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

  111. <a href="_gear_constraint_part_8h.html">Go to the documentation of this file.</a><div class="fragment"><div class="line"><a id="l00001" name="l00001"></a><span class="lineno">    1</span><span class="comment">// Jolt Physics Library (https://github.com/jrouwe/JoltPhysics)</span></div>
    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="_body_8h.html">Jolt/Physics/Body/Body.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="_state_recorder_8h.html">Jolt/Physics/StateRecorder.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="foldopen00039" data-start="{" data-end="};">
    123. 

  123. <div class="line"><a id="l00039" name="l00039"></a><span class="lineno"><a class="line" href="class_gear_constraint_part.html">   39</a></span><span class="keyword">class </span><a class="code hl_class" href="class_gear_constraint_part.html">GearConstraintPart</a></div>
    124. 

  124. <div class="line"><a id="l00040" name="l00040"></a><span class="lineno">   40</span>{</div>
    125. 

  125. <div class="line"><a id="l00042" name="l00042"></a><span class="lineno">   42</span>    JPH_INLINE <span class="keywordtype">bool</span>             ApplyVelocityStep(<a class="code hl_class" href="class_body.html">Body</a> &amp;ioBody1, <a class="code hl_class" href="class_body.html">Body</a> &amp;ioBody2, <span class="keywordtype">float</span> inLambda)<span class="keyword"> const</span></div>
    126. 

  126. <div class="line"><a id="l00043" name="l00043"></a><span class="lineno">   43</span><span class="keyword">    </span>{</div>
    127. 

  127. <div class="line"><a id="l00044" name="l00044"></a><span class="lineno">   44</span>        <span class="comment">// Apply impulse if delta is not zero</span></div>
    128. 

  128. <div class="line"><a id="l00045" name="l00045"></a><span class="lineno">   45</span>        <span class="keywordflow">if</span> (inLambda != 0.0f)</div>
    129. 

  129. <div class="line"><a id="l00046" name="l00046"></a><span class="lineno">   46</span>        {</div>
    130. 

  130. <div class="line"><a id="l00047" name="l00047"></a><span class="lineno">   47</span>            <span class="comment">// Calculate velocity change due to constraint</span></div>
    131. 

  131. <div class="line"><a id="l00048" name="l00048"></a><span class="lineno">   48</span>            <span class="comment">//</span></div>
    132. 

  132. <div class="line"><a id="l00049" name="l00049"></a><span class="lineno">   49</span>            <span class="comment">// Impulse:</span></div>
    133. 

  133. <div class="line"><a id="l00050" name="l00050"></a><span class="lineno">   50</span>            <span class="comment">// P = J^T lambda</span></div>
    134. 

  134. <div class="line"><a id="l00051" name="l00051"></a><span class="lineno">   51</span>            <span class="comment">//</span></div>
    135. 

  135. <div class="line"><a id="l00052" name="l00052"></a><span class="lineno">   52</span>            <span class="comment">// Euler velocity integration:</span></div>
    136. 

  136. <div class="line"><a id="l00053" name="l00053"></a><span class="lineno">   53</span>            <span class="comment">// v&#39; = v + M^-1 P</span></div>
    137. 

  137. <div class="line"><a id="l00054" name="l00054"></a><span class="lineno">   54</span>            ioBody1.<a class="code hl_function" href="class_body.html#a0d39987255227c4221fcea66cb1fc041">GetMotionProperties</a>()-&gt;<a class="code hl_function" href="class_motion_properties.html#afb12aa823a651145b46b271570a7af59">AddAngularVelocityStep</a>(inLambda * mInvI1_A);</div>
    138. 

  138. <div class="line"><a id="l00055" name="l00055"></a><span class="lineno">   55</span>            ioBody2.<a class="code hl_function" href="class_body.html#a0d39987255227c4221fcea66cb1fc041">GetMotionProperties</a>()-&gt;<a class="code hl_function" href="class_motion_properties.html#afb12aa823a651145b46b271570a7af59">AddAngularVelocityStep</a>(inLambda * mInvI2_B);</div>
    139. 

  139. <div class="line"><a id="l00056" name="l00056"></a><span class="lineno">   56</span>            <span class="keywordflow">return</span> <span class="keyword">true</span>;</div>
    140. 

  140. <div class="line"><a id="l00057" name="l00057"></a><span class="lineno">   57</span>        }</div>
    141. 

  141. <div class="line"><a id="l00058" name="l00058"></a><span class="lineno">   58</span> </div>
    142. 

  142. <div class="line"><a id="l00059" name="l00059"></a><span class="lineno">   59</span>        <span class="keywordflow">return</span> <span class="keyword">false</span>;</div>
    143. 

  143. <div class="line"><a id="l00060" name="l00060"></a><span class="lineno">   60</span>    }</div>
    144. 

  144. <div class="line"><a id="l00061" name="l00061"></a><span class="lineno">   61</span> </div>
    145. 

  145. <div class="line"><a id="l00062" name="l00062"></a><span class="lineno">   62</span><span class="keyword">public</span>:</div>
    146. 

  146. <div class="foldopen" id="foldopen00069" data-start="{" data-end="}">
    147. 

