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JoltPhysics
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  <div class="headertitle"><div class="title">HingeConstraint.h</div></div>
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<a href="_hinge_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>
<div class="line"><a id="l00002" name="l00002"></a><span class="lineno">    2</span><span class="comment">// SPDX-FileCopyrightText: 2021 Jorrit Rouwe</span></div>
<div class="line"><a id="l00003" name="l00003"></a><span class="lineno">    3</span><span class="comment">// SPDX-License-Identifier: MIT</span></div>
<div class="line"><a id="l00004" name="l00004"></a><span class="lineno">    4</span> </div>
<div class="line"><a id="l00005" name="l00005"></a><span class="lineno">    5</span><span class="preprocessor">#pragma once</span></div>
<div class="line"><a id="l00006" name="l00006"></a><span class="lineno">    6</span> </div>
<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>
<div class="line"><a id="l00008" name="l00008"></a><span class="lineno">    8</span><span class="preprocessor">#include &lt;<a class="code" href="_motor_settings_8h.html">Jolt/Physics/Constraints/MotorSettings.h</a>&gt;</span></div>
<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>
<div class="line"><a id="l00010" name="l00010"></a><span class="lineno">   10</span><span class="preprocessor">#include &lt;<a class="code" href="_hinge_rotation_constraint_part_8h.html">Jolt/Physics/Constraints/ConstraintPart/HingeRotationConstraintPart.h</a>&gt;</span></div>
<div class="line"><a id="l00011" name="l00011"></a><span class="lineno">   11</span><span class="preprocessor">#include &lt;<a class="code" href="_angle_constraint_part_8h.html">Jolt/Physics/Constraints/ConstraintPart/AngleConstraintPart.h</a>&gt;</span></div>
<div class="line"><a id="l00012" name="l00012"></a><span class="lineno">   12</span> </div>
<div class="line"><a id="l00013" name="l00013"></a><span class="lineno">   13</span><a class="code hl_define" href="_core_8h.html#ad14098b68b8c44ea6112601031268405">JPH_NAMESPACE_BEGIN</a></div>
<div class="line"><a id="l00014" name="l00014"></a><span class="lineno">   14</span> </div>
<div class="foldopen" id="foldopen00016" data-start="{" data-end="};">
<div class="line"><a id="l00016" name="l00016"></a><span class="lineno"><a class="line" href="class_hinge_constraint_settings.html">   16</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_hinge_constraint_settings.html">HingeConstraintSettings</a> final : <span class="keyword">public</span> <a class="code hl_class" href="class_two_body_constraint_settings.html">TwoBodyConstraintSettings</a></div>
<div class="line"><a id="l00017" name="l00017"></a><span class="lineno">   17</span>{</div>
<div class="line"><a id="l00018" name="l00018"></a><span class="lineno">   18</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_hinge_constraint_settings.html">HingeConstraintSettings</a>)</div>
<div class="line"><a id="l00019" name="l00019"></a><span class="lineno">   19</span> </div>
<div class="line"><a id="l00020" name="l00020"></a><span class="lineno">   20</span><span class="keyword">public</span>:</div>
<div class="line"><a id="l00021" name="l00021"></a><span class="lineno">   21</span>    <span class="comment">// See: ConstraintSettings::SaveBinaryState</span></div>
<div class="line"><a id="l00022" name="l00022"></a><span class="lineno">   22</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>
<div class="line"><a id="l00023" name="l00023"></a><span class="lineno">   23</span> </div>
<div class="line"><a id="l00025" name="l00025"></a><span class="lineno">   25</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>
<div class="line"><a id="l00026" name="l00026"></a><span class="lineno">   26</span> </div>
<div class="line"><a id="l00028" name="l00028"></a><span class="lineno"><a class="line" href="class_hinge_constraint_settings.html#a725ff18567624814960e708b5e3729ce">   28</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>
<div class="line"><a id="l00029" name="l00029"></a><span class="lineno">   29</span> </div>
<div class="line"><a id="l00036" name="l00036"></a><span class="lineno"><a class="line" href="class_hinge_constraint_settings.html#aa69e0fef137c3134ff9326f02766d978">   36</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>
<div class="line"><a id="l00037" name="l00037"></a><span class="lineno"><a class="line" href="class_hinge_constraint_settings.html#a745bb6b35b86180af4a193dba23f07ef">   37</a></span>    <a class="code hl_class" href="class_vec3.html">Vec3</a>                        mHingeAxis1 = <a class="code hl_function" href="class_vec3.html#a2819718744feddb0bc150c6ccc26fad1">Vec3::sAxisY</a>();</div>
<div class="line"><a id="l00038" name="l00038"></a><span class="lineno"><a class="line" href="class_hinge_constraint_settings.html#ac470570dce09cb9de0d81194e023145c">   38</a></span>    <a class="code hl_class" href="class_vec3.html">Vec3</a>                        mNormalAxis1 = <a class="code hl_function" href="class_vec3.html#a142cc5c79f08229eb11532c26f1a1e90">Vec3::sAxisX</a>();</div>
<div class="line"><a id="l00039" name="l00039"></a><span class="lineno">   39</span> </div>
<div class="line"><a id="l00041" name="l00041"></a><span class="lineno"><a class="line" href="class_hinge_constraint_settings.html#abef028fb756f8113e9b342ce2f102467">   41</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>
<div class="line"><a id="l00042" name="l00042"></a><span class="lineno"><a class="line" href="class_hinge_constraint_settings.html#a4069dacb8fa8c749be023b0817592b3c">   42</a></span>    <a class="code hl_class" href="class_vec3.html">Vec3</a>                        mHingeAxis2 = <a class="code hl_function" href="class_vec3.html#a2819718744feddb0bc150c6ccc26fad1">Vec3::sAxisY</a>();</div>
<div class="line"><a id="l00043" name="l00043"></a><span class="lineno"><a class="line" href="class_hinge_constraint_settings.html#a5e9d05db3bf6b0403fd4151fdc0f34c5">   43</a></span>    <a class="code hl_class" href="class_vec3.html">Vec3</a>                        mNormalAxis2 = <a class="code hl_function" href="class_vec3.html#a142cc5c79f08229eb11532c26f1a1e90">Vec3::sAxisX</a>();</div>
<div class="line"><a id="l00044" name="l00044"></a><span class="lineno">   44</span> </div>
<div class="line"><a id="l00047" name="l00047"></a><span class="lineno"><a class="line" href="class_hinge_constraint_settings.html#a269eb742fd612f668946d21161a182ac">   47</a></span>    <span class="keywordtype">float</span>                       mLimitsMin = -JPH_PI;</div>
<div class="line"><a id="l00048" name="l00048"></a><span class="lineno"><a class="line" href="class_hinge_constraint_settings.html#a9611cf15f448a12d21191490b9628316">   48</a></span>    <span class="keywordtype">float</span>                       mLimitsMax = JPH_PI;</div>
<div class="line"><a id="l00049" name="l00049"></a><span class="lineno">   49</span> </div>
