class="lineno">   81</span> </div>
    185. 

  185. <div class="line"><a id="l00082" name="l00082"></a><span class="lineno">   82</span>    <span class="comment">// Local space constraint positions</span></div>
    186. 

  186. <div class="line"><a id="l00083" name="l00083"></a><span class="lineno">   83</span>    <a class="code hl_class" href="class_vec3.html">Vec3</a>                        mLocalSpacePosition1;</div>
    187. 

  187. <div class="line"><a id="l00084" name="l00084"></a><span class="lineno">   84</span>    <a class="code hl_class" href="class_vec3.html">Vec3</a>                        mLocalSpacePosition2;</div>
    188. 

  188. <div class="line"><a id="l00085" name="l00085"></a><span class="lineno">   85</span> </div>
    189. 

  189. <div class="line"><a id="l00086" name="l00086"></a><span class="lineno">   86</span>    <span class="comment">// Inverse of initial rotation from body 1 to body 2 in body 1 space</span></div>
    190. 

  190. <div class="line"><a id="l00087" name="l00087"></a><span class="lineno">   87</span>    <a class="code hl_class" href="class_quat.html">Quat</a>                        mInvInitialOrientation;</div>
    191. 

  191. <div class="line"><a id="l00088" name="l00088"></a><span class="lineno">   88</span> </div>
    192. 

  192. <div class="line"><a id="l00089" name="l00089"></a><span class="lineno">   89</span>    <span class="comment">// RUN TIME PROPERTIES FOLLOW</span></div>
    193. 

  193. <div class="line"><a id="l00090" name="l00090"></a><span class="lineno">   90</span> </div>
    194. 

  194. <div class="line"><a id="l00091" name="l00091"></a><span class="lineno">   91</span>    <span class="comment">// The constraint parts</span></div>
    195. 

  195. <div class="line"><a id="l00092" name="l00092"></a><span class="lineno">   92</span>    <a class="code hl_class" href="class_rotation_euler_constraint_part.html">RotationEulerConstraintPart</a> mRotationConstraintPart;</div>
    196. 

  196. <div class="line"><a id="l00093" name="l00093"></a><span class="lineno">   93</span>    <a class="code hl_class" href="class_point_constraint_part.html">PointConstraintPart</a>         mPointConstraintPart;</div>
    197. 

  197. <div class="line"><a id="l00094" name="l00094"></a><span class="lineno">   94</span>};</div>
    198. 

  198. </div>
    199. 

  199. <div class="line"><a id="l00095" name="l00095"></a><span class="lineno">   95</span> </div>
    200. 

  200. <div class="line"><a id="l00096" name="l00096"></a><span class="lineno">   96</span><a class="code hl_define" href="_core_8h.html#a73da8725998b00321a9db341202d650d">JPH_NAMESPACE_END</a></div>
    201. 

  201. <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>
    202. 

  202. <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>
    203. 

  203. <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>
    204. 

  204. <div class="ttc" id="a_constraint_8h_html_adfc8350888df0c3a51714b7f372baf2da4457d440870ad6d42bab9082d9bf9b61"><div class="ttname"><a href="_constraint_8h.html#adfc8350888df0c3a51714b7f372baf2da4457d440870ad6d42bab9082d9bf9b61">EConstraintSubType::Fixed</a></div><div class="ttdeci">@ Fixed</div></div>
    205. 

  205. <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>
    206. 

  206. <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>
    207. 

  207. <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>
    208. 

  208. <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>
    209. 

  209. <div class="ttc" id="a_point_constraint_part_8h_html"><div class="ttname"><a href="_point_constraint_part_8h.html">PointConstraintPart.h</a></div></div>
    210. 

  210. <div class="ttc" id="a_rotation_euler_constraint_part_8h_html"><div class="ttname"><a href="_rotation_euler_constraint_part_8h.html">RotationEulerConstraintPart.h</a></div></div>
    211. 

  211. <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>
    212. 

  212. <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>
    213. 

  213. <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>
    214. 

  214. <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>
    215. 

  215. <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>
    216. 

  216. <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>
    217. 

  217. <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>
    218. 

  218. <div class="ttc" id="aclass_fixed_constraint_html"><div class="ttname"><a href="class_fixed_constraint.html">FixedConstraint</a></div><div class="ttdef"><b>Definition</b> FixedConstraint.h:49</div></div>
    219. 

  219. <div class="ttc" id="aclass_fixed_constraint_html_a1f2e160cf0bac4e5a08a10a4db32fe27"><div class="ttname"><a href="class_fixed_constraint.html#a1f2e160cf0bac4e5a08a10a4db32fe27">FixedConstraint::GetTotalLambdaPosition</a></div><div class="ttdeci">Vec3 GetTotalLambdaPosition() const</div><div class="ttdef"><b>Definition</b> FixedConstraint.h:76</div></div>
    220. 