  147. <div class="line"><a id="l00069" name="l00069"></a><span class="lineno"><a class="line" href="class_gear_constraint_part.html#aa3a9c219aa2baf19edc577265ae2404f">   69</a></span>    <span class="keyword">inline</span> <span class="keywordtype">void</span>                 <a class="code hl_function" href="class_gear_constraint_part.html#aa3a9c219aa2baf19edc577265ae2404f">CalculateConstraintProperties</a>(<span class="keyword">const</span> <a class="code hl_class" href="class_body.html">Body</a> &amp;inBody1, <a class="code hl_class" href="class_vec3.html">Vec3Arg</a> inWorldSpaceHingeAxis1, <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">Vec3Arg</a> inWorldSpaceHingeAxis2, <span class="keywordtype">float</span> inRatio)</div>
    148. 

  148. <div class="line"><a id="l00070" name="l00070"></a><span class="lineno">   70</span>    {</div>
    149. 

  149. <div class="line"><a id="l00071" name="l00071"></a><span class="lineno">   71</span>        <a class="code hl_define" href="_issue_reporting_8h.html#aaf6b1df827e11b7ca5f6f8778bd8f8cd">JPH_ASSERT</a>(inWorldSpaceHingeAxis1.<a class="code hl_function" href="class_vec3.html#a2f10743d69960eaac721399e4ede190a">IsNormalized</a>(1.0e-4f));</div>
    150. 

  150. <div class="line"><a id="l00072" name="l00072"></a><span class="lineno">   72</span>        <a class="code hl_define" href="_issue_reporting_8h.html#aaf6b1df827e11b7ca5f6f8778bd8f8cd">JPH_ASSERT</a>(inWorldSpaceHingeAxis2.<a class="code hl_function" href="class_vec3.html#a2f10743d69960eaac721399e4ede190a">IsNormalized</a>(1.0e-4f));</div>
    151. 

  151. <div class="line"><a id="l00073" name="l00073"></a><span class="lineno">   73</span> </div>
    152. 

  152. <div class="line"><a id="l00074" name="l00074"></a><span class="lineno">   74</span>        <span class="comment">// Calculate: I1^-1 a</span></div>
    153. 

  153. <div class="line"><a id="l00075" name="l00075"></a><span class="lineno">   75</span>        mInvI1_A = inBody1.<a class="code hl_function" href="class_body.html#a0d39987255227c4221fcea66cb1fc041">GetMotionProperties</a>()-&gt;<a class="code hl_function" href="class_motion_properties.html#aa8a73ea7940a316151262ed9a28c4fbb">MultiplyWorldSpaceInverseInertiaByVector</a>(inBody1.<a class="code hl_function" href="class_body.html#aaee24bfb5e32e756f50113b9d1f45a2c">GetRotation</a>(), inWorldSpaceHingeAxis1);</div>
    154. 

  154. <div class="line"><a id="l00076" name="l00076"></a><span class="lineno">   76</span> </div>
    155. 

  155. <div class="line"><a id="l00077" name="l00077"></a><span class="lineno">   77</span>        <span class="comment">// Calculate: I2^-1 b</span></div>
    156. 

  156. <div class="line"><a id="l00078" name="l00078"></a><span class="lineno">   78</span>        mInvI2_B = inBody2.<a class="code hl_function" href="class_body.html#a0d39987255227c4221fcea66cb1fc041">GetMotionProperties</a>()-&gt;<a class="code hl_function" href="class_motion_properties.html#aa8a73ea7940a316151262ed9a28c4fbb">MultiplyWorldSpaceInverseInertiaByVector</a>(inBody2.<a class="code hl_function" href="class_body.html#aaee24bfb5e32e756f50113b9d1f45a2c">GetRotation</a>(), inWorldSpaceHingeAxis2);</div>
    157. 

  157. <div class="line"><a id="l00079" name="l00079"></a><span class="lineno">   79</span> </div>
    158. 

  158. <div class="line"><a id="l00080" name="l00080"></a><span class="lineno">   80</span>        <span class="comment">// K^-1 = 1 / (J M^-1 J^T) = 1 / (a^T I1^-1 a + r^2 * b^T I2^-1 b)</span></div>
    159. 

  159. <div class="line"><a id="l00081" name="l00081"></a><span class="lineno">   81</span>        <span class="keywordtype">float</span> inv_effective_mass = (inWorldSpaceHingeAxis1.<a class="code hl_function" href="class_vec3.html#a0e078ff09f69e669db71a2b0e37939ff">Dot</a>(mInvI1_A) + inWorldSpaceHingeAxis2.<a class="code hl_function" href="class_vec3.html#a0e078ff09f69e669db71a2b0e37939ff">Dot</a>(mInvI2_B) * <a class="code hl_function" href="_math_8h.html#a61379b8b743a16fe823daeebc1482570">Square</a>(inRatio));</div>
    160. 

  160. <div class="line"><a id="l00082" name="l00082"></a><span class="lineno">   82</span>        <span class="keywordflow">if</span> (inv_effective_mass == 0.0f)</div>
    161. 

  161. <div class="line"><a id="l00083" name="l00083"></a><span class="lineno">   83</span>            <a class="code hl_function" href="class_gear_constraint_part.html#ab05807faf3573b42a9a7a0a280aed05c">Deactivate</a>();</div>
    162. 

  162. <div class="line"><a id="l00084" name="l00084"></a><span class="lineno">   84</span>        <span class="keywordflow">else</span></div>
    163. 

  163. <div class="line"><a id="l00085" name="l00085"></a><span class="lineno">   85</span>            mEffectiveMass = 1.0f / inv_effective_mass;</div>
    164. 