<div class="line"><a id="l00051" name="l00051"></a><span class="lineno"><a class="line" href="class_hinge_constraint_settings.html#aefad4492ec92f4998a466087b5a89c8c">   51</a></span>    <a class="code hl_class" href="class_spring_settings.html">SpringSettings</a>              <a class="code hl_variable" href="class_hinge_constraint_settings.html#aefad4492ec92f4998a466087b5a89c8c">mLimitsSpringSettings</a>;</div>
<div class="line"><a id="l00052" name="l00052"></a><span class="lineno">   52</span> </div>
<div class="line"><a id="l00054" name="l00054"></a><span class="lineno"><a class="line" href="class_hinge_constraint_settings.html#a2f046631caa15b87030e4edfb568f248">   54</a></span>    <span class="keywordtype">float</span>                       mMaxFrictionTorque = 0.0f;</div>
<div class="line"><a id="l00055" name="l00055"></a><span class="lineno">   55</span> </div>
<div class="line"><a id="l00057" name="l00057"></a><span class="lineno"><a class="line" href="class_hinge_constraint_settings.html#ada7a75c71a3f4fc0c2bf643160406971">   57</a></span>    <a class="code hl_class" href="class_motor_settings.html">MotorSettings</a>               <a class="code hl_variable" href="class_hinge_constraint_settings.html#ada7a75c71a3f4fc0c2bf643160406971">mMotorSettings</a>;</div>
<div class="line"><a id="l00058" name="l00058"></a><span class="lineno">   58</span> </div>
<div class="line"><a id="l00059" name="l00059"></a><span class="lineno">   59</span><span class="keyword">protected</span>:</div>
<div class="line"><a id="l00060" name="l00060"></a><span class="lineno">   60</span>    <span class="comment">// See: ConstraintSettings::RestoreBinaryState</span></div>
<div class="line"><a id="l00061" name="l00061"></a><span class="lineno">   61</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>
<div class="line"><a id="l00062" name="l00062"></a><span class="lineno">   62</span>};</div>
</div>
<div class="line"><a id="l00063" name="l00063"></a><span class="lineno">   63</span> </div>
<div class="foldopen" id="foldopen00065" data-start="{" data-end="};">
<div class="line"><a id="l00065" name="l00065"></a><span class="lineno"><a class="line" href="class_hinge_constraint.html">   65</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_hinge_constraint.html">HingeConstraint</a> final : <span class="keyword">public</span> <a class="code hl_class" href="class_two_body_constraint.html">TwoBodyConstraint</a></div>
<div class="line"><a id="l00066" name="l00066"></a><span class="lineno">   66</span>{</div>
<div class="line"><a id="l00067" name="l00067"></a><span class="lineno">   67</span><span class="keyword">public</span>:</div>
<div class="line"><a id="l00068" name="l00068"></a><span class="lineno">   68</span>    <a class="code hl_define" href="_memory_8h.html#a91074fb218fe28954a0938c099ddd9e0">JPH_OVERRIDE_NEW_DELETE</a></div>
<div class="line"><a id="l00069" name="l00069"></a><span class="lineno">   69</span> </div>
<div class="line"><a id="l00071" name="l00071"></a><span class="lineno">   71</span>                                <a class="code hl_class" href="class_hinge_constraint.html">HingeConstraint</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_hinge_constraint_settings.html">HingeConstraintSettings</a> &amp;inSettings);</div>
<div class="line"><a id="l00072" name="l00072"></a><span class="lineno">   72</span> </div>
<div class="line"><a id="l00073" name="l00073"></a><span class="lineno">   73</span>    <span class="comment">// Generic interface of a constraint</span></div>
<div class="line"><a id="l00074" name="l00074"></a><span class="lineno"><a class="line" href="class_hinge_constraint.html#ac6c68736fa26f85a973b0aa95daa7674">   74</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_hinge_constraint.html#ac6c68736fa26f85a973b0aa95daa7674">GetSubType</a>()<span class="keyword"> const override                             </span>{ <span class="keywordflow">return</span> <a class="code hl_enumvalue" href="_constraint_8h.html#adfc8350888df0c3a51714b7f372baf2da18205404fe6507d42b3b2d25aaf62f21">EConstraintSubType::Hinge</a>; }</div>
<div class="line"><a id="l00075" name="l00075"></a><span class="lineno">   75</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>
<div class="line"><a id="l00076" name="l00076"></a><span class="lineno">   76</span>    <span class="keyword">virtual</span> <span class="keywordtype">void</span>                SetupVelocityConstraint(<span class="keywordtype">float</span> inDeltaTime) <span class="keyword">override</span>;</div>
<div class="line"><a id="l00077" name="l00077"></a><span class="lineno">   77</span>    <span class="keyword">virtual</span> <span class="keywordtype">void</span>                ResetWarmStart() <span class="keyword">override</span>;</div>
<div class="line"><a id="l00078" name="l00078"></a><span class="lineno">   78</span>    <span class="keyword">virtual</span> <span class="keywordtype">void</span>                WarmStartVelocityConstraint(<span class="keywordtype">float</span> inWarmStartImpulseRatio) <span class="keyword">override</span>;</div>
<div class="line"><a id="l00079" name="l00079"></a><span class="lineno">   79</span>    <span class="keyword">virtual</span> <span class="keywordtype">bool</span>                SolveVelocityConstraint(<span class="keywordtype">float</span> inDeltaTime) <span class="keyword">override</span>;</div>
<div class="line"><a id="l00080" name="l00080"></a><span class="lineno">   80</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>
<div class="line"><a id="l00081" name="l00081"></a><span class="lineno">   81</span><span class="preprocessor">#ifdef JPH_DEBUG_RENDERER</span></div>
<div class="line"><a id="l00082" name="l00082"></a><span class="lineno">   82</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>
<div class="line"><a id="l00083" name="l00083"></a><span class="lineno">   83</span>    <span class="keyword">virtual</span> <span class="keywordtype">void</span>                DrawConstraintLimits(<a class="code hl_class" href="class_debug_renderer.html">DebugRenderer</a> *inRenderer) <span class="keyword">const override</span>;</div>
<div class="line"><a id="l00084" name="l00084"></a><span class="lineno">   84</span><span class="preprocessor">#endif </span><span class="comment">// JPH_DEBUG_RENDERER</span></div>
<div class="line"><a id="l00085" name="l00085"></a><span class="lineno">   85</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>
<div class="line"><a id="l00086" name="l00086"></a><span class="lineno">   86</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>
<div class="line"><a id="l00087" name="l00087"></a><span class="lineno">   87</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>
<div class="line"><a id="l00088" name="l00088"></a><span class="lineno">   88</span> </div>
<div class="line"><a id="l00089" name="l00089"></a><span class="lineno">   89</span>    <span class="comment">// See: TwoBodyConstraint</span></div>
