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

  111. <a href="_motion_properties_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="_sphere_8h.html">Jolt/Geometry/Sphere.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="_allowed_d_o_fs_8h.html">Jolt/Physics/Body/AllowedDOFs.h</a>&gt;</span></div>
    119. 

  119. <div class="line"><a id="l00009" name="l00009"></a><span class="lineno">    9</span><span class="preprocessor">#include &lt;<a class="code" href="_motion_quality_8h.html">Jolt/Physics/Body/MotionQuality.h</a>&gt;</span></div>
    120. 

  120. <div class="line"><a id="l00010" name="l00010"></a><span class="lineno">   10</span><span class="preprocessor">#include &lt;<a class="code" href="_body_access_8h.html">Jolt/Physics/Body/BodyAccess.h</a>&gt;</span></div>
    121. 

  121. <div class="line"><a id="l00011" name="l00011"></a><span class="lineno">   11</span><span class="preprocessor">#include &lt;<a class="code" href="_motion_type_8h.html">Jolt/Physics/Body/MotionType.h</a>&gt;</span></div>
    122. 

  122. <div class="line"><a id="l00012" name="l00012"></a><span class="lineno">   12</span><span class="preprocessor">#include &lt;<a class="code" href="_body_type_8h.html">Jolt/Physics/Body/BodyType.h</a>&gt;</span></div>
    123. 

  123. <div class="line"><a id="l00013" name="l00013"></a><span class="lineno">   13</span><span class="preprocessor">#include &lt;<a class="code" href="_mass_properties_8h.html">Jolt/Physics/Body/MassProperties.h</a>&gt;</span></div>
    124. 

  124. <div class="line"><a id="l00014" name="l00014"></a><span class="lineno">   14</span><span class="preprocessor">#include &lt;<a class="code" href="_determinism_log_8h.html">Jolt/Physics/DeterminismLog.h</a>&gt;</span></div>
    125. 

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

  126. <div class="line"><a id="l00016" name="l00016"></a><span class="lineno">   16</span><a class="code hl_define" href="_core_8h.html#ad14098b68b8c44ea6112601031268405">JPH_NAMESPACE_BEGIN</a></div>
    127. 

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

  128. <div class="line"><a id="l00018" name="l00018"></a><span class="lineno">   18</span><span class="keyword">class </span><a class="code hl_class" href="class_state_recorder.html">StateRecorder</a>;</div>
    129. 

  129. <div class="line"><a id="l00019" name="l00019"></a><span class="lineno">   19</span> </div>
    130. 

  130. <div class="foldopen" id="foldopen00021" data-start="{" data-end="};">
    131. 

  131. <div class="line"><a id="l00021" name="l00021"></a><span class="lineno"><a class="line" href="_motion_properties_8h.html#a97f69c4b07965ef22ebe08465e1c3db0">   21</a></span><span class="keyword">enum class</span> <a class="code hl_enumeration" href="_motion_properties_8h.html#a97f69c4b07965ef22ebe08465e1c3db0">ECanSleep</a></div>
    132. 

  132. <div class="line"><a id="l00022" name="l00022"></a><span class="lineno">   22</span>{</div>
    133. 

  133. <div class="line"><a id="l00023" name="l00023"></a><span class="lineno">   23</span>    <a class="code hl_enumvalue" href="_motion_properties_8h.html#a97f69c4b07965ef22ebe08465e1c3db0af6565583dd53a537e5c7376048299104">CannotSleep</a> = 0,                                                                        </div>
    134. 

  134. <div class="line"><a id="l00024" name="l00024"></a><span class="lineno">   24</span>    <a class="code hl_enumvalue" href="_motion_properties_8h.html#a97f69c4b07965ef22ebe08465e1c3db0a93264bf5e739b984ef79c2fbc76863c6">CanSleep</a> = 1,                                                                           </div>
    135. 

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

  136. </div>
    137. 

  137. <div class="line"><a id="l00026" name="l00026"></a><span class="lineno">   26</span> </div>
    138. 

  138. <div class="foldopen" id="foldopen00028" data-start="{" data-end="};">
    139. 

  139. <div class="line"><a id="l00028" name="l00028"></a><span class="lineno"><a class="line" href="class_motion_properties.html">   28</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_motion_properties.html">MotionProperties</a></div>
    140. 

  140. <div class="line"><a id="l00029" name="l00029"></a><span class="lineno">   29</span>{</div>
    141. 

  141. <div class="line"><a id="l00030" name="l00030"></a><span class="lineno">   30</span><span class="keyword">public</span>:</div>
    142. 

  142. <div class="line"><a id="l00031" name="l00031"></a><span class="lineno">   31</span>    <a class="code hl_define" href="_memory_8h.html#a91074fb218fe28954a0938c099ddd9e0">JPH_OVERRIDE_NEW_DELETE</a></div>
    143. 

  143. <div class="line"><a id="l00032" name="l00032"></a><span class="lineno">   32</span> </div>
    144. 

  144. <div class="line"><a id="l00034" name="l00034"></a><span class="lineno"><a class="line" href="class_motion_properties.html#acd43aa954cec19be744724fd633f892a">   34</a></span>    <a class="code hl_enumeration" href="_motion_quality_8h.html#af43db3453103c2e62526f54dd8542d3a">EMotionQuality</a>          <a class="code hl_function" href="class_motion_properties.html#acd43aa954cec19be744724fd633f892a">GetMotionQuality</a>()<span class="keyword"> const                                        </span>{ <span class="keywordflow">return</span> mMotionQuality; }</div>
    145. 

  145. <div class="line"><a id="l00035" name="l00035"></a><span class="lineno">   35</span> </div>
    146. 

  146. <div class="line"><a id="l00037" name="l00037"></a><span class="lineno"><a class="line" href="class_motion_properties.html#ae2bc5e1e111514783c9df29987815516">   37</a></span>    <span class="keyword">inline</span> <a class="code hl_enumeration" href="_allowed_d_o_fs_8h.html#a47bc570d6b4f457c417078ebab07d913">EAllowedDOFs</a>     <a class="code hl_function" href="class_motion_properties.html#ae2bc5e1e111514783c9df29987815516">GetAllowedDOFs</a>()<span class="keyword"> const                                          </span>{ <span class="keywordflow">return</span> mAllowedDOFs; }</div>
    147. 

  147. <div class="line"><a id="l00038" name="l00038"></a><span class="lineno">   38</span> </div>
    148. 

  148. <div class="line"><a id="l00040" name="l00040"></a><span class="lineno"><a class="line" href="class_motion_properties.html#ae85a09814d25c0550eb408d3798e7f08">   40</a></span>    <span class="keyword">inline</span> <span class="keywordtype">bool</span>             <a class="code hl_function" href="class_motion_properties.html#ae85a09814d25c0550eb408d3798e7f08">GetAllowSleeping</a>()<span class="keyword"> const                                        </span>{ <span class="keywordflow">return</span> mAllowSleeping; }</div>
    149. 

  149. <div class="line"><a id="l00041" name="l00041"></a><span class="lineno">   41</span> </div>
    150. 

  150. <div class="line"><a id="l00043" name="l00043"></a><span class="lineno"><a class="line" href="class_motion_properties.html#a6478c1ccabfc23ee9ce98faa0643c080">   43</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_motion_properties.html#a6478c1ccabfc23ee9ce98faa0643c080">GetLinearVelocity</a>()<span class="keyword"> const                                       </span>{ <a class="code hl_define" href="_issue_reporting_8h.html#aaf6b1df827e11b7ca5f6f8778bd8f8cd">JPH_ASSERT</a>(BodyAccess::sCheckRights(BodyAccess::sVelocityAccess(), BodyAccess::EAccess::Read)); <span class="keywordflow">return</span> mLinearVelocity; }</div>
    151. 

  151. <div class="line"><a id="l00044" name="l00044"></a><span class="lineno">   44</span> </div>
    152. 

  152. <div class="line"><a id="l00046" name="l00046"></a><span class="lineno"><a class="line" href="class_motion_properties.html#a083c86092c13479288dcc63c02e11f30">   46</a></span>    <span class="keywordtype">void</span>                    <a class="code hl_function" href="class_motion_properties.html#a083c86092c13479288dcc63c02e11f30">SetLinearVelocity</a>(<a class="code hl_class" href="class_vec3.html">Vec3Arg</a> inLinearVelocity)                     { <a class="code hl_define" href="_issue_reporting_8h.html#aaf6b1df827e11b7ca5f6f8778bd8f8cd">JPH_ASSERT</a>(BodyAccess::sCheckRights(BodyAccess::sVelocityAccess(), BodyAccess::EAccess::ReadWrite)); <a class="code hl_define" href="_issue_reporting_8h.html#aaf6b1df827e11b7ca5f6f8778bd8f8cd">JPH_ASSERT</a>(inLinearVelocity.<a class="code hl_function" href="class_vec3.html#a38a9efffc3f9413f3dd702abc73eb9a2">Length</a>() &lt;= mMaxLinearVelocity); mLinearVelocity = LockTranslation(inLinearVelocity); }</div>
    153. 

  153. <div class="line"><a id="l00047" name="l00047"></a><span class="lineno">   47</span> </div>
    154. 

  154. <div class="line"><a id="l00049" name="l00049"></a><span class="lineno"><a class="line" href="class_motion_properties.html#a5e9dad9b92aa67163bed3200709be901">   49</a></span>    <span class="keywordtype">void</span>                    <a class="code hl_function" href="class_motion_properties.html#a5e9dad9b92aa67163bed3200709be901">SetLinearVelocityClamped</a>(<a class="code hl_class" href="class_vec3.html">Vec3Arg</a> inLinearVelocity)              { mLinearVelocity = LockTranslation(inLinearVelocity); ClampLinearVelocity(); }</div>
    155. 