  164. <div class="line"><a id="l00086" name="l00086"></a><span class="lineno">   86</span>    }</div>
    165. 

  165. </div>
    166. 

  166. <div class="line"><a id="l00087" name="l00087"></a><span class="lineno">   87</span> </div>
    167. 

  167. <div class="foldopen" id="foldopen00089" data-start="{" data-end="}">
    168. 

  168. <div class="line"><a id="l00089" name="l00089"></a><span class="lineno"><a class="line" href="class_gear_constraint_part.html#ab05807faf3573b42a9a7a0a280aed05c">   89</a></span>    <span class="keyword">inline</span> <span class="keywordtype">void</span>                 <a class="code hl_function" href="class_gear_constraint_part.html#ab05807faf3573b42a9a7a0a280aed05c">Deactivate</a>()</div>
    169. 

  169. <div class="line"><a id="l00090" name="l00090"></a><span class="lineno">   90</span>    {</div>
    170. 

  170. <div class="line"><a id="l00091" name="l00091"></a><span class="lineno">   91</span>        mEffectiveMass = 0.0f;</div>
    171. 

  171. <div class="line"><a id="l00092" name="l00092"></a><span class="lineno">   92</span>        mTotalLambda = 0.0f;</div>
    172. 

  172. <div class="line"><a id="l00093" name="l00093"></a><span class="lineno">   93</span>    }</div>
    173. 

  173. </div>
    174. 

  174. <div class="line"><a id="l00094" name="l00094"></a><span class="lineno">   94</span> </div>
    175. 

  175. <div class="foldopen" id="foldopen00096" data-start="{" data-end="}">
    176. 

  176. <div class="line"><a id="l00096" name="l00096"></a><span class="lineno"><a class="line" href="class_gear_constraint_part.html#a5e5f8097c8a062b98d9bedcfa37859c5">   96</a></span>    <span class="keyword">inline</span> <span class="keywordtype">bool</span>                 <a class="code hl_function" href="class_gear_constraint_part.html#a5e5f8097c8a062b98d9bedcfa37859c5">IsActive</a>()<span class="keyword"> const</span></div>
    177. 

  177. <div class="line"><a id="l00097" name="l00097"></a><span class="lineno">   97</span><span class="keyword">    </span>{</div>
    178. 

  178. <div class="line"><a id="l00098" name="l00098"></a><span class="lineno">   98</span>        <span class="keywordflow">return</span> mEffectiveMass != 0.0f;</div>
    179. 

  179. <div class="line"><a id="l00099" name="l00099"></a><span class="lineno">   99</span>    }</div>
    180. 

  180. </div>
    181. 

  181. <div class="line"><a id="l00100" name="l00100"></a><span class="lineno">  100</span> </div>
    182. 

  182. <div class="foldopen" id="foldopen00105" data-start="{" data-end="}">
    183. 

  183. <div class="line"><a id="l00105" name="l00105"></a><span class="lineno"><a class="line" href="class_gear_constraint_part.html#a3886e068476d7e0d700dcec934ac6250">  105</a></span>    <span class="keyword">inline</span> <span class="keywordtype">void</span>                 <a class="code hl_function" href="class_gear_constraint_part.html#a3886e068476d7e0d700dcec934ac6250">WarmStart</a>(<a class="code hl_class" href="class_body.html">Body</a> &amp;ioBody1, <a class="code hl_class" href="class_body.html">Body</a> &amp;ioBody2, <span class="keywordtype">float</span> inWarmStartImpulseRatio)</div>
    184. 

  184. <div class="line"><a id="l00106" name="l00106"></a><span class="lineno">  106</span>    {</div>
    185. 

  185. <div class="line"><a id="l00107" name="l00107"></a><span class="lineno">  107</span>        mTotalLambda *= inWarmStartImpulseRatio;</div>
    186. 

  186. <div class="line"><a id="l00108" name="l00108"></a><span class="lineno">  108</span>        ApplyVelocityStep(ioBody1, ioBody2, mTotalLambda);</div>
    187. 

  187. <div class="line"><a id="l00109" name="l00109"></a><span class="lineno">  109</span>    }</div>
    188. 

  188. </div>
    189. 

  189. <div class="line"><a id="l00110" name="l00110"></a><span class="lineno">  110</span> </div>
    190. 

  190. <div class="foldopen" id="foldopen00117" data-start="{" data-end="}">
    191. 

  191. <div class="line"><a id="l00117" name="l00117"></a><span class="lineno"><a class="line" href="class_gear_constraint_part.html#a59066c4f97a31d73d74dc5ec277ca43e">  117</a></span>    <span class="keyword">inline</span> <span class="keywordtype">bool</span>                 <a class="code hl_function" href="class_gear_constraint_part.html#a59066c4f97a31d73d74dc5ec277ca43e">SolveVelocityConstraint</a>(<a class="code hl_class" href="class_body.html">Body</a> &amp;ioBody1, <a class="code hl_class" href="class_vec3.html">Vec3Arg</a> inWorldSpaceHingeAxis1, <a class="code hl_class" href="class_body.html">Body</a> &amp;ioBody2, <a class="code hl_class" href="class_vec3.html">Vec3Arg</a> inWorldSpaceHingeAxis2, <span class="keywordtype">float</span> inRatio)</div>
    192. 

  192. <div class="line"><a id="l00118" name="l00118"></a><span class="lineno">  118</span>    {</div>
    193. 