<div class="line"><a id="l00090" name="l00090"></a><span class="lineno">   90</span>    <span class="keyword">virtual</span> <a class="code hl_class" href="class_mat44.html">Mat44</a>               GetConstraintToBody1Matrix() <span class="keyword">const override</span>;</div>
<div class="line"><a id="l00091" name="l00091"></a><span class="lineno">   91</span>    <span class="keyword">virtual</span> <a class="code hl_class" href="class_mat44.html">Mat44</a>               GetConstraintToBody2Matrix() <span class="keyword">const override</span>;</div>
<div class="line"><a id="l00092" name="l00092"></a><span class="lineno">   92</span> </div>
<div class="line"><a id="l00094" name="l00094"></a><span class="lineno"><a class="line" href="class_hinge_constraint.html#af0cd2640d5ea0e2c8fecd6af90d90a0a">   94</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_hinge_constraint.html#af0cd2640d5ea0e2c8fecd6af90d90a0a">GetLocalSpacePoint1</a>()<span class="keyword"> const                             </span>{ <span class="keywordflow">return</span> mLocalSpacePosition1; }</div>
<div class="line"><a id="l00095" name="l00095"></a><span class="lineno">   95</span> </div>
<div class="line"><a id="l00097" name="l00097"></a><span class="lineno"><a class="line" href="class_hinge_constraint.html#a86cca7ab010c4fe5ef29c514a2b3e651">   97</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_hinge_constraint.html#a86cca7ab010c4fe5ef29c514a2b3e651">GetLocalSpacePoint2</a>()<span class="keyword"> const                             </span>{ <span class="keywordflow">return</span> mLocalSpacePosition2; }</div>
<div class="line"><a id="l00098" name="l00098"></a><span class="lineno">   98</span> </div>
<div class="line"><a id="l00099" name="l00099"></a><span class="lineno">   99</span>    <span class="comment">// Local space hinge directions (transform direction by Body::GetCenterOfMassTransform to take to world space)</span></div>
<div class="line"><a id="l00100" name="l00100"></a><span class="lineno"><a class="line" href="class_hinge_constraint.html#ac42523160446c880453eacb77d0453fa">  100</a></span>    <a class="code hl_class" href="class_vec3.html">Vec3</a>                        <a class="code hl_function" href="class_hinge_constraint.html#ac42523160446c880453eacb77d0453fa">GetLocalSpaceHingeAxis1</a>()<span class="keyword"> const                         </span>{ <span class="keywordflow">return</span> mLocalSpaceHingeAxis1; }</div>
<div class="line"><a id="l00101" name="l00101"></a><span class="lineno"><a class="line" href="class_hinge_constraint.html#aa3feb036294982548963aa7351b14981">  101</a></span>    <a class="code hl_class" href="class_vec3.html">Vec3</a>                        <a class="code hl_function" href="class_hinge_constraint.html#aa3feb036294982548963aa7351b14981">GetLocalSpaceHingeAxis2</a>()<span class="keyword"> const                         </span>{ <span class="keywordflow">return</span> mLocalSpaceHingeAxis2; }</div>
<div class="line"><a id="l00102" name="l00102"></a><span class="lineno">  102</span> </div>
<div class="line"><a id="l00103" name="l00103"></a><span class="lineno">  103</span>    <span class="comment">// Local space normal directions (transform direction by Body::GetCenterOfMassTransform to take to world space)</span></div>
<div class="line"><a id="l00104" name="l00104"></a><span class="lineno"><a class="line" href="class_hinge_constraint.html#a9dc2dd124efb401c50169f67c0958b81">  104</a></span>    <a class="code hl_class" href="class_vec3.html">Vec3</a>                        <a class="code hl_function" href="class_hinge_constraint.html#a9dc2dd124efb401c50169f67c0958b81">GetLocalSpaceNormalAxis1</a>()<span class="keyword"> const                        </span>{ <span class="keywordflow">return</span> mLocalSpaceNormalAxis1; }</div>
<div class="line"><a id="l00105" name="l00105"></a><span class="lineno"><a class="line" href="class_hinge_constraint.html#a4c3ac4ceae329cf7910f28d2bcf9c8bf">  105</a></span>    <a class="code hl_class" href="class_vec3.html">Vec3</a>                        <a class="code hl_function" href="class_hinge_constraint.html#a4c3ac4ceae329cf7910f28d2bcf9c8bf">GetLocalSpaceNormalAxis2</a>()<span class="keyword"> const                        </span>{ <span class="keywordflow">return</span> mLocalSpaceNormalAxis2; }</div>
<div class="line"><a id="l00106" name="l00106"></a><span class="lineno">  106</span> </div>
<div class="line"><a id="l00108" name="l00108"></a><span class="lineno">  108</span>    <span class="keywordtype">float</span>                       GetCurrentAngle() <span class="keyword">const</span>;</div>
<div class="line"><a id="l00109" name="l00109"></a><span class="lineno">  109</span> </div>
<div class="line"><a id="l00110" name="l00110"></a><span class="lineno">  110</span>    <span class="comment">// Friction control</span></div>
<div class="line"><a id="l00111" name="l00111"></a><span class="lineno"><a class="line" href="class_hinge_constraint.html#ad693d37205991f105a85897e6bfe5732">  111</a></span>    <span class="keywordtype">void</span>                        <a class="code hl_function" href="class_hinge_constraint.html#ad693d37205991f105a85897e6bfe5732">SetMaxFrictionTorque</a>(<span class="keywordtype">float</span> inFrictionTorque)            { mMaxFrictionTorque = inFrictionTorque; }</div>
<div class="line"><a id="l00112" name="l00112"></a><span class="lineno"><a class="line" href="class_hinge_constraint.html#a9695f177868118de9520091ac2eb8585">  112</a></span>    <span class="keywordtype">float</span>                       <a class="code hl_function" href="class_hinge_constraint.html#a9695f177868118de9520091ac2eb8585">GetMaxFrictionTorque</a>()<span class="keyword"> const                            </span>{ <span class="keywordflow">return</span> mMaxFrictionTorque; }</div>
<div class="line"><a id="l00113" name="l00113"></a><span class="lineno">  113</span> </div>
<div class="line"><a id="l00114" name="l00114"></a><span class="lineno">  114</span>    <span class="comment">// Motor settings</span></div>
<div class="line"><a id="l00115" name="l00115"></a><span class="lineno"><a class="line" href="class_hinge_constraint.html#a7fe69abe4b705d335b485eaa97b13ef1">  115</a></span>    <a class="code hl_class" href="class_motor_settings.html">MotorSettings</a> &amp;             <a class="code hl_function" href="class_hinge_constraint.html#a7fe69abe4b705d335b485eaa97b13ef1">GetMotorSettings</a>()                                      { <span class="keywordflow">return</span> mMotorSettings; }</div>
<div class="line"><a id="l00116" name="l00116"></a><span class="lineno"><a class="line" href="class_hinge_constraint.html#a41dac9c0b4fcaf494aea48d3347203fd">  116</a></span>    <span class="keyword">const</span> <a class="code hl_class" href="class_motor_settings.html">MotorSettings</a> &amp;       <a class="code hl_function" href="class_hinge_constraint.html#a41dac9c0b4fcaf494aea48d3347203fd">GetMotorSettings</a>()<span class="keyword"> const                                </span>{ <span class="keywordflow">return</span> mMotorSettings; }</div>