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

  156. <div class="line"><a id="l00052" name="l00052"></a><span class="lineno"><a class="line" href="class_motion_properties.html#a66348339a05a43b730e1591273aace18">   52</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_motion_properties.html#a66348339a05a43b730e1591273aace18">GetAngularVelocity</a>()<span class="keyword"> const                                      </span>{ <a class="code hl_define" href="_issue_reporting_8h.html#aaf6b1df827e11b7ca5f6f8778bd8f8cd">JPH_ASSERT</a>(BodyAccess::sCheckRights(BodyAccess::sVelocityAccess(), BodyAccess::EAccess::Read)); <span class="keywordflow">return</span> mAngularVelocity; }</div>
    157. 

  157. <div class="line"><a id="l00053" name="l00053"></a><span class="lineno">   53</span> </div>
    158. 

  158. <div class="line"><a id="l00055" name="l00055"></a><span class="lineno"><a class="line" href="class_motion_properties.html#aa647afa51bbc165ebfa4f791fbb1f71f">   55</a></span>    <span class="keywordtype">void</span>                    <a class="code hl_function" href="class_motion_properties.html#aa647afa51bbc165ebfa4f791fbb1f71f">SetAngularVelocity</a>(<a class="code hl_class" href="class_vec3.html">Vec3Arg</a> inAngularVelocity)                   { <a class="code hl_define" href="_issue_reporting_8h.html#aaf6b1df827e11b7ca5f6f8778bd8f8cd">JPH_ASSERT</a>(BodyAccess::sCheckRights(BodyAccess::sVelocityAccess(), BodyAccess::EAccess::ReadWrite)); <a class="code hl_define" href="_issue_reporting_8h.html#aaf6b1df827e11b7ca5f6f8778bd8f8cd">JPH_ASSERT</a>(inAngularVelocity.<a class="code hl_function" href="class_vec3.html#a38a9efffc3f9413f3dd702abc73eb9a2">Length</a>() &lt;= mMaxAngularVelocity); mAngularVelocity = LockAngular(inAngularVelocity); }</div>
    159. 

  159. <div class="line"><a id="l00056" name="l00056"></a><span class="lineno">   56</span> </div>
    160. 

  160. <div class="line"><a id="l00058" name="l00058"></a><span class="lineno"><a class="line" href="class_motion_properties.html#a2b76b04c1ab039a881788d8a4ae7c115">   58</a></span>    <span class="keywordtype">void</span>                    <a class="code hl_function" href="class_motion_properties.html#a2b76b04c1ab039a881788d8a4ae7c115">SetAngularVelocityClamped</a>(<a class="code hl_class" href="class_vec3.html">Vec3Arg</a> inAngularVelocity)            { mAngularVelocity = LockAngular(inAngularVelocity); ClampAngularVelocity(); }</div>
    161. 

  161. <div class="line"><a id="l00059" name="l00059"></a><span class="lineno">   59</span> </div>
    162. 

  162. <div class="line"><a id="l00061" name="l00061"></a><span class="lineno">   61</span>    <span class="keyword">inline</span> <span class="keywordtype">void</span>             MoveKinematic(<a class="code hl_class" href="class_vec3.html">Vec3Arg</a> inDeltaPosition, <a class="code hl_class" href="class_quat.html">QuatArg</a> inDeltaRotation, <span class="keywordtype">float</span> inDeltaTime);</div>
    163. 

  163. <div class="line"><a id="l00062" name="l00062"></a><span class="lineno">   62</span> </div>
    164. 

  164. <div class="line"><a id="l00065" name="l00065"></a><span class="lineno">   65</span> </div>
    165. 

  165. <div class="line"><a id="l00067" name="l00067"></a><span class="lineno"><a class="line" href="class_motion_properties.html#a322397545544a5b330d68fa894e021cf">   67</a></span>    <span class="keyword">inline</span> <span class="keywordtype">float</span>            <a class="code hl_function" href="class_motion_properties.html#a322397545544a5b330d68fa894e021cf">GetMaxLinearVelocity</a>()<span class="keyword"> const                                    </span>{ <span class="keywordflow">return</span> mMaxLinearVelocity; }</div>
    166. 

  166. <div class="line"><a id="l00068" name="l00068"></a><span class="lineno"><a class="line" href="class_motion_properties.html#ac452632a71e6ba6de822339be8c3ee80">   68</a></span>    <span class="keyword">inline</span> <span class="keywordtype">void</span>             <a class="code hl_function" href="class_motion_properties.html#ac452632a71e6ba6de822339be8c3ee80">SetMaxLinearVelocity</a>(<span class="keywordtype">float</span> inLinearVelocity)                    { <a class="code hl_define" href="_issue_reporting_8h.html#aaf6b1df827e11b7ca5f6f8778bd8f8cd">JPH_ASSERT</a>(inLinearVelocity &gt;= 0.0f); mMaxLinearVelocity = inLinearVelocity; }</div>
    167. 

  167. <div class="line"><a id="l00069" name="l00069"></a><span class="lineno">   69</span> </div>
    168. 

  168. <div class="line"><a id="l00071" name="l00071"></a><span class="lineno"><a class="line" href="class_motion_properties.html#a5c7901aaa430061775c7c39af08168db">   71</a></span>    <span class="keyword">inline</span> <span class="keywordtype">float</span>            <a class="code hl_function" href="class_motion_properties.html#a5c7901aaa430061775c7c39af08168db">GetMaxAngularVelocity</a>()<span class="keyword"> const                                   </span>{ <span class="keywordflow">return</span> mMaxAngularVelocity; }</div>
    169. 

  169. <div class="line"><a id="l00072" name="l00072"></a><span class="lineno"><a class="line" href="class_motion_properties.html#a6665e01c407036815ac084edcf28d53f">   72</a></span>    <span class="keyword">inline</span> <span class="keywordtype">void</span>             <a class="code hl_function" href="class_motion_properties.html#a6665e01c407036815ac084edcf28d53f">SetMaxAngularVelocity</a>(<span class="keywordtype">float</span> inAngularVelocity)                  { <a class="code hl_define" href="_issue_reporting_8h.html#aaf6b1df827e11b7ca5f6f8778bd8f8cd">JPH_ASSERT</a>(inAngularVelocity &gt;= 0.0f); mMaxAngularVelocity = inAngularVelocity; }</div>
    170. 

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

  171. <div class="line"><a id="l00076" name="l00076"></a><span class="lineno">   76</span>    <span class="keyword">inline</span> <span class="keywordtype">void</span>             ClampLinearVelocity();</div>
    172. 

  172. <div class="line"><a id="l00077" name="l00077"></a><span class="lineno">   77</span>    <span class="keyword">inline</span> <span class="keywordtype">void</span>             ClampAngularVelocity();</div>
    173. 

  173. <div class="line"><a id="l00078" name="l00078"></a><span class="lineno">   78</span> </div>
    174. 

  174. <div class="line"><a id="l00080" name="l00080"></a><span class="lineno"><a class="line" href="class_motion_properties.html#a8f94e1d248e0ff62aa7496e2092924a8">   80</a></span>    <span class="keyword">inline</span> <span class="keywordtype">float</span>            <a class="code hl_function" href="class_motion_properties.html#a8f94e1d248e0ff62aa7496e2092924a8">GetLinearDamping</a>()<span class="keyword"> const                                        </span>{ <span class="keywordflow">return</span> mLinearDamping; }</div>
    175. 

  175. <div class="line"><a id="l00081" name="l00081"></a><span class="lineno"><a class="line" href="class_motion_properties.html#acebdeeddc6f51f570414a094cf668992">   81</a></span>    <span class="keywordtype">void</span>                    <a class="code hl_function" href="class_motion_properties.html#acebdeeddc6f51f570414a094cf668992">SetLinearDamping</a>(<span class="keywordtype">float</span> inLinearDamping)                         { <a class="code hl_define" href="_issue_reporting_8h.html#aaf6b1df827e11b7ca5f6f8778bd8f8cd">JPH_ASSERT</a>(inLinearDamping &gt;= 0.0f); mLinearDamping = inLinearDamping; }</div>
    176. 

  176. <div class="line"><a id="l00082" name="l00082"></a><span class="lineno">   82</span> </div>
    177. 

  177. <div class="line"><a id="l00084" name="l00084"></a><span class="lineno"><a class="line" href="class_motion_properties.html#a778022ed795539ac55eb26f7bd4080e6">   84</a></span>    <span class="keyword">inline</span> <span class="keywordtype">float</span>            <a class="code hl_function" href="class_motion_properties.html#a778022ed795539ac55eb26f7bd4080e6">GetAngularDamping</a>()<span class="keyword"> const                                       </span>{ <span class="keywordflow">return</span> mAngularDamping; }</div>
    178. 

  178. <div class="line"><a id="l00085" name="l00085"></a><span class="lineno"><a class="line" href="class_motion_properties.html#ae036052c7d094e459a17cdc6c9b8a0ce">   85</a></span>    <span class="keywordtype">void</span>                    <a class="code hl_function" href="class_motion_properties.html#ae036052c7d094e459a17cdc6c9b8a0ce">SetAngularDamping</a>(<span class="keywordtype">float</span> inAngularDamping)                       { <a class="code hl_define" href="_issue_reporting_8h.html#aaf6b1df827e11b7ca5f6f8778bd8f8cd">JPH_ASSERT</a>(inAngularDamping &gt;= 0.0f); mAngularDamping = inAngularDamping; }</div>
    179. 