  193. <div class="line"><a id="l00119" name="l00119"></a><span class="lineno">  119</span>        <span class="comment">// Lagrange multiplier is:</span></div>
    194. 

  194. <div class="line"><a id="l00120" name="l00120"></a><span class="lineno">  120</span>        <span class="comment">//</span></div>
    195. 

  195. <div class="line"><a id="l00121" name="l00121"></a><span class="lineno">  121</span>        <span class="comment">// lambda = -K^-1 (J v + b)</span></div>
    196. 

  196. <div class="line"><a id="l00122" name="l00122"></a><span class="lineno">  122</span>        <span class="keywordtype">float</span> lambda = -mEffectiveMass * (inWorldSpaceHingeAxis1.<a class="code hl_function" href="class_vec3.html#a0e078ff09f69e669db71a2b0e37939ff">Dot</a>(ioBody1.<a class="code hl_function" href="class_body.html#adb1bb49db094ac2ef7c4951d07ba8417">GetAngularVelocity</a>()) + inRatio * inWorldSpaceHingeAxis2.<a class="code hl_function" href="class_vec3.html#a0e078ff09f69e669db71a2b0e37939ff">Dot</a>(ioBody2.<a class="code hl_function" href="class_body.html#adb1bb49db094ac2ef7c4951d07ba8417">GetAngularVelocity</a>()));</div>
    197. 

  197. <div class="line"><a id="l00123" name="l00123"></a><span class="lineno">  123</span>        mTotalLambda += lambda; <span class="comment">// Store accumulated impulse</span></div>
    198. 

  198. <div class="line"><a id="l00124" name="l00124"></a><span class="lineno">  124</span> </div>
    199. 

  199. <div class="line"><a id="l00125" name="l00125"></a><span class="lineno">  125</span>        <span class="keywordflow">return</span> ApplyVelocityStep(ioBody1, ioBody2, lambda);</div>
    200. 

  200. <div class="line"><a id="l00126" name="l00126"></a><span class="lineno">  126</span>    }</div>
    201. 

  201. </div>
    202. 

  202. <div class="line"><a id="l00127" name="l00127"></a><span class="lineno">  127</span> </div>
    203. 

  203. <div class="foldopen" id="foldopen00129" data-start="{" data-end="}">
    204. 

  204. <div class="line"><a id="l00129" name="l00129"></a><span class="lineno"><a class="line" href="class_gear_constraint_part.html#a0884cffe567c6cfe93e555996ba8bad9">  129</a></span>    <span class="keywordtype">float</span>                       <a class="code hl_function" href="class_gear_constraint_part.html#a0884cffe567c6cfe93e555996ba8bad9">GetTotalLambda</a>()<span class="keyword"> const</span></div>
    205. 

  205. <div class="line"><a id="l00130" name="l00130"></a><span class="lineno">  130</span><span class="keyword">    </span>{</div>
    206. 

  206. <div class="line"><a id="l00131" name="l00131"></a><span class="lineno">  131</span>        <span class="keywordflow">return</span> mTotalLambda;</div>
    207. 

  207. <div class="line"><a id="l00132" name="l00132"></a><span class="lineno">  132</span>    }</div>
    208. 

  208. </div>
    209. 

  209. <div class="line"><a id="l00133" name="l00133"></a><span class="lineno">  133</span> </div>
    210. 

  210. <div class="foldopen" id="foldopen00139" data-start="{" data-end="}">
    211. 

  211. <div class="line"><a id="l00139" name="l00139"></a><span class="lineno"><a class="line" href="class_gear_constraint_part.html#ad9da946340f02066a9031124bec183af">  139</a></span>    <span class="keyword">inline</span> <span class="keywordtype">bool</span>                 <a class="code hl_function" href="class_gear_constraint_part.html#ad9da946340f02066a9031124bec183af">SolvePositionConstraint</a>(<a class="code hl_class" href="class_body.html">Body</a> &amp;ioBody1, <a class="code hl_class" href="class_body.html">Body</a> &amp;ioBody2, <span class="keywordtype">float</span> inC, <span class="keywordtype">float</span> inBaumgarte)<span class="keyword"> const</span></div>
    212. 

  212. <div class="line"><a id="l00140" name="l00140"></a><span class="lineno">  140</span><span class="keyword">    </span>{</div>
    213. 

  213. <div class="line"><a id="l00141" name="l00141"></a><span class="lineno">  141</span>        <span class="comment">// Only apply position constraint when the constraint is hard, otherwise the velocity bias will fix the constraint</span></div>
    214. 

  214. <div class="line"><a id="l00142" name="l00142"></a><span class="lineno">  142</span>        <span class="keywordflow">if</span> (inC != 0.0f)</div>
    215. 

  215. <div class="line"><a id="l00143" name="l00143"></a><span class="lineno">  143</span>        {</div>
    216. 

  216. <div class="line"><a id="l00144" name="l00144"></a><span class="lineno">  144</span>            <span class="comment">// Calculate lagrange multiplier (lambda) for Baumgarte stabilization:</span></div>
    217. 

  217. <div class="line"><a id="l00145" name="l00145"></a><span class="lineno">  145</span>            <span class="comment">//</span></div>
    218. 

  218. <div class="line"><a id="l00146" name="l00146"></a><span class="lineno">  146</span>            <span class="comment">// lambda = -K^-1 * beta / dt * C</span></div>
    219. 