<div class="line"><a id="l00117" name="l00117"></a><span class="lineno">  117</span> </div>
<div class="line"><a id="l00118" name="l00118"></a><span class="lineno">  118</span>    <span class="comment">// Motor controls</span></div>
<div class="line"><a id="l00119" name="l00119"></a><span class="lineno"><a class="line" href="class_hinge_constraint.html#ab4edc1ef87211c5b093f9690835bd2c1">  119</a></span>    <span class="keywordtype">void</span>                        <a class="code hl_function" href="class_hinge_constraint.html#ab4edc1ef87211c5b093f9690835bd2c1">SetMotorState</a>(<a class="code hl_enumeration" href="_motor_settings_8h.html#a691a2387946263d993fa8e1c9488bc2b">EMotorState</a> inState)                      { <a class="code hl_define" href="_issue_reporting_8h.html#aaf6b1df827e11b7ca5f6f8778bd8f8cd">JPH_ASSERT</a>(inState == <a class="code hl_enumvalue" href="_motor_settings_8h.html#a691a2387946263d993fa8e1c9488bc2bad15305d7a4e34e02489c74a5ef542f36">EMotorState::Off</a> || mMotorSettings.IsValid()); mMotorState = inState; }</div>
<div class="line"><a id="l00120" name="l00120"></a><span class="lineno"><a class="line" href="class_hinge_constraint.html#a1dd81b1a4fa3416340a80680124dce2a">  120</a></span>    <a class="code hl_enumeration" href="_motor_settings_8h.html#a691a2387946263d993fa8e1c9488bc2b">EMotorState</a>                 <a class="code hl_function" href="class_hinge_constraint.html#a1dd81b1a4fa3416340a80680124dce2a">GetMotorState</a>()<span class="keyword"> const                                   </span>{ <span class="keywordflow">return</span> mMotorState; }</div>
<div class="line"><a id="l00121" name="l00121"></a><span class="lineno"><a class="line" href="class_hinge_constraint.html#a8f17d0facd91bdaba60f9ac473db1b2f">  121</a></span>    <span class="keywordtype">void</span>                        <a class="code hl_function" href="class_hinge_constraint.html#a8f17d0facd91bdaba60f9ac473db1b2f">SetTargetAngularVelocity</a>(<span class="keywordtype">float</span> inAngularVelocity)       { mTargetAngularVelocity = inAngularVelocity; } </div>
<div class="line"><a id="l00122" name="l00122"></a><span class="lineno"><a class="line" href="class_hinge_constraint.html#ad05474eff39452c49ee10c70b780f687">  122</a></span>    <span class="keywordtype">float</span>                       <a class="code hl_function" href="class_hinge_constraint.html#ad05474eff39452c49ee10c70b780f687">GetTargetAngularVelocity</a>()<span class="keyword"> const                        </span>{ <span class="keywordflow">return</span> mTargetAngularVelocity; }</div>
<div class="line"><a id="l00123" name="l00123"></a><span class="lineno"><a class="line" href="class_hinge_constraint.html#ac2efec9945040fae41af37498ba5f357">  123</a></span>    <span class="keywordtype">void</span>                        <a class="code hl_function" href="class_hinge_constraint.html#ac2efec9945040fae41af37498ba5f357">SetTargetAngle</a>(<span class="keywordtype">float</span> inAngle)                           { mTargetAngle = mHasLimits? <a class="code hl_function" href="_math_8h.html#a05be8f8200a1a67cbfacd3d16b17ac21">Clamp</a>(inAngle, mLimitsMin, mLimitsMax) : inAngle; } </div>
<div class="line"><a id="l00124" name="l00124"></a><span class="lineno"><a class="line" href="class_hinge_constraint.html#a952152a6165614d7e000cc61e8820edf">  124</a></span>    <span class="keywordtype">float</span>                       <a class="code hl_function" href="class_hinge_constraint.html#a952152a6165614d7e000cc61e8820edf">GetTargetAngle</a>()<span class="keyword"> const                                  </span>{ <span class="keywordflow">return</span> mTargetAngle; }</div>
<div class="line"><a id="l00125" name="l00125"></a><span class="lineno">  125</span> </div>
<div class="line"><a id="l00129" name="l00129"></a><span class="lineno">  129</span>    <span class="keywordtype">void</span>                        SetTargetOrientationBS(<a class="code hl_class" href="class_quat.html">QuatArg</a> inOrientation);</div>
<div class="line"><a id="l00130" name="l00130"></a><span class="lineno">  130</span> </div>
<div class="line"><a id="l00132" name="l00132"></a><span class="lineno">  132</span>    <span class="keywordtype">void</span>                        SetLimits(<span class="keywordtype">float</span> inLimitsMin, <span class="keywordtype">float</span> inLimitsMax);</div>
<div class="line"><a id="l00133" name="l00133"></a><span class="lineno"><a class="line" href="class_hinge_constraint.html#a88442c3ae9fa433d4aed1484704d3b6a">  133</a></span>    <span class="keywordtype">float</span>                       <a class="code hl_function" href="class_hinge_constraint.html#a88442c3ae9fa433d4aed1484704d3b6a">GetLimitsMin</a>()<span class="keyword"> const                                    </span>{ <span class="keywordflow">return</span> mLimitsMin; }</div>
<div class="line"><a id="l00134" name="l00134"></a><span class="lineno"><a class="line" href="class_hinge_constraint.html#a519d665c4924aa96430f28b082f0075f">  134</a></span>    <span class="keywordtype">float</span>                       <a class="code hl_function" href="class_hinge_constraint.html#a519d665c4924aa96430f28b082f0075f">GetLimitsMax</a>()<span class="keyword"> const                                    </span>{ <span class="keywordflow">return</span> mLimitsMax; }</div>
<div class="line"><a id="l00135" name="l00135"></a><span class="lineno"><a class="line" href="class_hinge_constraint.html#af1934023ab6d537ecc04cb605c6fada3">  135</a></span>    <span class="keywordtype">bool</span>                        <a class="code hl_function" href="class_hinge_constraint.html#af1934023ab6d537ecc04cb605c6fada3">HasLimits</a>()<span class="keyword"> const                                       </span>{ <span class="keywordflow">return</span> mHasLimits; }</div>
<div class="line"><a id="l00136" name="l00136"></a><span class="lineno">  136</span> </div>
<div class="line"><a id="l00138" name="l00138"></a><span class="lineno"><a class="line" href="class_hinge_constraint.html#a24ef12595b64ec30ec2a49470b83b55f">  138</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_hinge_constraint.html#a24ef12595b64ec30ec2a49470b83b55f">GetLimitsSpringSettings</a>()<span class="keyword"> const                         </span>{ <span class="keywordflow">return</span> mLimitsSpringSettings; }</div>
<div class="line"><a id="l00139" name="l00139"></a><span class="lineno"><a class="line" href="class_hinge_constraint.html#a4291ba13c80bfe5a166c5125d541c796">  139</a></span>    <a class="code hl_class" href="class_spring_settings.html">SpringSettings</a> &amp;            <a class="code hl_function" href="class_hinge_constraint.html#a4291ba13c80bfe5a166c5125d541c796">GetLimitsSpringSettings</a>()                               { <span class="keywordflow">return</span> mLimitsSpringSettings; }</div>