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

  180. <div class="line"><a id="l00088" name="l00088"></a><span class="lineno"><a class="line" href="class_motion_properties.html#a512531eb6b5f90a69deca6a0d0889243">   88</a></span>    <span class="keyword">inline</span> <span class="keywordtype">float</span>            <a class="code hl_function" href="class_motion_properties.html#a512531eb6b5f90a69deca6a0d0889243">GetGravityFactor</a>()<span class="keyword"> const                                        </span>{ <span class="keywordflow">return</span> mGravityFactor; }</div>
    181. 

  181. <div class="line"><a id="l00089" name="l00089"></a><span class="lineno"><a class="line" href="class_motion_properties.html#a8cc6486eb03942da485948ba1cadb78c">   89</a></span>    <span class="keywordtype">void</span>                    <a class="code hl_function" href="class_motion_properties.html#a8cc6486eb03942da485948ba1cadb78c">SetGravityFactor</a>(<span class="keywordtype">float</span> inGravityFactor)                         { mGravityFactor = inGravityFactor; }</div>
    182. 

  182. <div class="line"><a id="l00090" name="l00090"></a><span class="lineno">   90</span> </div>
    183. 

  183. <div class="line"><a id="l00092" name="l00092"></a><span class="lineno">   92</span>    <span class="keywordtype">void</span>                    SetMassProperties(<a class="code hl_enumeration" href="_allowed_d_o_fs_8h.html#a47bc570d6b4f457c417078ebab07d913">EAllowedDOFs</a> inAllowedDOFs, <span class="keyword">const</span> <a class="code hl_class" href="class_mass_properties.html">MassProperties</a> &amp;inMassProperties);</div>
    184. 

  184. <div class="line"><a id="l00093" name="l00093"></a><span class="lineno">   93</span> </div>
    185. 

  185. <div class="line"><a id="l00095" name="l00095"></a><span class="lineno"><a class="line" href="class_motion_properties.html#a8a959bd2f7d8eb581d999e3b01920aa8">   95</a></span>    <span class="keyword">inline</span> <span class="keywordtype">float</span>            <a class="code hl_function" href="class_motion_properties.html#a8a959bd2f7d8eb581d999e3b01920aa8">GetInverseMass</a>()<span class="keyword"> const                                          </span>{ <a class="code hl_define" href="_issue_reporting_8h.html#aaf6b1df827e11b7ca5f6f8778bd8f8cd">JPH_ASSERT</a>(mCachedMotionType == <a class="code hl_enumvalue" href="_motion_type_8h.html#a328245ddbb758681fad3c44c9d488fd8a971fd8cc345d8bd9f92e9f7d88fdf20c">EMotionType::Dynamic</a>); <span class="keywordflow">return</span> mInvMass; }</div>
    186. 

  186. <div class="line"><a id="l00096" name="l00096"></a><span class="lineno"><a class="line" href="class_motion_properties.html#a5f3ae7ce5fe716cf9dc83f05553164b0">   96</a></span>    <span class="keyword">inline</span> <span class="keywordtype">float</span>            <a class="code hl_function" href="class_motion_properties.html#a5f3ae7ce5fe716cf9dc83f05553164b0">GetInverseMassUnchecked</a>()<span class="keyword"> const                                 </span>{ <span class="keywordflow">return</span> mInvMass; }</div>
    187. 

  187. <div class="line"><a id="l00097" name="l00097"></a><span class="lineno">   97</span> </div>
    188. 

  188. <div class="line"><a id="l00102" name="l00102"></a><span class="lineno"><a class="line" href="class_motion_properties.html#a9bf9425aab99ea920b73577819e579b1">  102</a></span>    <span class="keywordtype">void</span>                    <a class="code hl_function" href="class_motion_properties.html#a9bf9425aab99ea920b73577819e579b1">SetInverseMass</a>(<span class="keywordtype">float</span> inInverseMass)                             { mInvMass = inInverseMass; }</div>
    189. 

  189. <div class="line"><a id="l00103" name="l00103"></a><span class="lineno">  103</span> </div>
    190. 

  190. <div class="line"><a id="l00105" name="l00105"></a><span class="lineno"><a class="line" href="class_motion_properties.html#a4a60f30bee17d06efaa9fa368f70e260">  105</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_motion_properties.html#a4a60f30bee17d06efaa9fa368f70e260">GetInverseInertiaDiagonal</a>()<span class="keyword"> const                               </span>{ <a class="code hl_define" href="_issue_reporting_8h.html#aaf6b1df827e11b7ca5f6f8778bd8f8cd">JPH_ASSERT</a>(mCachedMotionType == <a class="code hl_enumvalue" href="_motion_type_8h.html#a328245ddbb758681fad3c44c9d488fd8a971fd8cc345d8bd9f92e9f7d88fdf20c">EMotionType::Dynamic</a>); <span class="keywordflow">return</span> mInvInertiaDiagonal; }</div>
    191. 

  191. <div class="line"><a id="l00106" name="l00106"></a><span class="lineno">  106</span> </div>
    192. 

  192. <div class="line"><a id="l00108" name="l00108"></a><span class="lineno"><a class="line" href="class_motion_properties.html#a300d1a36925946850e301155c70b7bef">  108</a></span>    <span class="keyword">inline</span> <a class="code hl_class" href="class_quat.html">Quat</a>             <a class="code hl_function" href="class_motion_properties.html#a300d1a36925946850e301155c70b7bef">GetInertiaRotation</a>()<span class="keyword"> const                                      </span>{ <span class="keywordflow">return</span> mInertiaRotation; }</div>
    193. 

  193. <div class="line"><a id="l00109" name="l00109"></a><span class="lineno">  109</span> </div>
    194. 

  194. <div class="line"><a id="l00114" name="l00114"></a><span class="lineno"><a class="line" href="class_motion_properties.html#a509aafb031d301cbef7e2efdd16ee3dd">  114</a></span>    <span class="keywordtype">void</span>                    <a class="code hl_function" href="class_motion_properties.html#a509aafb031d301cbef7e2efdd16ee3dd">SetInverseInertia</a>(<a class="code hl_class" href="class_vec3.html">Vec3Arg</a> inDiagonal, <a class="code hl_class" href="class_quat.html">QuatArg</a> inRot)            { mInvInertiaDiagonal = inDiagonal; mInertiaRotation = inRot; }</div>
    195. 

  195. <div class="line"><a id="l00115" name="l00115"></a><span class="lineno">  115</span> </div>
    196. 

  196. <div class="line"><a id="l00118" name="l00118"></a><span class="lineno">  118</span>    <span class="keywordtype">void</span>                    ScaleToMass(<span class="keywordtype">float</span> inMass);</div>
    197. 

  197. <div class="line"><a id="l00119" name="l00119"></a><span class="lineno">  119</span> </div>
    198. 

  198. <div class="line"><a id="l00121" name="l00121"></a><span class="lineno">  121</span>    <span class="keyword">inline</span> <a class="code hl_class" href="class_mat44.html">Mat44</a>            GetLocalSpaceInverseInertia() <span class="keyword">const</span>;</div>
    199. 

  199. <div class="line"><a id="l00122" name="l00122"></a><span class="lineno">  122</span> </div>
    200. 

  200. <div class="line"><a id="l00124" name="l00124"></a><span class="lineno">  124</span>    <span class="keyword">inline</span> <a class="code hl_class" href="class_mat44.html">Mat44</a>            GetLocalSpaceInverseInertiaUnchecked() <span class="keyword">const</span>;</div>
    201. 

  201. <div class="line"><a id="l00125" name="l00125"></a><span class="lineno">  125</span> </div>
    202. 

  202. <div class="line"><a id="l00127" name="l00127"></a><span class="lineno">  127</span>    <span class="keyword">inline</span> <a class="code hl_class" href="class_mat44.html">Mat44</a>            GetInverseInertiaForRotation(<a class="code hl_class" href="class_mat44.html">Mat44Arg</a> inRotation) <span class="keyword">const</span>;</div>
    203. 

  203. <div class="line"><a id="l00128" name="l00128"></a><span class="lineno">  128</span> </div>
    204. 

  204. <div class="line"><a id="l00130" name="l00130"></a><span class="lineno">  130</span>    JPH_INLINE <a class="code hl_class" href="class_vec3.html">Vec3</a>         MultiplyWorldSpaceInverseInertiaByVector(<a class="code hl_class" href="class_quat.html">QuatArg</a> inBodyRotation, <a class="code hl_class" href="class_vec3.html">Vec3Arg</a> inV) <span class="keyword">const</span>;</div>
    205. 

  205. <div class="line"><a id="l00131" name="l00131"></a><span class="lineno">  131</span> </div>
    206. 

  206. <div class="line"><a id="l00133" name="l00133"></a><span class="lineno"><a class="line" href="class_motion_properties.html#a3b3277de19d5dc081a6e15111f7dc14c">  133</a></span>    JPH_INLINE <a class="code hl_class" href="class_vec3.html">Vec3</a>         <a class="code hl_function" href="class_motion_properties.html#a3b3277de19d5dc081a6e15111f7dc14c">GetPointVelocityCOM</a>(<a class="code hl_class" href="class_vec3.html">Vec3Arg</a> inPointRelativeToCOM)<span class="keyword"> const         </span>{ <span class="keywordflow">return</span> mLinearVelocity + mAngularVelocity.<a class="code hl_function" href="class_vec3.html#a224811af391ccfd1e05282eda22d1de8">Cross</a>(inPointRelativeToCOM); }</div>
    207. 

  207. <div class="line"><a id="l00134" name="l00134"></a><span class="lineno">  134</span> </div>
    208. 

  208. <div class="line"><a id="l00135" name="l00135"></a><span class="lineno">  135</span>    <span class="comment">// Get the total amount of force applied to the center of mass this time step (through Body::AddForce calls). Note that it will reset to zero after PhysicsSystem::Update.</span></div>
    209. 