  219. <div class="line"><a id="l00147" name="l00147"></a><span class="lineno">  147</span>            <span class="comment">//</span></div>
    220. 

  220. <div class="line"><a id="l00148" name="l00148"></a><span class="lineno">  148</span>            <span class="comment">// We should divide by inDeltaTime, but we should multiply by inDeltaTime in the Euler step below so they&#39;re cancelled out</span></div>
    221. 

  221. <div class="line"><a id="l00149" name="l00149"></a><span class="lineno">  149</span>            <span class="keywordtype">float</span> lambda = -mEffectiveMass * inBaumgarte * inC;</div>
    222. 

  222. <div class="line"><a id="l00150" name="l00150"></a><span class="lineno">  150</span> </div>
    223. 

  223. <div class="line"><a id="l00151" name="l00151"></a><span class="lineno">  151</span>            <span class="comment">// Directly integrate velocity change for one time step</span></div>
    224. 

  224. <div class="line"><a id="l00152" name="l00152"></a><span class="lineno">  152</span>            <span class="comment">//</span></div>
    225. 

  225. <div class="line"><a id="l00153" name="l00153"></a><span class="lineno">  153</span>            <span class="comment">// Euler velocity integration:</span></div>
    226. 

  226. <div class="line"><a id="l00154" name="l00154"></a><span class="lineno">  154</span>            <span class="comment">// dv = M^-1 P</span></div>
    227. 

  227. <div class="line"><a id="l00155" name="l00155"></a><span class="lineno">  155</span>            <span class="comment">//</span></div>
    228. 

  228. <div class="line"><a id="l00156" name="l00156"></a><span class="lineno">  156</span>            <span class="comment">// Impulse:</span></div>
    229. 

  229. <div class="line"><a id="l00157" name="l00157"></a><span class="lineno">  157</span>            <span class="comment">// P = J^T lambda</span></div>
    230. 

  230. <div class="line"><a id="l00158" name="l00158"></a><span class="lineno">  158</span>            <span class="comment">//</span></div>
    231. 

  231. <div class="line"><a id="l00159" name="l00159"></a><span class="lineno">  159</span>            <span class="comment">// Euler position integration:</span></div>
    232. 

  232. <div class="line"><a id="l00160" name="l00160"></a><span class="lineno">  160</span>            <span class="comment">// x&#39; = x + dv * dt</span></div>
    233. 

  233. <div class="line"><a id="l00161" name="l00161"></a><span class="lineno">  161</span>            <span class="comment">//</span></div>
    234. 

  234. <div class="line"><a id="l00162" name="l00162"></a><span class="lineno">  162</span>            <span class="comment">// Note we don&#39;t accumulate velocities for the stabilization. This is using the approach described in &#39;Modeling and</span></div>
    235. 

  235. <div class="line"><a id="l00163" name="l00163"></a><span class="lineno">  163</span>            <span class="comment">// Solving Constraints&#39; by Erin Catto presented at GDC 2007. On slide 78 it is suggested to split up the Baumgarte</span></div>
    236. 

  236. <div class="line"><a id="l00164" name="l00164"></a><span class="lineno">  164</span>            <span class="comment">// stabilization for positional drift so that it does not actually add to the momentum. We combine an Euler velocity</span></div>
    237. 

  237. <div class="line"><a id="l00165" name="l00165"></a><span class="lineno">  165</span>            <span class="comment">// integrate + a position integrate and then discard the velocity change.</span></div>
    238. 

  238. <div class="line"><a id="l00166" name="l00166"></a><span class="lineno">  166</span>            <span class="keywordflow">if</span> (ioBody1.<a class="code hl_function" href="class_body.html#a1b21c30907c8c9ce30c176a054057bef">IsDynamic</a>())</div>
    239. 

  239. <div class="line"><a id="l00167" name="l00167"></a><span class="lineno">  167</span>                ioBody1.<a class="code hl_function" href="class_body.html#a3385650a73d75c7d9c16d13ea2d5519f">AddRotationStep</a>(lambda * mInvI1_A);</div>
    240. 

  240. <div class="line"><a id="l00168" name="l00168"></a><span class="lineno">  168</span>            <span class="keywordflow">if</span> (ioBody2.<a class="code hl_function" href="class_body.html#a1b21c30907c8c9ce30c176a054057bef">IsDynamic</a>())</div>
    241. 

  241. <div class="line"><a id="l00169" name="l00169"></a><span class="lineno">  169</span>                ioBody2.<a class="code hl_function" href="class_body.html#a3385650a73d75c7d9c16d13ea2d5519f">AddRotationStep</a>(lambda * mInvI2_B);</div>
    242. 

  242. <div class="line"><a id="l00170" name="l00170"></a><span class="lineno">  170</span>            <span class="keywordflow">return</span> <span class="keyword">true</span>;</div>
    243. 

  243. <div class="line"><a id="l00171" name="l00171"></a><span class="lineno">  171</span>        }</div>
    244. 

  244. <div class="line"><a id="l00172" name="l00172"></a><span class="lineno">  172</span> </div>
    245. 

  245. <div class="line"><a id="l00173" name="l00173"></a><span class="lineno">  173</span>        <span class="keywordflow">return</span> <span class="keyword">false</span>;</div>
    246. 

  246. <div class="line"><a id="l00174" name="l00174"></a><span class="lineno">  174</span>    }</div>
    247. 