<div class="line"><a id="l00140" name="l00140"></a><span class="lineno"><a class="line" href="class_hinge_constraint.html#a2944e53bdf5d783718b5d40dbd03b85d">  140</a></span>    <span class="keywordtype">void</span>                        <a class="code hl_function" href="class_hinge_constraint.html#a2944e53bdf5d783718b5d40dbd03b85d">SetLimitsSpringSettings</a>(<span class="keyword">const</span> <a class="code hl_class" href="class_spring_settings.html">SpringSettings</a> &amp;inLimitsSpringSettings) { mLimitsSpringSettings = inLimitsSpringSettings; }</div>
<div class="line"><a id="l00141" name="l00141"></a><span class="lineno">  141</span> </div>
<div class="line"><a id="l00143" name="l00143"></a><span class="lineno"><a class="line" href="class_hinge_constraint.html#af03b0287d856815e5a9cff82588d2578">  143</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_hinge_constraint.html#af03b0287d856815e5a9cff82588d2578">GetTotalLambdaPosition</a>()<span class="keyword"> const                          </span>{ <span class="keywordflow">return</span> mPointConstraintPart.GetTotalLambda(); }</div>
<div class="line"><a id="l00144" name="l00144"></a><span class="lineno"><a class="line" href="class_hinge_constraint.html#a69121251820ce4c305f3275b15242f7a">  144</a></span>    <span class="keyword">inline</span> <a class="code hl_class" href="class_vector.html">Vector&lt;2&gt;</a>            <a class="code hl_function" href="class_hinge_constraint.html#a69121251820ce4c305f3275b15242f7a">GetTotalLambdaRotation</a>()<span class="keyword"> const                          </span>{ <span class="keywordflow">return</span> mRotationConstraintPart.GetTotalLambda(); }</div>
<div class="line"><a id="l00145" name="l00145"></a><span class="lineno"><a class="line" href="class_hinge_constraint.html#a689cbcabdb90d98b59fcdffc5417a3e7">  145</a></span>    <span class="keyword">inline</span> <span class="keywordtype">float</span>                <a class="code hl_function" href="class_hinge_constraint.html#a689cbcabdb90d98b59fcdffc5417a3e7">GetTotalLambdaRotationLimits</a>()<span class="keyword"> const                    </span>{ <span class="keywordflow">return</span> mRotationLimitsConstraintPart.GetTotalLambda(); }</div>
<div class="line"><a id="l00146" name="l00146"></a><span class="lineno"><a class="line" href="class_hinge_constraint.html#ac9320fb87c8a7de22bc822f0f9cf2f74">  146</a></span>    <span class="keyword">inline</span> <span class="keywordtype">float</span>                <a class="code hl_function" href="class_hinge_constraint.html#ac9320fb87c8a7de22bc822f0f9cf2f74">GetTotalLambdaMotor</a>()<span class="keyword"> const                             </span>{ <span class="keywordflow">return</span> mMotorConstraintPart.GetTotalLambda(); }</div>
<div class="line"><a id="l00147" name="l00147"></a><span class="lineno">  147</span> </div>
<div class="line"><a id="l00148" name="l00148"></a><span class="lineno">  148</span><span class="keyword">private</span>:</div>
<div class="line"><a id="l00149" name="l00149"></a><span class="lineno">  149</span>    <span class="comment">// Internal helper function to calculate the values below</span></div>
<div class="line"><a id="l00150" name="l00150"></a><span class="lineno">  150</span>    <span class="keywordtype">void</span>                        CalculateA1AndTheta();</div>
<div class="line"><a id="l00151" name="l00151"></a><span class="lineno">  151</span>    <span class="keywordtype">void</span>                        CalculateRotationLimitsConstraintProperties(<span class="keywordtype">float</span> inDeltaTime);</div>
<div class="line"><a id="l00152" name="l00152"></a><span class="lineno">  152</span>    <span class="keywordtype">void</span>                        CalculateMotorConstraintProperties(<span class="keywordtype">float</span> inDeltaTime);</div>
<div class="line"><a id="l00153" name="l00153"></a><span class="lineno">  153</span>    <span class="keyword">inline</span> <span class="keywordtype">float</span>                GetSmallestAngleToLimit() <span class="keyword">const</span>;</div>
<div class="line"><a id="l00154" name="l00154"></a><span class="lineno">  154</span>    <span class="keyword">inline</span> <span class="keywordtype">bool</span>                 IsMinLimitClosest() <span class="keyword">const</span>;</div>
<div class="line"><a id="l00155" name="l00155"></a><span class="lineno">  155</span> </div>
<div class="line"><a id="l00156" name="l00156"></a><span class="lineno">  156</span>    <span class="comment">// CONFIGURATION PROPERTIES FOLLOW</span></div>
<div class="line"><a id="l00157" name="l00157"></a><span class="lineno">  157</span> </div>
<div class="line"><a id="l00158" name="l00158"></a><span class="lineno">  158</span>    <span class="comment">// Local space constraint positions</span></div>
<div class="line"><a id="l00159" name="l00159"></a><span class="lineno">  159</span>    <a class="code hl_class" href="class_vec3.html">Vec3</a>                        mLocalSpacePosition1;</div>
<div class="line"><a id="l00160" name="l00160"></a><span class="lineno">  160</span>    <a class="code hl_class" href="class_vec3.html">Vec3</a>                        mLocalSpacePosition2;</div>
<div class="line"><a id="l00161" name="l00161"></a><span class="lineno">  161</span> </div>
<div class="line"><a id="l00162" name="l00162"></a><span class="lineno">  162</span>    <span class="comment">// Local space hinge directions</span></div>
<div class="line"><a id="l00163" name="l00163"></a><span class="lineno">  163</span>    <a class="code hl_class" href="class_vec3.html">Vec3</a>                        mLocalSpaceHingeAxis1;</div>
<div class="line"><a id="l00164" name="l00164"></a><span class="lineno">  164</span>    <a class="code hl_class" href="class_vec3.html">Vec3</a>                        mLocalSpaceHingeAxis2;</div>
<div class="line"><a id="l00165" name="l00165"></a><span class="lineno">  165</span> </div>
<div class="line"><a id="l00166" name="l00166"></a><span class="lineno">  166</span>    <span class="comment">// Local space normal direction (direction relative to which to draw constraint limits)</span></div>
<div class="line"><a id="l00167" name="l00167"></a><span class="lineno">  167</span>    <a class="code hl_class" href="class_vec3.html">Vec3</a>                        mLocalSpaceNormalAxis1;</div>
<div class="line"><a id="l00168" name="l00168"></a><span class="lineno">  168</span>    <a class="code hl_class" href="class_vec3.html">Vec3</a>                        mLocalSpaceNormalAxis2;</div>
<div class="line"><a id="l00169" name="l00169"></a><span class="lineno">  169</span> </div>
<div class="line"><a id="l00170" name="l00170"></a><span class="lineno">  170</span>    <span class="comment">// Inverse of initial relative orientation between bodies (which defines hinge angle = 0)</span></div>
<div class="line"><a id="l00171" name="l00171"></a><span class="lineno">  171</span>    <a class="code hl_class" href="class_quat.html">Quat</a>                        mInvInitialOrientation;</div>