  209. <div class="line"><a id="l00136" name="l00136"></a><span class="lineno"><a class="line" href="class_motion_properties.html#ab2db20476c9ab24b796a9f5877caaea5">  136</a></span>    JPH_INLINE <a class="code hl_class" href="class_vec3.html">Vec3</a>         <a class="code hl_function" href="class_motion_properties.html#ab2db20476c9ab24b796a9f5877caaea5">GetAccumulatedForce</a>()<span class="keyword"> const                                     </span>{ <span class="keywordflow">return</span> <a class="code hl_function" href="class_vec3.html#aea30fe731618ffa249ecdcba2c66ab4e">Vec3::sLoadFloat3Unsafe</a>(mForce); }</div>
    210. 

  210. <div class="line"><a id="l00137" name="l00137"></a><span class="lineno">  137</span> </div>
    211. 

  211. <div class="line"><a id="l00138" name="l00138"></a><span class="lineno">  138</span>    <span class="comment">// Get the total amount of torque applied to the center of mass this time step (through Body::AddForce/Body::AddTorque calls). Note that it will reset to zero after PhysicsSystem::Update.</span></div>
    212. 

  212. <div class="line"><a id="l00139" name="l00139"></a><span class="lineno"><a class="line" href="class_motion_properties.html#a73cef0ab26c9bc15a2908e632c953bc2">  139</a></span>    JPH_INLINE <a class="code hl_class" href="class_vec3.html">Vec3</a>         <a class="code hl_function" href="class_motion_properties.html#a73cef0ab26c9bc15a2908e632c953bc2">GetAccumulatedTorque</a>()<span class="keyword"> const                                    </span>{ <span class="keywordflow">return</span> <a class="code hl_function" href="class_vec3.html#aea30fe731618ffa249ecdcba2c66ab4e">Vec3::sLoadFloat3Unsafe</a>(mTorque); }</div>
    213. 

  213. <div class="line"><a id="l00140" name="l00140"></a><span class="lineno">  140</span> </div>
    214. 

  214. <div class="line"><a id="l00141" name="l00141"></a><span class="lineno">  141</span>    <span class="comment">// Reset the total accumulated force, note that this will be done automatically after every time step.</span></div>
    215. 

  215. <div class="line"><a id="l00142" name="l00142"></a><span class="lineno"><a class="line" href="class_motion_properties.html#a98ccf77045902a10f5665ba7208b67f4">  142</a></span>    JPH_INLINE <span class="keywordtype">void</span>         <a class="code hl_function" href="class_motion_properties.html#a98ccf77045902a10f5665ba7208b67f4">ResetForce</a>()                                                    { mForce = <a class="code hl_class" href="class_float3.html">Float3</a>(0, 0, 0); }</div>
    216. 

  216. <div class="line"><a id="l00143" name="l00143"></a><span class="lineno">  143</span> </div>
    217. 

  217. <div class="line"><a id="l00144" name="l00144"></a><span class="lineno">  144</span>    <span class="comment">// Reset the total accumulated torque, note that this will be done automatically after every time step.</span></div>
    218. 

  218. <div class="line"><a id="l00145" name="l00145"></a><span class="lineno"><a class="line" href="class_motion_properties.html#afed5a48ab2a5e703c00e2e9ef2e0c68a">  145</a></span>    JPH_INLINE <span class="keywordtype">void</span>         <a class="code hl_function" href="class_motion_properties.html#afed5a48ab2a5e703c00e2e9ef2e0c68a">ResetTorque</a>()                                                   { mTorque = <a class="code hl_class" href="class_float3.html">Float3</a>(0, 0, 0); }</div>
    219. 

  219. <div class="line"><a id="l00146" name="l00146"></a><span class="lineno">  146</span> </div>
    220. 

  220. <div class="line"><a id="l00147" name="l00147"></a><span class="lineno">  147</span>    <span class="comment">// Reset the current velocity and accumulated force and torque.</span></div>
    221. 

  221. <div class="foldopen" id="foldopen00148" data-start="{" data-end="}">
    222. 

  222. <div class="line"><a id="l00148" name="l00148"></a><span class="lineno"><a class="line" href="class_motion_properties.html#a6e4c20984b986f7f3e474eee9d54a612">  148</a></span>    JPH_INLINE <span class="keywordtype">void</span>         <a class="code hl_function" href="class_motion_properties.html#a6e4c20984b986f7f3e474eee9d54a612">ResetMotion</a>()</div>
    223. 

  223. <div class="line"><a id="l00149" name="l00149"></a><span class="lineno">  149</span>    {</div>
    224. 

  224. <div class="line"><a id="l00150" name="l00150"></a><span class="lineno">  150</span>        <a class="code hl_define" href="_issue_reporting_8h.html#aaf6b1df827e11b7ca5f6f8778bd8f8cd">JPH_ASSERT</a>(BodyAccess::sCheckRights(BodyAccess::sVelocityAccess(), BodyAccess::EAccess::ReadWrite));</div>
    225. 

  225. <div class="line"><a id="l00151" name="l00151"></a><span class="lineno">  151</span>        mLinearVelocity = mAngularVelocity = <a class="code hl_function" href="class_vec3.html#ad03c52ab27761bc1e64e33c47632ba51">Vec3::sZero</a>();</div>
    226. 

  226. <div class="line"><a id="l00152" name="l00152"></a><span class="lineno">  152</span>        mForce = mTorque = <a class="code hl_class" href="class_float3.html">Float3</a>(0, 0, 0);</div>
    227. 

  227. <div class="line"><a id="l00153" name="l00153"></a><span class="lineno">  153</span>    }</div>
    228. 

  228. </div>
    229. 

  229. <div class="line"><a id="l00154" name="l00154"></a><span class="lineno">  154</span> </div>
    230. 

  230. <div class="foldopen" id="foldopen00156" data-start="{" data-end="}">
    231. 

  231. <div class="line"><a id="l00156" name="l00156"></a><span class="lineno"><a class="line" href="class_motion_properties.html#a8da4f3c3b9d4afe28293492923f1dee0">  156</a></span>    JPH_INLINE <a class="code hl_class" href="class_u_vec4.html">UVec4</a>        <a class="code hl_function" href="class_motion_properties.html#a8da4f3c3b9d4afe28293492923f1dee0">GetLinearDOFsMask</a>()<span class="keyword"> const</span></div>
    232. 

  232. <div class="line"><a id="l00157" name="l00157"></a><span class="lineno">  157</span><span class="keyword">    </span>{</div>
    233. 

  233. <div class="line"><a id="l00158" name="l00158"></a><span class="lineno">  158</span>        <a class="code hl_class" href="class_u_vec4.html">UVec4</a> mask(<a class="code hl_typedef" href="_core_8h.html#a8f95e75e58492e87412191fabadd8ca8">uint32</a>(<a class="code hl_enumvalue" href="_allowed_d_o_fs_8h.html#a47bc570d6b4f457c417078ebab07d913adf25457a4acbb8220b36cbd34903fc06">EAllowedDOFs::TranslationX</a>), <a class="code hl_typedef" href="_core_8h.html#a8f95e75e58492e87412191fabadd8ca8">uint32</a>(<a class="code hl_enumvalue" href="_allowed_d_o_fs_8h.html#a47bc570d6b4f457c417078ebab07d913a5958d0bb6455dfb87376b3c24eeb9a46">EAllowedDOFs::TranslationY</a>), <a class="code hl_typedef" href="_core_8h.html#a8f95e75e58492e87412191fabadd8ca8">uint32</a>(<a class="code hl_enumvalue" href="_allowed_d_o_fs_8h.html#a47bc570d6b4f457c417078ebab07d913a7eac98e7f2c74960a4aa9a2a92a8874d">EAllowedDOFs::TranslationZ</a>), 0);</div>
    234. 

  234. <div class="line"><a id="l00159" name="l00159"></a><span class="lineno">  159</span>        <span class="keywordflow">return</span> <a class="code hl_function" href="class_u_vec4.html#a7124c8dadba4fa2467bb542e33b664f1">UVec4::sEquals</a>(<a class="code hl_function" href="class_u_vec4.html#a69a2126a24a31ead596e3316c1285145">UVec4::sAnd</a>(<a class="code hl_function" href="class_u_vec4.html#a4287a7bd825aaf6111f310e0c92bd152">UVec4::sReplicate</a>(<a class="code hl_typedef" href="_core_8h.html#a8f95e75e58492e87412191fabadd8ca8">uint32</a>(mAllowedDOFs)), mask), mask);</div>
    235. 

  235. <div class="line"><a id="l00160" name="l00160"></a><span class="lineno">  160</span>    }</div>
    236. 

  236. </div>
    237. 

  237. <div class="line"><a id="l00161" name="l00161"></a><span class="lineno">  161</span> </div>
    238. 

  238. <div class="foldopen" id="foldopen00163" data-start="{" data-end="}">
    239. 

  239. <div class="line"><a id="l00163" name="l00163"></a><span class="lineno"><a class="line" href="class_motion_properties.html#ab7168117a82829c137798ff843900104">  163</a></span>    JPH_INLINE <a class="code hl_class" href="class_vec3.html">Vec3</a>         <a class="code hl_function" href="class_motion_properties.html#ab7168117a82829c137798ff843900104">LockTranslation</a>(<a class="code hl_class" href="class_vec3.html">Vec3Arg</a> inV)<span class="keyword"> const</span></div>
    240. 

  240. <div class="line"><a id="l00164" name="l00164"></a><span class="lineno">  164</span><span class="keyword">    </span>{</div>
    241. 