  247. </div>
    248. 

  248. <div class="line"><a id="l00175" name="l00175"></a><span class="lineno">  175</span> </div>
    249. 

  249. <div class="foldopen" id="foldopen00177" data-start="{" data-end="}">
    250. 

  250. <div class="line"><a id="l00177" name="l00177"></a><span class="lineno"><a class="line" href="class_gear_constraint_part.html#afa8089c72687df9833186a2078cd1aa5">  177</a></span>    <span class="keywordtype">void</span>                        <a class="code hl_function" href="class_gear_constraint_part.html#afa8089c72687df9833186a2078cd1aa5">SaveState</a>(<a class="code hl_class" href="class_state_recorder.html">StateRecorder</a> &amp;inStream)<span class="keyword"> const</span></div>
    251. 

  251. <div class="line"><a id="l00178" name="l00178"></a><span class="lineno">  178</span><span class="keyword">    </span>{</div>
    252. 

  252. <div class="line"><a id="l00179" name="l00179"></a><span class="lineno">  179</span>        inStream.<a class="code hl_function" href="class_stream_out.html#a879dce6c6c6ca5e63835fe61cc745966">Write</a>(mTotalLambda);</div>
    253. 

  253. <div class="line"><a id="l00180" name="l00180"></a><span class="lineno">  180</span>    }</div>
    254. 

  254. </div>
    255. 

  255. <div class="line"><a id="l00181" name="l00181"></a><span class="lineno">  181</span> </div>
    256. 

  256. <div class="foldopen" id="foldopen00183" data-start="{" data-end="}">
    257. 

  257. <div class="line"><a id="l00183" name="l00183"></a><span class="lineno"><a class="line" href="class_gear_constraint_part.html#ad3fc3cde9a29f5bbbba7db738f5715a3">  183</a></span>    <span class="keywordtype">void</span>                        <a class="code hl_function" href="class_gear_constraint_part.html#ad3fc3cde9a29f5bbbba7db738f5715a3">RestoreState</a>(<a class="code hl_class" href="class_state_recorder.html">StateRecorder</a> &amp;inStream)</div>
    258. 

  258. <div class="line"><a id="l00184" name="l00184"></a><span class="lineno">  184</span>    {</div>
    259. 

  259. <div class="line"><a id="l00185" name="l00185"></a><span class="lineno">  185</span>        inStream.<a class="code hl_function" href="class_stream_in.html#a5ae9304c310edfc5ef1c67a95e36b1f3">Read</a>(mTotalLambda);</div>
    260. 

  260. <div class="line"><a id="l00186" name="l00186"></a><span class="lineno">  186</span>    }</div>
    261. 

  261. </div>
    262. 

  262. <div class="line"><a id="l00187" name="l00187"></a><span class="lineno">  187</span> </div>
    263. 

  263. <div class="line"><a id="l00188" name="l00188"></a><span class="lineno">  188</span><span class="keyword">private</span>:</div>
    264. 

  264. <div class="line"><a id="l00189" name="l00189"></a><span class="lineno">  189</span>    <a class="code hl_class" href="class_vec3.html">Vec3</a>                        mInvI1_A;</div>
    265. 

  265. <div class="line"><a id="l00190" name="l00190"></a><span class="lineno">  190</span>    <a class="code hl_class" href="class_vec3.html">Vec3</a>                        mInvI2_B;</div>
    266. 

  266. <div class="line"><a id="l00191" name="l00191"></a><span class="lineno">  191</span>    <span class="keywordtype">float</span>                       mEffectiveMass = 0.0f;</div>
    267. 

  267. <div class="line"><a id="l00192" name="l00192"></a><span class="lineno">  192</span>    <span class="keywordtype">float</span>                       mTotalLambda = 0.0f;</div>
    268. 

  268. <div class="line"><a id="l00193" name="l00193"></a><span class="lineno">  193</span>};</div>
    269. 

  269. </div>
    270. 

  270. <div class="line"><a id="l00194" name="l00194"></a><span class="lineno">  194</span> </div>
    271. 

  271. <div class="line"><a id="l00195" name="l00195"></a><span class="lineno">  195</span><a class="code hl_define" href="_core_8h.html#a73da8725998b00321a9db341202d650d">JPH_NAMESPACE_END</a></div>
    272. 

  272. <div class="ttc" id="a_body_8h_html"><div class="ttname"><a href="_body_8h.html">Body.h</a></div></div>
    273. 

  273. <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>
    274. 

  274. <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>
    275. 

  275. <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>
    276. 

  276. <div class="ttc" id="a_math_8h_html_a61379b8b743a16fe823daeebc1482570"><div class="ttname"><a href="_math_8h.html#a61379b8b743a16fe823daeebc1482570">Square</a></div><div class="ttdeci">JPH_INLINE constexpr T Square(T inV)</div><div class="ttdoc">Square a value.</div><div class="ttdef"><b>Definition</b> Math.h:55</div></div>
    277. 

  277. <div class="ttc" id="a_state_recorder_8h_html"><div class="ttname"><a href="_state_recorder_8h.html">StateRecorder.h</a></div></div>
    278. 

  278. <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>
    279. 