<div class="line"><a id="l00172" name="l00172"></a><span class="lineno">  172</span> </div>
<div class="line"><a id="l00173" name="l00173"></a><span class="lineno">  173</span>    <span class="comment">// Hinge limits</span></div>
<div class="line"><a id="l00174" name="l00174"></a><span class="lineno">  174</span>    <span class="keywordtype">bool</span>                        mHasLimits;</div>
<div class="line"><a id="l00175" name="l00175"></a><span class="lineno">  175</span>    <span class="keywordtype">float</span>                       mLimitsMin;</div>
<div class="line"><a id="l00176" name="l00176"></a><span class="lineno">  176</span>    <span class="keywordtype">float</span>                       mLimitsMax;</div>
<div class="line"><a id="l00177" name="l00177"></a><span class="lineno">  177</span> </div>
<div class="line"><a id="l00178" name="l00178"></a><span class="lineno">  178</span>    <span class="comment">// Soft constraint limits</span></div>
<div class="line"><a id="l00179" name="l00179"></a><span class="lineno">  179</span>    <a class="code hl_class" href="class_spring_settings.html">SpringSettings</a>              mLimitsSpringSettings;</div>
<div class="line"><a id="l00180" name="l00180"></a><span class="lineno">  180</span> </div>
<div class="line"><a id="l00181" name="l00181"></a><span class="lineno">  181</span>    <span class="comment">// Friction</span></div>
<div class="line"><a id="l00182" name="l00182"></a><span class="lineno">  182</span>    <span class="keywordtype">float</span>                       mMaxFrictionTorque;</div>
<div class="line"><a id="l00183" name="l00183"></a><span class="lineno">  183</span> </div>
<div class="line"><a id="l00184" name="l00184"></a><span class="lineno">  184</span>    <span class="comment">// Motor controls</span></div>
<div class="line"><a id="l00185" name="l00185"></a><span class="lineno">  185</span>    <a class="code hl_class" href="class_motor_settings.html">MotorSettings</a>               mMotorSettings;</div>
<div class="line"><a id="l00186" name="l00186"></a><span class="lineno">  186</span>    <a class="code hl_enumeration" href="_motor_settings_8h.html#a691a2387946263d993fa8e1c9488bc2b">EMotorState</a>                 mMotorState = <a class="code hl_enumvalue" href="_motor_settings_8h.html#a691a2387946263d993fa8e1c9488bc2bad15305d7a4e34e02489c74a5ef542f36">EMotorState::Off</a>;</div>
<div class="line"><a id="l00187" name="l00187"></a><span class="lineno">  187</span>    <span class="keywordtype">float</span>                       mTargetAngularVelocity = 0.0f;</div>
<div class="line"><a id="l00188" name="l00188"></a><span class="lineno">  188</span>    <span class="keywordtype">float</span>                       mTargetAngle = 0.0f;</div>
<div class="line"><a id="l00189" name="l00189"></a><span class="lineno">  189</span> </div>
<div class="line"><a id="l00190" name="l00190"></a><span class="lineno">  190</span>    <span class="comment">// RUN TIME PROPERTIES FOLLOW</span></div>
<div class="line"><a id="l00191" name="l00191"></a><span class="lineno">  191</span> </div>
<div class="line"><a id="l00192" name="l00192"></a><span class="lineno">  192</span>    <span class="comment">// Current rotation around the hinge axis</span></div>
<div class="line"><a id="l00193" name="l00193"></a><span class="lineno">  193</span>    <span class="keywordtype">float</span>                       mTheta = 0.0f;</div>
<div class="line"><a id="l00194" name="l00194"></a><span class="lineno">  194</span> </div>
<div class="line"><a id="l00195" name="l00195"></a><span class="lineno">  195</span>    <span class="comment">// World space hinge axis for body 1</span></div>
<div class="line"><a id="l00196" name="l00196"></a><span class="lineno">  196</span>    <a class="code hl_class" href="class_vec3.html">Vec3</a>                        mA1;</div>
<div class="line"><a id="l00197" name="l00197"></a><span class="lineno">  197</span> </div>
<div class="line"><a id="l00198" name="l00198"></a><span class="lineno">  198</span>    <span class="comment">// The constraint parts</span></div>
<div class="line"><a id="l00199" name="l00199"></a><span class="lineno">  199</span>    <a class="code hl_class" href="class_point_constraint_part.html">PointConstraintPart</a>         mPointConstraintPart;</div>
<div class="line"><a id="l00200" name="l00200"></a><span class="lineno">  200</span>    <a class="code hl_class" href="class_hinge_rotation_constraint_part.html">HingeRotationConstraintPart</a> mRotationConstraintPart;</div>
<div class="line"><a id="l00201" name="l00201"></a><span class="lineno">  201</span>    <a class="code hl_class" href="class_angle_constraint_part.html">AngleConstraintPart</a>         mRotationLimitsConstraintPart;</div>
<div class="line"><a id="l00202" name="l00202"></a><span class="lineno">  202</span>    <a class="code hl_class" href="class_angle_constraint_part.html">AngleConstraintPart</a>         mMotorConstraintPart;</div>
<div class="line"><a id="l00203" name="l00203"></a><span class="lineno">  203</span>};</div>
</div>
<div class="line"><a id="l00204" name="l00204"></a><span class="lineno">  204</span> </div>
<div class="line"><a id="l00205" name="l00205"></a><span class="lineno">  205</span><a class="code hl_define" href="_core_8h.html#a73da8725998b00321a9db341202d650d">JPH_NAMESPACE_END</a></div>
<div class="ttc" id="a_angle_constraint_part_8h_html"><div class="ttname"><a href="_angle_constraint_part_8h.html">AngleConstraintPart.h</a></div></div>
<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>
<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>
<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>
<div class="ttc" id="a_constraint_8h_html_adfc8350888df0c3a51714b7f372baf2da18205404fe6507d42b3b2d25aaf62f21"><div class="ttname"><a href="_constraint_8h.html#adfc8350888df0c3a51714b7f372baf2da18205404fe6507d42b3b2d25aaf62f21">EConstraintSubType::Hinge</a></div><div class="ttdeci">@ Hinge</div></div>
<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>
<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>
<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>
<div class="ttc" id="a_hinge_rotation_constraint_part_8h_html"><div class="ttname"><a href="_hinge_rotation_constraint_part_8h.html">HingeRotationConstraintPart.h</a></div></div>
<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>
<div class="ttc" id="a_math_8h_html_a05be8f8200a1a67cbfacd3d16b17ac21"><div class="ttname"><a href="_math_8h.html#a05be8f8200a1a67cbfacd3d16b17ac21">Clamp</a></div><div class="ttdeci">JPH_INLINE constexpr T Clamp(T inV, T inMin, T inMax)</div><div class="ttdoc">Clamp a value between two values.</div><div class="ttdef"><b>Definition</b> Math.h:48</div></div>
<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>
<div class="ttc" id="a_motor_settings_8h_html"><div class="ttname"><a href="_motor_settings_8h.html">MotorSettings.h</a></div></div>