  241. <div class="line"><a id="l00165" name="l00165"></a><span class="lineno">  165</span>        <span class="keywordflow">return</span> <a class="code hl_function" href="class_vec3.html#a96e892074ac7e8638cb70ede768f08a8">Vec3::sAnd</a>(inV, <a class="code hl_class" href="class_vec3.html">Vec3</a>(GetLinearDOFsMask().ReinterpretAsFloat()));</div>
    242. 

  242. <div class="line"><a id="l00166" name="l00166"></a><span class="lineno">  166</span>    }</div>
    243. 

  243. </div>
    244. 

  244. <div class="line"><a id="l00167" name="l00167"></a><span class="lineno">  167</span> </div>
    245. 

  245. <div class="foldopen" id="foldopen00169" data-start="{" data-end="}">
    246. 

  246. <div class="line"><a id="l00169" name="l00169"></a><span class="lineno"><a class="line" href="class_motion_properties.html#ae0c08282aaf3b1a38cd958c32840e329">  169</a></span>    JPH_INLINE <a class="code hl_class" href="class_u_vec4.html">UVec4</a>        <a class="code hl_function" href="class_motion_properties.html#ae0c08282aaf3b1a38cd958c32840e329">GetAngularDOFsMask</a>()<span class="keyword"> const</span></div>
    247. 

  247. <div class="line"><a id="l00170" name="l00170"></a><span class="lineno">  170</span><span class="keyword">    </span>{</div>
    248. 

  248. <div class="line"><a id="l00171" name="l00171"></a><span class="lineno">  171</span>        <a class="code hl_class" href="class_u_vec4.html">UVec4</a> mask(<a class="code hl_typedef" href="_core_8h.html#a8f95e75e58492e87412191fabadd8ca8">uint32</a>(<a class="code hl_enumvalue" href="_allowed_d_o_fs_8h.html#a47bc570d6b4f457c417078ebab07d913a14dcec09ce1f4dfaac5955bc70825ebc">EAllowedDOFs::RotationX</a>), <a class="code hl_typedef" href="_core_8h.html#a8f95e75e58492e87412191fabadd8ca8">uint32</a>(<a class="code hl_enumvalue" href="_allowed_d_o_fs_8h.html#a47bc570d6b4f457c417078ebab07d913a7527ced5a5153f3b21e31c4b177c2ea7">EAllowedDOFs::RotationY</a>), <a class="code hl_typedef" href="_core_8h.html#a8f95e75e58492e87412191fabadd8ca8">uint32</a>(<a class="code hl_enumvalue" href="_allowed_d_o_fs_8h.html#a47bc570d6b4f457c417078ebab07d913ae967cae1a9d601b4335123e013328d34">EAllowedDOFs::RotationZ</a>), 0);</div>
    249. 

  249. <div class="line"><a id="l00172" name="l00172"></a><span class="lineno">  172</span>        <span class="keywordflow">return</span> <a class="code hl_function" href="class_u_vec4.html#a7124c8dadba4fa2467bb542e33b664f1">UVec4::sEquals</a>(<a class="code hl_function" href="class_u_vec4.html#a69a2126a24a31ead596e3316c1285145">UVec4::sAnd</a>(<a class="code hl_function" href="class_u_vec4.html#a4287a7bd825aaf6111f310e0c92bd152">UVec4::sReplicate</a>(<a class="code hl_typedef" href="_core_8h.html#a8f95e75e58492e87412191fabadd8ca8">uint32</a>(mAllowedDOFs)), mask), mask);</div>
    250. 

  250. <div class="line"><a id="l00173" name="l00173"></a><span class="lineno">  173</span>    }</div>
    251. 

  251. </div>
    252. 

  252. <div class="line"><a id="l00174" name="l00174"></a><span class="lineno">  174</span> </div>
    253. 

  253. <div class="foldopen" id="foldopen00176" data-start="{" data-end="}">
    254. 

  254. <div class="line"><a id="l00176" name="l00176"></a><span class="lineno"><a class="line" href="class_motion_properties.html#a6bfec52a7ff3345d6fefd3f84faf6be7">  176</a></span>    JPH_INLINE <a class="code hl_class" href="class_vec3.html">Vec3</a>         <a class="code hl_function" href="class_motion_properties.html#a6bfec52a7ff3345d6fefd3f84faf6be7">LockAngular</a>(<a class="code hl_class" href="class_vec3.html">Vec3Arg</a> inV)<span class="keyword"> const</span></div>
    255. 

  255. <div class="line"><a id="l00177" name="l00177"></a><span class="lineno">  177</span><span class="keyword">    </span>{</div>
    256. 

  256. <div class="line"><a id="l00178" name="l00178"></a><span class="lineno">  178</span>        <span class="keywordflow">return</span> <a class="code hl_function" href="class_vec3.html#a96e892074ac7e8638cb70ede768f08a8">Vec3::sAnd</a>(inV, <a class="code hl_class" href="class_vec3.html">Vec3</a>(GetAngularDOFsMask().ReinterpretAsFloat()));</div>
    257. 

  257. <div class="line"><a id="l00179" name="l00179"></a><span class="lineno">  179</span>    }</div>
    258. 

  258. </div>
    259. 

  259. <div class="line"><a id="l00180" name="l00180"></a><span class="lineno">  180</span> </div>
    260. 

  260. <div class="line"><a id="l00182" name="l00182"></a><span class="lineno"><a class="line" href="class_motion_properties.html#a167bd8cbbb918e630e2b297841165234">  182</a></span>    <span class="keywordtype">void</span>                    <a class="code hl_function" href="class_motion_properties.html#a167bd8cbbb918e630e2b297841165234">SetNumVelocityStepsOverride</a>(<a class="code hl_typedef" href="_core_8h.html#a69aa29b598b851b0640aa225a9e5d61d">uint</a> inN)                           { <a class="code hl_define" href="_issue_reporting_8h.html#aaf6b1df827e11b7ca5f6f8778bd8f8cd">JPH_ASSERT</a>(inN &lt; 256); mNumVelocityStepsOverride = <a class="code hl_typedef" href="_core_8h.html#a115946cb5fc5879545e9ccea096a6031">uint8</a>(inN); }</div>
    261. 

  261. <div class="line"><a id="l00183" name="l00183"></a><span class="lineno"><a class="line" href="class_motion_properties.html#a5f3564a6a505e92239eea4ba544fc119">  183</a></span>    <a class="code hl_typedef" href="_core_8h.html#a69aa29b598b851b0640aa225a9e5d61d">uint</a>                    <a class="code hl_function" href="class_motion_properties.html#a5f3564a6a505e92239eea4ba544fc119">GetNumVelocityStepsOverride</a>()<span class="keyword"> const                             </span>{ <span class="keywordflow">return</span> mNumVelocityStepsOverride; }</div>
    262. 

  262. <div class="line"><a id="l00184" name="l00184"></a><span class="lineno">  184</span> </div>
    263. 

  263. <div class="line"><a id="l00186" name="l00186"></a><span class="lineno"><a class="line" href="class_motion_properties.html#ae261a122f450a34d6a9d06e66d21e7f0">  186</a></span>    <span class="keywordtype">void</span>                    <a class="code hl_function" href="class_motion_properties.html#ae261a122f450a34d6a9d06e66d21e7f0">SetNumPositionStepsOverride</a>(<a class="code hl_typedef" href="_core_8h.html#a69aa29b598b851b0640aa225a9e5d61d">uint</a> inN)                           { <a class="code hl_define" href="_issue_reporting_8h.html#aaf6b1df827e11b7ca5f6f8778bd8f8cd">JPH_ASSERT</a>(inN &lt; 256); mNumPositionStepsOverride = <a class="code hl_typedef" href="_core_8h.html#a115946cb5fc5879545e9ccea096a6031">uint8</a>(inN); }</div>
    264. 

  264. <div class="line"><a id="l00187" name="l00187"></a><span class="lineno"><a class="line" href="class_motion_properties.html#a4e7820bc189da3db3f2135686bfa0e9d">  187</a></span>    <a class="code hl_typedef" href="_core_8h.html#a69aa29b598b851b0640aa225a9e5d61d">uint</a>                    <a class="code hl_function" href="class_motion_properties.html#a4e7820bc189da3db3f2135686bfa0e9d">GetNumPositionStepsOverride</a>()<span class="keyword"> const                             </span>{ <span class="keywordflow">return</span> mNumPositionStepsOverride; }</div>
    265. 

  265. <div class="line"><a id="l00188" name="l00188"></a><span class="lineno">  188</span> </div>
    266. 

  266. <div class="line"><a id="l00189" name="l00189"></a><span class="lineno">  189</span><span class="preprocessor">#ifdef JPH_TRACK_SIMULATION_STATS</span></div>
    267. 

  267. <div class="line"><a id="l00191" name="l00191"></a><span class="lineno">  191</span>    <span class="keyword">struct </span>SimulationStats</div>
    268. 

  268. <div class="line"><a id="l00192" name="l00192"></a><span class="lineno">  192</span>    {</div>
    269. 

  269. <div class="line"><a id="l00193" name="l00193"></a><span class="lineno">  193</span>        <span class="keywordtype">void</span>                Reset()                                                         { mBroadPhaseTicks = 0; mNarrowPhaseTicks.store(0, memory_order_relaxed); mVelocityConstraintTicks = 0; mPositionConstraintTicks = 0; mUpdateBoundsTicks = 0; mCCDTicks.store(0, memory_order_relaxed); mNumContactConstraints.store(0, memory_order_relaxed); mNumVelocitySteps = 0; mNumPositionSteps = 0; mIsLargeIsland = <span class="keyword">false</span>; }</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_typedef" href="_core_8h.html#a60e8696a4678cd348e991a1f172e53f7">uint64</a>              mBroadPhaseTicks = 0;                                           </div>
    272. 