  279. <div class="ttc" id="aclass_body_html_a0d39987255227c4221fcea66cb1fc041"><div class="ttname"><a href="class_body.html#a0d39987255227c4221fcea66cb1fc041">Body::GetMotionProperties</a></div><div class="ttdeci">const MotionProperties * GetMotionProperties() const</div><div class="ttdoc">Access to the motion properties.</div><div class="ttdef"><b>Definition</b> Body.h:308</div></div>
    280. 

  280. <div class="ttc" id="aclass_body_html_a1b21c30907c8c9ce30c176a054057bef"><div class="ttname"><a href="class_body.html#a1b21c30907c8c9ce30c176a054057bef">Body::IsDynamic</a></div><div class="ttdeci">bool IsDynamic() const</div><div class="ttdoc">Check if this body is dynamic, which means that it moves and forces can act on it.</div><div class="ttdef"><b>Definition</b> Body.h:67</div></div>
    281. 

  281. <div class="ttc" id="aclass_body_html_a3385650a73d75c7d9c16d13ea2d5519f"><div class="ttname"><a href="class_body.html#a3385650a73d75c7d9c16d13ea2d5519f">Body::AddRotationStep</a></div><div class="ttdeci">void AddRotationStep(Vec3Arg inAngularVelocityTimesDeltaTime)</div><div class="ttdoc">Update rotation using an Euler step (used during position integrate &amp; constraint solving)</div><div class="ttdef"><b>Definition</b> Body.inl:81</div></div>
    282. 

  282. <div class="ttc" id="aclass_body_html_aaee24bfb5e32e756f50113b9d1f45a2c"><div class="ttname"><a href="class_body.html#aaee24bfb5e32e756f50113b9d1f45a2c">Body::GetRotation</a></div><div class="ttdeci">Quat GetRotation() const</div><div class="ttdoc">World space rotation of the body.</div><div class="ttdef"><b>Definition</b> Body.h:271</div></div>
    283. 

  283. <div class="ttc" id="aclass_body_html_adb1bb49db094ac2ef7c4951d07ba8417"><div class="ttname"><a href="class_body.html#adb1bb49db094ac2ef7c4951d07ba8417">Body::GetAngularVelocity</a></div><div class="ttdeci">Vec3 GetAngularVelocity() const</div><div class="ttdoc">Get world space angular velocity of the center of mass (unit: rad/s)</div><div class="ttdef"><b>Definition</b> Body.h:161</div></div>
    284. 

  284. <div class="ttc" id="aclass_gear_constraint_part_html"><div class="ttname"><a href="class_gear_constraint_part.html">GearConstraintPart</a></div><div class="ttdef"><b>Definition</b> GearConstraintPart.h:40</div></div>
    285. 

  285. <div class="ttc" id="aclass_gear_constraint_part_html_a0884cffe567c6cfe93e555996ba8bad9"><div class="ttname"><a href="class_gear_constraint_part.html#a0884cffe567c6cfe93e555996ba8bad9">GearConstraintPart::GetTotalLambda</a></div><div class="ttdeci">float GetTotalLambda() const</div><div class="ttdoc">Return lagrange multiplier.</div><div class="ttdef"><b>Definition</b> GearConstraintPart.h:129</div></div>
    286. 

  286. <div class="ttc" id="aclass_gear_constraint_part_html_a3886e068476d7e0d700dcec934ac6250"><div class="ttname"><a href="class_gear_constraint_part.html#a3886e068476d7e0d700dcec934ac6250">GearConstraintPart::WarmStart</a></div><div class="ttdeci">void WarmStart(Body &amp;ioBody1, Body &amp;ioBody2, float inWarmStartImpulseRatio)</div><div class="ttdef"><b>Definition</b> GearConstraintPart.h:105</div></div>
    287. 

  287. <div class="ttc" id="aclass_gear_constraint_part_html_a59066c4f97a31d73d74dc5ec277ca43e"><div class="ttname"><a href="class_gear_constraint_part.html#a59066c4f97a31d73d74dc5ec277ca43e">GearConstraintPart::SolveVelocityConstraint</a></div><div class="ttdeci">bool SolveVelocityConstraint(Body &amp;ioBody1, Vec3Arg inWorldSpaceHingeAxis1, Body &amp;ioBody2, Vec3Arg inWorldSpaceHingeAxis2, float inRatio)</div><div class="ttdef"><b>Definition</b> GearConstraintPart.h:117</div></div>
    288. 

  288. <div class="ttc" id="aclass_gear_constraint_part_html_a5e5f8097c8a062b98d9bedcfa37859c5"><div class="ttname"><a href="class_gear_constraint_part.html#a5e5f8097c8a062b98d9bedcfa37859c5">GearConstraintPart::IsActive</a></div><div class="ttdeci">bool IsActive() const</div><div class="ttdoc">Check if constraint is active.</div><div class="ttdef"><b>Definition</b> GearConstraintPart.h:96</div></div>
    289. 

  289. <div class="ttc" id="aclass_gear_constraint_part_html_aa3a9c219aa2baf19edc577265ae2404f"><div class="ttname"><a href="class_gear_constraint_part.html#aa3a9c219aa2baf19edc577265ae2404f">GearConstraintPart::CalculateConstraintProperties</a></div><div class="ttdeci">void CalculateConstraintProperties(const Body &amp;inBody1, Vec3Arg inWorldSpaceHingeAxis1, const Body &amp;inBody2, Vec3Arg inWorldSpaceHingeAxis2, float inRatio)</div><div class="ttdef"><b>Definition</b> GearConstraintPart.h:69</div></div>
    290. 