<div class="ttc" id="a_motor_settings_8h_html_a691a2387946263d993fa8e1c9488bc2b"><div class="ttname"><a href="_motor_settings_8h.html#a691a2387946263d993fa8e1c9488bc2b">EMotorState</a></div><div class="ttdeci">EMotorState</div><div class="ttdef"><b>Definition</b> MotorSettings.h:17</div></div>
<div class="ttc" id="a_motor_settings_8h_html_a691a2387946263d993fa8e1c9488bc2bad15305d7a4e34e02489c74a5ef542f36"><div class="ttname"><a href="_motor_settings_8h.html#a691a2387946263d993fa8e1c9488bc2bad15305d7a4e34e02489c74a5ef542f36">EMotorState::Off</a></div><div class="ttdeci">@ Off</div><div class="ttdoc">Motor is off.</div></div>
<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>
<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>
<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>
<div class="ttc" id="aclass_angle_constraint_part_html"><div class="ttname"><a href="class_angle_constraint_part.html">AngleConstraintPart</a></div><div class="ttdef"><b>Definition</b> AngleConstraintPart.h:37</div></div>
<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>
<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>
<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>
<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>
<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>
<div class="ttc" id="aclass_hinge_constraint_html"><div class="ttname"><a href="class_hinge_constraint.html">HingeConstraint</a></div><div class="ttdoc">A hinge constraint constrains 2 bodies on a single point and allows only a single axis of rotation.</div><div class="ttdef"><b>Definition</b> HingeConstraint.h:66</div></div>
<div class="ttc" id="aclass_hinge_constraint_html_a1dd81b1a4fa3416340a80680124dce2a"><div class="ttname"><a href="class_hinge_constraint.html#a1dd81b1a4fa3416340a80680124dce2a">HingeConstraint::GetMotorState</a></div><div class="ttdeci">EMotorState GetMotorState() const</div><div class="ttdef"><b>Definition</b> HingeConstraint.h:120</div></div>
<div class="ttc" id="aclass_hinge_constraint_html_a24ef12595b64ec30ec2a49470b83b55f"><div class="ttname"><a href="class_hinge_constraint.html#a24ef12595b64ec30ec2a49470b83b55f">HingeConstraint::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> HingeConstraint.h:138</div></div>
<div class="ttc" id="aclass_hinge_constraint_html_a2944e53bdf5d783718b5d40dbd03b85d"><div class="ttname"><a href="class_hinge_constraint.html#a2944e53bdf5d783718b5d40dbd03b85d">HingeConstraint::SetLimitsSpringSettings</a></div><div class="ttdeci">void SetLimitsSpringSettings(const SpringSettings &amp;inLimitsSpringSettings)</div><div class="ttdef"><b>Definition</b> HingeConstraint.h:140</div></div>
<div class="ttc" id="aclass_hinge_constraint_html_a41dac9c0b4fcaf494aea48d3347203fd"><div class="ttname"><a href="class_hinge_constraint.html#a41dac9c0b4fcaf494aea48d3347203fd">HingeConstraint::GetMotorSettings</a></div><div class="ttdeci">const MotorSettings &amp; GetMotorSettings() const</div><div class="ttdef"><b>Definition</b> HingeConstraint.h:116</div></div>
<div class="ttc" id="aclass_hinge_constraint_html_a4291ba13c80bfe5a166c5125d541c796"><div class="ttname"><a href="class_hinge_constraint.html#a4291ba13c80bfe5a166c5125d541c796">HingeConstraint::GetLimitsSpringSettings</a></div><div class="ttdeci">SpringSettings &amp; GetLimitsSpringSettings()</div><div class="ttdef"><b>Definition</b> HingeConstraint.h:139</div></div>
<div class="ttc" id="aclass_hinge_constraint_html_a4c3ac4ceae329cf7910f28d2bcf9c8bf"><div class="ttname"><a href="class_hinge_constraint.html#a4c3ac4ceae329cf7910f28d2bcf9c8bf">HingeConstraint::GetLocalSpaceNormalAxis2</a></div><div class="ttdeci">Vec3 GetLocalSpaceNormalAxis2() const</div><div class="ttdef"><b>Definition</b> HingeConstraint.h:105</div></div>
<div class="ttc" id="aclass_hinge_constraint_html_a519d665c4924aa96430f28b082f0075f"><div class="ttname"><a href="class_hinge_constraint.html#a519d665c4924aa96430f28b082f0075f">HingeConstraint::GetLimitsMax</a></div><div class="ttdeci">float GetLimitsMax() const</div><div class="ttdef"><b>Definition</b> HingeConstraint.h:134</div></div>
<div class="ttc" id="aclass_hinge_constraint_html_a689cbcabdb90d98b59fcdffc5417a3e7"><div class="ttname"><a href="class_hinge_constraint.html#a689cbcabdb90d98b59fcdffc5417a3e7">HingeConstraint::GetTotalLambdaRotationLimits</a></div><div class="ttdeci">float GetTotalLambdaRotationLimits() const</div><div class="ttdef"><b>Definition</b> HingeConstraint.h:145</div></div>
<div class="ttc" id="aclass_hinge_constraint_html_a69121251820ce4c305f3275b15242f7a"><div class="ttname"><a href="class_hinge_constraint.html#a69121251820ce4c305f3275b15242f7a">HingeConstraint::GetTotalLambdaRotation</a></div><div class="ttdeci">Vector&lt; 2 &gt; GetTotalLambdaRotation() const</div><div class="ttdef"><b>Definition</b> HingeConstraint.h:144</div></div>
<div class="ttc" id="aclass_hinge_constraint_html_a7fe69abe4b705d335b485eaa97b13ef1"><div class="ttname"><a href="class_hinge_constraint.html#a7fe69abe4b705d335b485eaa97b13ef1">HingeConstraint::GetMotorSettings</a></div><div class="ttdeci">MotorSettings &amp; GetMotorSettings()</div><div class="ttdef"><b>Definition</b> HingeConstraint.h:115</div></div>
<div class="ttc" id="aclass_hinge_constraint_html_a86cca7ab010c4fe5ef29c514a2b3e651"><div class="ttname"><a href="class_hinge_constraint.html#a86cca7ab010c4fe5ef29c514a2b3e651">HingeConstraint::GetLocalSpacePoint2</a></div><div class="ttdeci">Vec3 GetLocalSpacePoint2() const</div><div class="ttdoc">Get the attachment point for body 2 relative to body 2 COM (transform by Body::GetCenterOfMassTransfo...</div><div class="ttdef"><b>Definition</b> HingeConstraint.h:97</div></div>
<div class="ttc" id="aclass_hinge_constraint_html_a88442c3ae9fa433d4aed1484704d3b6a"><div class="ttname"><a href="class_hinge_constraint.html#a88442c3ae9fa433d4aed1484704d3b6a">HingeConstraint::GetLimitsMin</a></div><div class="ttdeci">float GetLimitsMin() const</div><div class="ttdef"><b>Definition</b> HingeConstraint.h:133</div></div>
<div class="ttc" id="aclass_hinge_constraint_html_a8f17d0facd91bdaba60f9ac473db1b2f"><div class="ttname"><a href="class_hinge_constraint.html#a8f17d0facd91bdaba60f9ac473db1b2f">HingeConstraint::SetTargetAngularVelocity</a></div><div class="ttdeci">void SetTargetAngularVelocity(float inAngularVelocity)</div><div class="ttdoc">rad/s</div><div class="ttdef"><b>Definition</b> HingeConstraint.h:121</div></div>
<div class="ttc" id="aclass_hinge_constraint_html_a952152a6165614d7e000cc61e8820edf"><div class="ttname"><a href="class_hinge_constraint.html#a952152a6165614d7e000cc61e8820edf">HingeConstraint::GetTargetAngle</a></div><div class="ttdeci">float GetTargetAngle() const</div><div class="ttdef"><b>Definition</b> HingeConstraint.h:124</div></div>
<div class="ttc" id="aclass_hinge_constraint_html_a9695f177868118de9520091ac2eb8585"><div class="ttname"><a href="class_hinge_constraint.html#a9695f177868118de9520091ac2eb8585">HingeConstraint::GetMaxFrictionTorque</a></div><div class="ttdeci">float GetMaxFrictionTorque() const</div><div class="ttdef"><b>Definition</b> HingeConstraint.h:112</div></div>