  272. <div class="line"><a id="l00196" name="l00196"></a><span class="lineno">  196</span>        atomic&lt;uint64&gt;      mNarrowPhaseTicks = 0;                                          </div>
    273. 

  273. <div class="line"><a id="l00197" name="l00197"></a><span class="lineno">  197</span>        <a class="code hl_typedef" href="_core_8h.html#a60e8696a4678cd348e991a1f172e53f7">uint64</a>              mVelocityConstraintTicks = 0;                                   </div>
    274. 

  274. <div class="line"><a id="l00198" name="l00198"></a><span class="lineno">  198</span>        <a class="code hl_typedef" href="_core_8h.html#a60e8696a4678cd348e991a1f172e53f7">uint64</a>              mPositionConstraintTicks = 0;                                   </div>
    275. 

  275. <div class="line"><a id="l00199" name="l00199"></a><span class="lineno">  199</span>        <a class="code hl_typedef" href="_core_8h.html#a60e8696a4678cd348e991a1f172e53f7">uint64</a>              mUpdateBoundsTicks = 0;                                         </div>
    276. 

  276. <div class="line"><a id="l00200" name="l00200"></a><span class="lineno">  200</span>        atomic&lt;uint64&gt;      mCCDTicks = 0;                                                  </div>
    277. 

  277. <div class="line"><a id="l00201" name="l00201"></a><span class="lineno">  201</span>        atomic&lt;uint32&gt;      mNumContactConstraints = 0;                                     </div>
    278. 

  278. <div class="line"><a id="l00202" name="l00202"></a><span class="lineno">  202</span>        <a class="code hl_typedef" href="_core_8h.html#a115946cb5fc5879545e9ccea096a6031">uint8</a>               mNumVelocitySteps = 0;                                          </div>
    279. 

  279. <div class="line"><a id="l00203" name="l00203"></a><span class="lineno">  203</span>        <a class="code hl_typedef" href="_core_8h.html#a115946cb5fc5879545e9ccea096a6031">uint8</a>               mNumPositionSteps = 0;                                          </div>
    280. 

  280. <div class="line"><a id="l00204" name="l00204"></a><span class="lineno">  204</span>        <span class="keywordtype">bool</span>                mIsLargeIsland = <span class="keyword">false</span>;                                         </div>
    281. 

  281. <div class="line"><a id="l00205" name="l00205"></a><span class="lineno">  205</span>    };</div>
    282. 

  282. <div class="line"><a id="l00206" name="l00206"></a><span class="lineno">  206</span> </div>
    283. 

  283. <div class="line"><a id="l00207" name="l00207"></a><span class="lineno">  207</span>    <span class="keyword">const</span> SimulationStats &amp; GetSimulationStats()<span class="keyword"> const                                      </span>{ <span class="keywordflow">return</span> mSimulationStats; }</div>
    284. 

  284. <div class="line"><a id="l00208" name="l00208"></a><span class="lineno">  208</span>    SimulationStats &amp;       GetSimulationStats()                                            { <span class="keywordflow">return</span> mSimulationStats; }</div>
    285. 

  285. <div class="line"><a id="l00209" name="l00209"></a><span class="lineno">  209</span><span class="preprocessor">#endif </span><span class="comment">// JPH_TRACK_SIMULATION_STATS</span></div>
    286. 

  286. <div class="line"><a id="l00210" name="l00210"></a><span class="lineno">  210</span> </div>
    287. 

  287. <div class="line"><a id="l00212" name="l00212"></a><span class="lineno">  212</span>    <span class="comment">// FUNCTIONS BELOW THIS LINE ARE FOR INTERNAL USE ONLY</span></div>
    288. 

  288. <div class="line"><a id="l00214" name="l00214"></a><span class="lineno">  214</span> </div>
    289. 

  289. <div class="line"><a id="l00217" name="l00217"></a><span class="lineno"><a class="line" href="class_motion_properties.html#a5b570eb5488b3ca5f0c1b48ef0cf6dbe">  217</a></span>    <span class="keyword">inline</span> <span class="keywordtype">void</span>             <a class="code hl_function" href="class_motion_properties.html#a5b570eb5488b3ca5f0c1b48ef0cf6dbe">AddLinearVelocityStep</a>(<a class="code hl_class" href="class_vec3.html">Vec3Arg</a> inLinearVelocityChange)           { <a class="code hl_define" href="_determinism_log_8h.html#a61c37041df47384bded07d7067fc8cf7">JPH_DET_LOG</a>(<span class="stringliteral">&quot;AddLinearVelocityStep: &quot;</span> &lt;&lt; inLinearVelocityChange); <a class="code hl_define" href="_issue_reporting_8h.html#aaf6b1df827e11b7ca5f6f8778bd8f8cd">JPH_ASSERT</a>(BodyAccess::sCheckRights(BodyAccess::sVelocityAccess(), BodyAccess::EAccess::ReadWrite)); mLinearVelocity = LockTranslation(mLinearVelocity + inLinearVelocityChange); <a class="code hl_define" href="_issue_reporting_8h.html#aaf6b1df827e11b7ca5f6f8778bd8f8cd">JPH_ASSERT</a>(!mLinearVelocity.IsNaN()); }</div>
    290. 

  290. <div class="line"><a id="l00218" name="l00218"></a><span class="lineno"><a class="line" href="class_motion_properties.html#a81a597bd1f9f40f3fbf36991203a5280">  218</a></span>    <span class="keyword">inline</span> <span class="keywordtype">void</span>             <a class="code hl_function" href="class_motion_properties.html#a81a597bd1f9f40f3fbf36991203a5280">SubLinearVelocityStep</a>(<a class="code hl_class" href="class_vec3.html">Vec3Arg</a> inLinearVelocityChange)           { <a class="code hl_define" href="_determinism_log_8h.html#a61c37041df47384bded07d7067fc8cf7">JPH_DET_LOG</a>(<span class="stringliteral">&quot;SubLinearVelocityStep: &quot;</span> &lt;&lt; inLinearVelocityChange); <a class="code hl_define" href="_issue_reporting_8h.html#aaf6b1df827e11b7ca5f6f8778bd8f8cd">JPH_ASSERT</a>(BodyAccess::sCheckRights(BodyAccess::sVelocityAccess(), BodyAccess::EAccess::ReadWrite)); mLinearVelocity = LockTranslation(mLinearVelocity - inLinearVelocityChange); <a class="code hl_define" href="_issue_reporting_8h.html#aaf6b1df827e11b7ca5f6f8778bd8f8cd">JPH_ASSERT</a>(!mLinearVelocity.IsNaN()); }</div>
    291. 

  291. <div class="line"><a id="l00219" name="l00219"></a><span class="lineno"><a class="line" href="class_motion_properties.html#afb12aa823a651145b46b271570a7af59">  219</a></span>    <span class="keyword">inline</span> <span class="keywordtype">void</span>             <a class="code hl_function" href="class_motion_properties.html#afb12aa823a651145b46b271570a7af59">AddAngularVelocityStep</a>(<a class="code hl_class" href="class_vec3.html">Vec3Arg</a> inAngularVelocityChange)         { <a class="code hl_define" href="_determinism_log_8h.html#a61c37041df47384bded07d7067fc8cf7">JPH_DET_LOG</a>(<span class="stringliteral">&quot;AddAngularVelocityStep: &quot;</span> &lt;&lt; inAngularVelocityChange); <a class="code hl_define" href="_issue_reporting_8h.html#aaf6b1df827e11b7ca5f6f8778bd8f8cd">JPH_ASSERT</a>(BodyAccess::sCheckRights(BodyAccess::sVelocityAccess(), BodyAccess::EAccess::ReadWrite)); mAngularVelocity += inAngularVelocityChange; <a class="code hl_define" href="_issue_reporting_8h.html#aaf6b1df827e11b7ca5f6f8778bd8f8cd">JPH_ASSERT</a>(!mAngularVelocity.IsNaN()); }</div>
    292. 

  292. <div class="line"><a id="l00220" name="l00220"></a><span class="lineno"><a class="line" href="class_motion_properties.html#a98672fc0c6884643944e570e1d78ac07">  220</a></span>    <span class="keyword">inline</span> <span class="keywordtype">void</span>             <a class="code hl_function" href="class_motion_properties.html#a98672fc0c6884643944e570e1d78ac07">SubAngularVelocityStep</a>(<a class="code hl_class" href="class_vec3.html">Vec3Arg</a> inAngularVelocityChange)         { <a class="code hl_define" href="_determinism_log_8h.html#a61c37041df47384bded07d7067fc8cf7">JPH_DET_LOG</a>(<span class="stringliteral">&quot;SubAngularVelocityStep: &quot;</span> &lt;&lt; inAngularVelocityChange); <a class="code hl_define" href="_issue_reporting_8h.html#aaf6b1df827e11b7ca5f6f8778bd8f8cd">JPH_ASSERT</a>(BodyAccess::sCheckRights(BodyAccess::sVelocityAccess(), BodyAccess::EAccess::ReadWrite)); mAngularVelocity -= inAngularVelocityChange; <a class="code hl_define" href="_issue_reporting_8h.html#aaf6b1df827e11b7ca5f6f8778bd8f8cd">JPH_ASSERT</a>(!mAngularVelocity.IsNaN()); }</div>
    293. 

  293. <div class="line"><a id="l00222" name="l00222"></a><span class="lineno">  222</span> </div>
    294. 