  290. <div class="ttc" id="aclass_gear_constraint_part_html_ab05807faf3573b42a9a7a0a280aed05c"><div class="ttname"><a href="class_gear_constraint_part.html#ab05807faf3573b42a9a7a0a280aed05c">GearConstraintPart::Deactivate</a></div><div class="ttdeci">void Deactivate()</div><div class="ttdoc">Deactivate this constraint.</div><div class="ttdef"><b>Definition</b> GearConstraintPart.h:89</div></div>
    291. 

  291. <div class="ttc" id="aclass_gear_constraint_part_html_ad3fc3cde9a29f5bbbba7db738f5715a3"><div class="ttname"><a href="class_gear_constraint_part.html#ad3fc3cde9a29f5bbbba7db738f5715a3">GearConstraintPart::RestoreState</a></div><div class="ttdeci">void RestoreState(StateRecorder &amp;inStream)</div><div class="ttdoc">Restore state of this constraint part.</div><div class="ttdef"><b>Definition</b> GearConstraintPart.h:183</div></div>
    292. 

  292. <div class="ttc" id="aclass_gear_constraint_part_html_ad9da946340f02066a9031124bec183af"><div class="ttname"><a href="class_gear_constraint_part.html#ad9da946340f02066a9031124bec183af">GearConstraintPart::SolvePositionConstraint</a></div><div class="ttdeci">bool SolvePositionConstraint(Body &amp;ioBody1, Body &amp;ioBody2, float inC, float inBaumgarte) const</div><div class="ttdef"><b>Definition</b> GearConstraintPart.h:139</div></div>
    293. 

  293. <div class="ttc" id="aclass_gear_constraint_part_html_afa8089c72687df9833186a2078cd1aa5"><div class="ttname"><a href="class_gear_constraint_part.html#afa8089c72687df9833186a2078cd1aa5">GearConstraintPart::SaveState</a></div><div class="ttdeci">void SaveState(StateRecorder &amp;inStream) const</div><div class="ttdoc">Save state of this constraint part.</div><div class="ttdef"><b>Definition</b> GearConstraintPart.h:177</div></div>
    294. 

  294. <div class="ttc" id="aclass_motion_properties_html_aa8a73ea7940a316151262ed9a28c4fbb"><div class="ttname"><a href="class_motion_properties.html#aa8a73ea7940a316151262ed9a28c4fbb">MotionProperties::MultiplyWorldSpaceInverseInertiaByVector</a></div><div class="ttdeci">JPH_INLINE Vec3 MultiplyWorldSpaceInverseInertiaByVector(QuatArg inBodyRotation, Vec3Arg inV) const</div><div class="ttdoc">Multiply a vector with the inverse world space inertia tensor ( ). Zero if object is static or kinema...</div><div class="ttdef"><b>Definition</b> MotionProperties.inl:86</div></div>
    295. 

  295. <div class="ttc" id="aclass_motion_properties_html_afb12aa823a651145b46b271570a7af59"><div class="ttname"><a href="class_motion_properties.html#afb12aa823a651145b46b271570a7af59">MotionProperties::AddAngularVelocityStep</a></div><div class="ttdeci">void AddAngularVelocityStep(Vec3Arg inAngularVelocityChange)</div><div class="ttdef"><b>Definition</b> MotionProperties.h:219</div></div>
    296. 

  296. <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>
    297. 

  297. <div class="ttc" id="aclass_stream_in_html_a5ae9304c310edfc5ef1c67a95e36b1f3"><div class="ttname"><a href="class_stream_in.html#a5ae9304c310edfc5ef1c67a95e36b1f3">StreamIn::Read</a></div><div class="ttdeci">void Read(T &amp;outT)</div><div class="ttdoc">Read a primitive (e.g. float, int, etc.) from the binary stream.</div><div class="ttdef"><b>Definition</b> StreamIn.h:30</div></div>
    298. 

  298. <div class="ttc" id="aclass_stream_out_html_a879dce6c6c6ca5e63835fe61cc745966"><div class="ttname"><a href="class_stream_out.html#a879dce6c6c6ca5e63835fe61cc745966">StreamOut::Write</a></div><div class="ttdeci">void Write(const T &amp;inT)</div><div class="ttdoc">Write a primitive (e.g. float, int, etc.) to the binary stream.</div><div class="ttdef"><b>Definition</b> StreamOut.h:26</div></div>
    299. 

  299. <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>
    300. 

  300. <div class="ttc" id="aclass_vec3_html_a0e078ff09f69e669db71a2b0e37939ff"><div class="ttname"><a href="class_vec3.html#a0e078ff09f69e669db71a2b0e37939ff">Vec3::Dot</a></div><div class="ttdeci">JPH_INLINE float Dot(Vec3Arg inV2) const</div><div class="ttdoc">Dot product.</div><div class="ttdef"><b>Definition</b> Vec3.inl:650</div></div>
    301. 

  301. <div class="ttc" id="aclass_vec3_html_a2f10743d69960eaac721399e4ede190a"><div class="ttname"><a href="class_vec3.html#a2f10743d69960eaac721399e4ede190a">Vec3::IsNormalized</a></div><div class="ttdeci">JPH_INLINE bool IsNormalized(float inTolerance=1.0e-6f) const</div><div class="ttdoc">Test if vector is normalized.</div><div class="ttdef"><b>Definition</b> Vec3.inl:752</div></div>
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