<div class="ttc" id="aclass_hinge_constraint_html_a9dc2dd124efb401c50169f67c0958b81"><div class="ttname"><a href="class_hinge_constraint.html#a9dc2dd124efb401c50169f67c0958b81">HingeConstraint::GetLocalSpaceNormalAxis1</a></div><div class="ttdeci">Vec3 GetLocalSpaceNormalAxis1() const</div><div class="ttdef"><b>Definition</b> HingeConstraint.h:104</div></div>
<div class="ttc" id="aclass_hinge_constraint_html_aa3feb036294982548963aa7351b14981"><div class="ttname"><a href="class_hinge_constraint.html#aa3feb036294982548963aa7351b14981">HingeConstraint::GetLocalSpaceHingeAxis2</a></div><div class="ttdeci">Vec3 GetLocalSpaceHingeAxis2() const</div><div class="ttdef"><b>Definition</b> HingeConstraint.h:101</div></div>
<div class="ttc" id="aclass_hinge_constraint_html_ab4edc1ef87211c5b093f9690835bd2c1"><div class="ttname"><a href="class_hinge_constraint.html#ab4edc1ef87211c5b093f9690835bd2c1">HingeConstraint::SetMotorState</a></div><div class="ttdeci">void SetMotorState(EMotorState inState)</div><div class="ttdef"><b>Definition</b> HingeConstraint.h:119</div></div>
<div class="ttc" id="aclass_hinge_constraint_html_ac2efec9945040fae41af37498ba5f357"><div class="ttname"><a href="class_hinge_constraint.html#ac2efec9945040fae41af37498ba5f357">HingeConstraint::SetTargetAngle</a></div><div class="ttdeci">void SetTargetAngle(float inAngle)</div><div class="ttdoc">rad</div><div class="ttdef"><b>Definition</b> HingeConstraint.h:123</div></div>
<div class="ttc" id="aclass_hinge_constraint_html_ac42523160446c880453eacb77d0453fa"><div class="ttname"><a href="class_hinge_constraint.html#ac42523160446c880453eacb77d0453fa">HingeConstraint::GetLocalSpaceHingeAxis1</a></div><div class="ttdeci">Vec3 GetLocalSpaceHingeAxis1() const</div><div class="ttdef"><b>Definition</b> HingeConstraint.h:100</div></div>
<div class="ttc" id="aclass_hinge_constraint_html_ac6c68736fa26f85a973b0aa95daa7674"><div class="ttname"><a href="class_hinge_constraint.html#ac6c68736fa26f85a973b0aa95daa7674">HingeConstraint::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> HingeConstraint.h:74</div></div>
<div class="ttc" id="aclass_hinge_constraint_html_ac9320fb87c8a7de22bc822f0f9cf2f74"><div class="ttname"><a href="class_hinge_constraint.html#ac9320fb87c8a7de22bc822f0f9cf2f74">HingeConstraint::GetTotalLambdaMotor</a></div><div class="ttdeci">float GetTotalLambdaMotor() const</div><div class="ttdef"><b>Definition</b> HingeConstraint.h:146</div></div>
<div class="ttc" id="aclass_hinge_constraint_html_ad05474eff39452c49ee10c70b780f687"><div class="ttname"><a href="class_hinge_constraint.html#ad05474eff39452c49ee10c70b780f687">HingeConstraint::GetTargetAngularVelocity</a></div><div class="ttdeci">float GetTargetAngularVelocity() const</div><div class="ttdef"><b>Definition</b> HingeConstraint.h:122</div></div>
<div class="ttc" id="aclass_hinge_constraint_html_ad693d37205991f105a85897e6bfe5732"><div class="ttname"><a href="class_hinge_constraint.html#ad693d37205991f105a85897e6bfe5732">HingeConstraint::SetMaxFrictionTorque</a></div><div class="ttdeci">void SetMaxFrictionTorque(float inFrictionTorque)</div><div class="ttdef"><b>Definition</b> HingeConstraint.h:111</div></div>
<div class="ttc" id="aclass_hinge_constraint_html_af03b0287d856815e5a9cff82588d2578"><div class="ttname"><a href="class_hinge_constraint.html#af03b0287d856815e5a9cff82588d2578">HingeConstraint::GetTotalLambdaPosition</a></div><div class="ttdeci">Vec3 GetTotalLambdaPosition() const</div><div class="ttdef"><b>Definition</b> HingeConstraint.h:143</div></div>
<div class="ttc" id="aclass_hinge_constraint_html_af0cd2640d5ea0e2c8fecd6af90d90a0a"><div class="ttname"><a href="class_hinge_constraint.html#af0cd2640d5ea0e2c8fecd6af90d90a0a">HingeConstraint::GetLocalSpacePoint1</a></div><div class="ttdeci">Vec3 GetLocalSpacePoint1() const</div><div class="ttdoc">Get the attachment point for body 1 relative to body 1 COM (transform by Body::GetCenterOfMassTransfo...</div><div class="ttdef"><b>Definition</b> HingeConstraint.h:94</div></div>
<div class="ttc" id="aclass_hinge_constraint_html_af1934023ab6d537ecc04cb605c6fada3"><div class="ttname"><a href="class_hinge_constraint.html#af1934023ab6d537ecc04cb605c6fada3">HingeConstraint::HasLimits</a></div><div class="ttdeci">bool HasLimits() const</div><div class="ttdef"><b>Definition</b> HingeConstraint.h:135</div></div>
<div class="ttc" id="aclass_hinge_constraint_settings_html"><div class="ttname"><a href="class_hinge_constraint_settings.html">HingeConstraintSettings</a></div><div class="ttdoc">Hinge constraint settings, used to create a hinge constraint.</div><div class="ttdef"><b>Definition</b> HingeConstraint.h:17</div></div>
<div class="ttc" id="aclass_hinge_constraint_settings_html_ada7a75c71a3f4fc0c2bf643160406971"><div class="ttname"><a href="class_hinge_constraint_settings.html#ada7a75c71a3f4fc0c2bf643160406971">HingeConstraintSettings::mMotorSettings</a></div><div class="ttdeci">MotorSettings mMotorSettings</div><div class="ttdoc">In case the constraint is powered, this determines the motor settings around the hinge axis.</div><div class="ttdef"><b>Definition</b> HingeConstraint.h:57</div></div>
<div class="ttc" id="aclass_hinge_constraint_settings_html_aefad4492ec92f4998a466087b5a89c8c"><div class="ttname"><a href="class_hinge_constraint_settings.html#aefad4492ec92f4998a466087b5a89c8c">HingeConstraintSettings::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> HingeConstraint.h:51</div></div>
<div class="ttc" id="aclass_hinge_rotation_constraint_part_html"><div class="ttname"><a href="class_hinge_rotation_constraint_part.html">HingeRotationConstraintPart</a></div><div class="ttdef"><b>Definition</b> HingeRotationConstraintPart.h:44</div></div>
<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>
<div class="ttc" id="aclass_motor_settings_html"><div class="ttname"><a href="class_motor_settings.html">MotorSettings</a></div><div class="ttdef"><b>Definition</b> MotorSettings.h:26</div></div>
<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>
<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>
<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>
<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>
<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>
<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>
<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>
<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>
<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>
<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>
<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>
<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>
<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>
<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>
<div class="ttc" id="aclass_vector_html"><div class="ttname"><a href="class_vector.html">Vector</a></div><div class="ttdoc">Templatized vector class.</div><div class="ttdef"><b>Definition</b> Vector.h:12</div></div>
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