  294. <div class="line"><a id="l00224" name="l00224"></a><span class="lineno">  224</span>    <span class="keyword">inline</span> <span class="keywordtype">void</span>             ApplyGyroscopicForceInternal(<a class="code hl_class" href="class_quat.html">QuatArg</a> inBodyRotation, <span class="keywordtype">float</span> inDeltaTime);</div>
    295. 

  295. <div class="line"><a id="l00225" name="l00225"></a><span class="lineno">  225</span> </div>
    296. 

  296. <div class="line"><a id="l00227" name="l00227"></a><span class="lineno">  227</span>    <span class="keyword">inline</span> <span class="keywordtype">void</span>             ApplyForceTorqueAndDragInternal(<a class="code hl_class" href="class_quat.html">QuatArg</a> inBodyRotation, <a class="code hl_class" href="class_vec3.html">Vec3Arg</a> inGravity, <span class="keywordtype">float</span> inDeltaTime);</div>
    297. 

  297. <div class="line"><a id="l00228" name="l00228"></a><span class="lineno">  228</span> </div>
    298. 

  298. <div class="line"><a id="l00230" name="l00230"></a><span class="lineno"><a class="line" href="class_motion_properties.html#a0907c71717fa56d6af7dfc642bc56e2b">  230</a></span>    <a class="code hl_typedef" href="_core_8h.html#a8f95e75e58492e87412191fabadd8ca8">uint32</a>                  <a class="code hl_function" href="class_motion_properties.html#a0907c71717fa56d6af7dfc642bc56e2b">GetIslandIndexInternal</a>()<span class="keyword"> const                                  </span>{ <span class="keywordflow">return</span> mIslandIndex; }</div>
    299. 

  299. <div class="line"><a id="l00231" name="l00231"></a><span class="lineno"><a class="line" href="class_motion_properties.html#a7609b8a4460b1fb13fa4079beff33e92">  231</a></span>    <span class="keywordtype">void</span>                    <a class="code hl_function" href="class_motion_properties.html#a7609b8a4460b1fb13fa4079beff33e92">SetIslandIndexInternal</a>(<a class="code hl_typedef" href="_core_8h.html#a8f95e75e58492e87412191fabadd8ca8">uint32</a> inIndex)                          { mIslandIndex = inIndex; }</div>
    300. 

  300. <div class="line"><a id="l00232" name="l00232"></a><span class="lineno">  232</span> </div>
    301. 

  301. <div class="line"><a id="l00234" name="l00234"></a><span class="lineno"><a class="line" href="class_motion_properties.html#a8f27aeee8dec3e0e94479bd233ca9d2f">  234</a></span>    <a class="code hl_typedef" href="_core_8h.html#a8f95e75e58492e87412191fabadd8ca8">uint32</a>                  <a class="code hl_function" href="class_motion_properties.html#a8f27aeee8dec3e0e94479bd233ca9d2f">GetIndexInActiveBodiesInternal</a>()<span class="keyword"> const                          </span>{ <span class="keywordflow">return</span> mIndexInActiveBodies; }</div>
    302. 

  302. <div class="line"><a id="l00235" name="l00235"></a><span class="lineno">  235</span> </div>
    303. 

  303. <div class="line"><a id="l00236" name="l00236"></a><span class="lineno">  236</span><span class="preprocessor">#ifdef JPH_DOUBLE_PRECISION</span></div>
    304. 

  304. <div class="line"><a id="l00237" name="l00237"></a><span class="lineno">  237</span>    <span class="keyword">inline</span> <a class="code hl_class" href="class_d_vec3.html">DVec3</a>            GetSleepTestOffset()<span class="keyword"> const                                      </span>{ <span class="keywordflow">return</span> <a class="code hl_function" href="class_d_vec3.html#ac19d415377cf91a317d29cc99d319134">DVec3::sLoadDouble3Unsafe</a>(mSleepTestOffset); }</div>
    305. 

  305. <div class="line"><a id="l00238" name="l00238"></a><span class="lineno">  238</span><span class="preprocessor">#endif </span><span class="comment">// JPH_DOUBLE_PRECISION</span></div>
    306. 

  306. <div class="line"><a id="l00239" name="l00239"></a><span class="lineno">  239</span> </div>
    307. 

  307. <div class="line"><a id="l00241" name="l00241"></a><span class="lineno">  241</span>    <span class="keyword">inline</span> <span class="keywordtype">void</span>             ResetSleepTestSpheres(<span class="keyword">const</span> <a class="code hl_class" href="class_vec3.html">RVec3</a> *inPoints);</div>
    308. 

  308. <div class="line"><a id="l00242" name="l00242"></a><span class="lineno">  242</span> </div>
    309. 

  309. <div class="line"><a id="l00244" name="l00244"></a><span class="lineno"><a class="line" href="class_motion_properties.html#a9cbe62f9eebdc6f63c82d9e52ef352fe">  244</a></span>    <span class="keyword">inline</span> <span class="keywordtype">void</span>             <a class="code hl_function" href="class_motion_properties.html#a9cbe62f9eebdc6f63c82d9e52ef352fe">ResetSleepTestTimer</a>()                                           { mSleepTestTimer = 0.0f; }</div>
    310. 

  310. <div class="line"><a id="l00245" name="l00245"></a><span class="lineno">  245</span> </div>
    311. 

  311. <div class="line"><a id="l00247" name="l00247"></a><span class="lineno">  247</span>    <span class="keyword">inline</span> <a class="code hl_enumeration" href="_motion_properties_8h.html#a97f69c4b07965ef22ebe08465e1c3db0">ECanSleep</a>        AccumulateSleepTime(<span class="keywordtype">float</span> inDeltaTime, <span class="keywordtype">float</span> inTimeBeforeSleep);</div>
    312. 

  312. <div class="line"><a id="l00248" name="l00248"></a><span class="lineno">  248</span> </div>
    313. 

  313. <div class="line"><a id="l00250" name="l00250"></a><span class="lineno">  250</span>    <span class="keywordtype">void</span>                    SaveState(<a class="code hl_class" href="class_state_recorder.html">StateRecorder</a> &amp;inStream) <span class="keyword">const</span>;</div>
    314. 

  314. <div class="line"><a id="l00251" name="l00251"></a><span class="lineno">  251</span> </div>
    315. 

  315. <div class="line"><a id="l00253" name="l00253"></a><span class="lineno">  253</span>    <span class="keywordtype">void</span>                    RestoreState(<a class="code hl_class" href="class_state_recorder.html">StateRecorder</a> &amp;inStream);</div>
    316. 

  316. <div class="line"><a id="l00254" name="l00254"></a><span class="lineno">  254</span> </div>
    317. 

  317. <div class="line"><a id="l00255" name="l00255"></a><span class="lineno"><a class="line" href="class_motion_properties.html#aacb0f4e9211a3b16ae353726f0b2895b">  255</a></span>    <span class="keyword">static</span> <span class="keyword">constexpr</span> <a class="code hl_typedef" href="_core_8h.html#a8f95e75e58492e87412191fabadd8ca8">uint32</a> cInactiveIndex = <a class="code hl_typedef" href="_core_8h.html#a8f95e75e58492e87412191fabadd8ca8">uint32</a>(-1);                                    </div>
    318. 

  318. <div class="line"><a id="l00256" name="l00256"></a><span class="lineno">  256</span> </div>
    319. 

  319. <div class="line"><a id="l00257" name="l00257"></a><span class="lineno">  257</span><span class="keyword">private</span>:</div>
    320. 

  320. <div class="line"><a id="l00258" name="l00258"></a><span class="lineno"><a class="line" href="class_motion_properties.html#a58dc89a83d8c4dc28bd5f6e8c0ed35c8">  258</a></span>    <span class="keyword">friend</span> <span class="keyword">class </span><a class="code hl_class" href="class_body_manager.html">BodyManager</a>;</div>
    321. 

  321. <div class="line"><a id="l00259" name="l00259"></a><span class="lineno"><a class="line" href="class_motion_properties.html#a8858f397a273114ddc1443880bb5540e">  259</a></span>    <span class="keyword">friend</span> <span class="keyword">class </span><a class="code hl_class" href="class_body.html">Body</a>;</div>
    322. 

  322. <div class="line"><a id="l00260" name="l00260"></a><span class="lineno">  260</span> </div>
    323. 

  323. <div class="line"><a id="l00261" name="l00261"></a><span class="lineno">  261</span>    <span class="comment">// 1st cache line</span></div>
    324. 

  324. <div class="line"><a id="l00262" name="l00262"></a><span class="lineno">  262</span>    <span class="comment">// 16 byte aligned</span></div>
    325. 

  325. <div class="line"><a id="l00263" name="l00263"></a><span class="lineno">  263</span>    <a class="code hl_class" href="class_vec3.html">Vec3</a>                    mLinearVelocity { <a class="code hl_function" href="class_vec3.html#ad03c52ab27761bc1e64e33c47632ba51">Vec3::sZero</a>() };                              </div>
    326. 

  326. <div class="line"><a id="l00264" name="l00264"></a><span class="lineno">  264</span>    <a class="code hl_class" href="class_vec3.html">Vec3</a>                    mAngularVelocity { <a class="code hl_function" href="class_vec3.html#ad03c52ab27761bc1e64e33c47632ba51">Vec3::sZero</a>() };                             </div>
    327. 

  327. <div class="line"><a id="l00265" name="l00265"></a><span class="lineno">  265</span>    <a class="code hl_class" href="class_vec3.html">Vec3</a>                    mInvInertiaDiagonal;                                            </div>
    328. 

  328. <div class="line"><a id="l00266" name="l00266"></a><span class="lineno">  266</span>    <a class="code hl_class" href="class_quat.html">Quat</a>                    mInertiaRotation;                                               </div>
    329. 

  329. <div class="line"><a id="l00267" name="l00267"></a><span class="lineno">  267</span> </div>
    330. 