  220. <div class="ttc" id="aclass_fixed_constraint_html_a28f17b6379474d45e29faebfef63e670"><div class="ttname"><a href="class_fixed_constraint.html#a28f17b6379474d45e29faebfef63e670">FixedConstraint::GetTotalLambdaRotation</a></div><div class="ttdeci">Vec3 GetTotalLambdaRotation() const</div><div class="ttdef"><b>Definition</b> FixedConstraint.h:77</div></div>
    221. 

  221. <div class="ttc" id="aclass_fixed_constraint_html_a7782ad778c9f110835e6be7a299bfcc7"><div class="ttname"><a href="class_fixed_constraint.html#a7782ad778c9f110835e6be7a299bfcc7">FixedConstraint::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> FixedConstraint.h:73</div></div>
    222. 

  222. <div class="ttc" id="aclass_fixed_constraint_html_a852ac2a355651a1ba586554d1551bcbc"><div class="ttname"><a href="class_fixed_constraint.html#a852ac2a355651a1ba586554d1551bcbc">FixedConstraint::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> FixedConstraint.h:72</div></div>
    223. 

  223. <div class="ttc" id="aclass_fixed_constraint_html_ae4a226e769a4bab140f41f72a2aff9b5"><div class="ttname"><a href="class_fixed_constraint.html#ae4a226e769a4bab140f41f72a2aff9b5">FixedConstraint::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> FixedConstraint.h:57</div></div>
    224. 

  224. <div class="ttc" id="aclass_fixed_constraint_settings_html"><div class="ttname"><a href="class_fixed_constraint_settings.html">FixedConstraintSettings</a></div><div class="ttdoc">Fixed constraint settings, used to create a fixed constraint.</div><div class="ttdef"><b>Definition</b> FixedConstraint.h:15</div></div>
    225. 

  225. <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>
    226. 

  226. <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>
    227. 

  227. <div class="ttc" id="aclass_mat44_html_aba5427f45393b40263d52ec614cfa985"><div class="ttname"><a href="class_mat44.html#aba5427f45393b40263d52ec614cfa985">Mat44::sRotationTranslation</a></div><div class="ttdeci">static JPH_INLINE Mat44 sRotationTranslation(QuatArg inR, Vec3Arg inT)</div><div class="ttdoc">Get matrix that rotates and translates.</div><div class="ttdef"><b>Definition</b> Mat44.inl:149</div></div>
    228. 

  228. <div class="ttc" id="aclass_point_constraint_part_html"><div class="ttname"><a href="class_point_constraint_part.html">PointConstraintPart</a></div><div class="ttdef"><b>Definition</b> PointConstraintPart.h:41</div></div>
    229. 

  229. <div class="ttc" id="aclass_quat_html"><div class="ttname"><a href="class_quat.html">Quat</a></div><div class="ttdef"><b>Definition</b> Quat.h:33</div></div>
    230. 

  230. <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>
    231. 

  231. <div class="ttc" id="aclass_rotation_euler_constraint_part_html"><div class="ttname"><a href="class_rotation_euler_constraint_part.html">RotationEulerConstraintPart</a></div><div class="ttdef"><b>Definition</b> RotationEulerConstraintPart.h:36</div></div>
    232. 

  232. <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>
    233. 

  233. <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>
    234. 

  234. <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>
    235. 

  235. <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>
    236. 

  236. <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>
    237. 

  237. <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>
    238. 

  238. <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>
    239. 

  239. <div class="ttc" id="aclass_vec3_html_a142cc5c79f08229eb11532c26f1a1e90"><div class="ttname"><a href="class_vec3.html#a142cc5c79f08229eb11532c26f1a1e90">Vec3::sAxisX</a></div><div class="ttdeci">static JPH_INLINE Vec3 sAxisX()</div><div class="ttdoc">Vectors with the principal axis.</div><div class="ttdef"><b>Definition</b> Vec3.h:56</div></div>
    240. 

  240. <div class="ttc" id="aclass_vec3_html_a2819718744feddb0bc150c6ccc26fad1"><div class="ttname"><a href="class_vec3.html#a2819718744feddb0bc150c6ccc26fad1">Vec3::sAxisY</a></div><div class="ttdeci">static JPH_INLINE Vec3 sAxisY()</div><div class="ttdef"><b>Definition</b> Vec3.h:57</div></div>
    241. 

  241. <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>
    242. 

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    243. 

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    244. 

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    245. 

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    246. 

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