  330. <div class="line"><a id="l00268" name="l00268"></a><span class="lineno">  268</span>    <span class="comment">// 2nd cache line</span></div>
    331. 

  331. <div class="line"><a id="l00269" name="l00269"></a><span class="lineno">  269</span>    <span class="comment">// 4 byte aligned</span></div>
    332. 

  332. <div class="line"><a id="l00270" name="l00270"></a><span class="lineno">  270</span>    <a class="code hl_class" href="class_float3.html">Float3</a>                  mForce { 0, 0, 0 };                                             </div>
    333. 

  333. <div class="line"><a id="l00271" name="l00271"></a><span class="lineno">  271</span>    <a class="code hl_class" href="class_float3.html">Float3</a>                  mTorque { 0, 0, 0 };                                            </div>
    334. 

  334. <div class="line"><a id="l00272" name="l00272"></a><span class="lineno">  272</span>    <span class="keywordtype">float</span>                   mInvMass;                                                       </div>
    335. 

  335. <div class="line"><a id="l00273" name="l00273"></a><span class="lineno">  273</span>    <span class="keywordtype">float</span>                   mLinearDamping;                                                 </div>
    336. 

  336. <div class="line"><a id="l00274" name="l00274"></a><span class="lineno">  274</span>    <span class="keywordtype">float</span>                   mAngularDamping;                                                </div>
    337. 

  337. <div class="line"><a id="l00275" name="l00275"></a><span class="lineno">  275</span>    <span class="keywordtype">float</span>                   mMaxLinearVelocity;                                             </div>
    338. 

  338. <div class="line"><a id="l00276" name="l00276"></a><span class="lineno">  276</span>    <span class="keywordtype">float</span>                   mMaxAngularVelocity;                                            </div>
    339. 

  339. <div class="line"><a id="l00277" name="l00277"></a><span class="lineno">  277</span>    <span class="keywordtype">float</span>                   mGravityFactor;                                                 </div>
    340. 

  340. <div class="line"><a id="l00278" name="l00278"></a><span class="lineno">  278</span>    <a class="code hl_typedef" href="_core_8h.html#a8f95e75e58492e87412191fabadd8ca8">uint32</a>                  mIndexInActiveBodies = cInactiveIndex;                          </div>
    341. 

  341. <div class="line"><a id="l00279" name="l00279"></a><span class="lineno">  279</span>    <a class="code hl_typedef" href="_core_8h.html#a8f95e75e58492e87412191fabadd8ca8">uint32</a>                  mIslandIndex = cInactiveIndex;                                  </div>
    342. 

  342. <div class="line"><a id="l00280" name="l00280"></a><span class="lineno">  280</span> </div>
    343. 

  343. <div class="line"><a id="l00281" name="l00281"></a><span class="lineno">  281</span>    <span class="comment">// 1 byte aligned</span></div>
    344. 

  344. <div class="line"><a id="l00282" name="l00282"></a><span class="lineno">  282</span>    <a class="code hl_enumeration" href="_motion_quality_8h.html#af43db3453103c2e62526f54dd8542d3a">EMotionQuality</a>          mMotionQuality;                                                 </div>
    345. 

  345. <div class="line"><a id="l00283" name="l00283"></a><span class="lineno">  283</span>    <span class="keywordtype">bool</span>                    mAllowSleeping;                                                 </div>
    346. 

  346. <div class="line"><a id="l00284" name="l00284"></a><span class="lineno">  284</span>    <a class="code hl_enumeration" href="_allowed_d_o_fs_8h.html#a47bc570d6b4f457c417078ebab07d913">EAllowedDOFs</a>            mAllowedDOFs = <a class="code hl_enumvalue" href="_allowed_d_o_fs_8h.html#a47bc570d6b4f457c417078ebab07d913ab1c94ca2fbc3e78fc30069c8d0f01680">EAllowedDOFs::All</a>;                               </div>
    347. 

  347. <div class="line"><a id="l00285" name="l00285"></a><span class="lineno">  285</span>    <a class="code hl_typedef" href="_core_8h.html#a115946cb5fc5879545e9ccea096a6031">uint8</a>                   mNumVelocityStepsOverride = 0;                                  </div>
    348. 

  348. <div class="line"><a id="l00286" name="l00286"></a><span class="lineno">  286</span>    <a class="code hl_typedef" href="_core_8h.html#a115946cb5fc5879545e9ccea096a6031">uint8</a>                   mNumPositionStepsOverride = 0;                                  </div>
    349. 

  349. <div class="line"><a id="l00287" name="l00287"></a><span class="lineno">  287</span> </div>
    350. 

  350. <div class="line"><a id="l00288" name="l00288"></a><span class="lineno">  288</span>    <span class="comment">// 3rd cache line (least frequently used)</span></div>
    351. 

  351. <div class="line"><a id="l00289" name="l00289"></a><span class="lineno">  289</span>    <span class="comment">// 4 byte aligned (or 8 byte if running in double precision)</span></div>
    352. 

  352. <div class="line"><a id="l00290" name="l00290"></a><span class="lineno">  290</span><span class="preprocessor">#ifdef JPH_DOUBLE_PRECISION</span></div>
    353. 

  353. <div class="line"><a id="l00291" name="l00291"></a><span class="lineno">  291</span>    <a class="code hl_class" href="class_double3.html">Double3</a>                 mSleepTestOffset;                                               </div>
    354. 

  354. <div class="line"><a id="l00292" name="l00292"></a><span class="lineno">  292</span><span class="preprocessor">#endif </span><span class="comment">// JPH_DOUBLE_PRECISION</span></div>
    355. 

  355. <div class="line"><a id="l00293" name="l00293"></a><span class="lineno">  293</span>    <a class="code hl_class" href="class_sphere.html">Sphere</a>                  mSleepTestSpheres[3];                                           </div>
    356. 

  356. <div class="line"><a id="l00294" name="l00294"></a><span class="lineno">  294</span>    <span class="keywordtype">float</span>                   mSleepTestTimer;                                                </div>
    357. 

  357. <div class="line"><a id="l00295" name="l00295"></a><span class="lineno">  295</span> </div>
    358. 

  358. <div class="line"><a id="l00296" name="l00296"></a><span class="lineno">  296</span><span class="preprocessor">#ifdef JPH_ENABLE_ASSERTS</span></div>
    359. 

  359. <div class="line"><a id="l00297" name="l00297"></a><span class="lineno">  297</span>    <a class="code hl_enumeration" href="_body_type_8h.html#ab494e27db6c263f9e31556ad388eb666">EBodyType</a>               mCachedBodyType;                                                </div>
    360. 

  360. <div class="line"><a id="l00298" name="l00298"></a><span class="lineno">  298</span>    <a class="code hl_enumeration" href="_motion_type_8h.html#a328245ddbb758681fad3c44c9d488fd8">EMotionType</a>             mCachedMotionType;                                              </div>
    361. 

  361. <div class="line"><a id="l00299" name="l00299"></a><span class="lineno">  299</span><span class="preprocessor">#endif</span></div>
    362. 

  362. <div class="line"><a id="l00300" name="l00300"></a><span class="lineno">  300</span> </div>
    363. 

  363. <div class="line"><a id="l00301" name="l00301"></a><span class="lineno">  301</span><span class="preprocessor">#ifdef JPH_TRACK_SIMULATION_STATS</span></div>
    364. 

  364. <div class="line"><a id="l00302" name="l00302"></a><span class="lineno">  302</span>    SimulationStats         mSimulationStats;</div>
    365. 

  365. <div class="line"><a id="l00303" name="l00303"></a><span class="lineno">  303</span><span class="preprocessor">#endif </span><span class="comment">// JPH_TRACK_SIMULATION_STATS</span></div>
    366. 

  366. <div class="line"><a id="l00304" name="l00304"></a><span class="lineno">  304</span>};</div>
    367. 

  367. </div>
    368. 

  368. <div class="line"><a id="l00305" name="l00305"></a><span class="lineno">  305</span> </div>
    369. 

  369. <div class="line"><a id="l00306" name="l00306"></a><span class="lineno">  306</span><a class="code hl_define" href="_core_8h.html#a73da8725998b00321a9db341202d650d">JPH_NAMESPACE_END</a></div>
    370. 

  370. <div class="line"><a id="l00307" name="l00307"></a><span class="lineno">  307</span> </div>
    371. 

  371. <div class="line"><a id="l00308" name="l00308"></a><span class="lineno">  308</span><span class="preprocessor">#include &quot;<a class="code" href="_motion_properties_8inl.html">MotionProperties.inl</a>&quot;</span></div>
    372. 

  372. <div class="ttc" id="a_allowed_d_o_fs_8h_html"><div class="ttname"><a href="_allowed_d_o_fs_8h.html">AllowedDOFs.h</a></div></div>
    373. 

  373. <div class="ttc" id="a_allowed_d_o_fs_8h_html_a47bc570d6b4f457c417078ebab07d913"><div class="ttname"><a href="_allowed_d_o_fs_8h.html#a47bc570d6b4f457c417078ebab07d913">EAllowedDOFs</a></div><div class="ttdeci">EAllowedDOFs</div><div class="ttdoc">Enum used in BodyCreationSettings and MotionProperties to indicate which degrees of freedom a body ha...</div><div class="ttdef"><b>Definition</b> AllowedDOFs.h:11</div></div>
    374. 

  374. <div class="ttc" id="a_allowed_d_o_fs_8h_html_a47bc570d6b4f457c417078ebab07d913a14dcec09ce1f4dfaac5955bc70825ebc"><div class="ttname"><a href="_allowed_d_o_fs_8h.html#a47bc570d6b4f457c417078ebab07d913a14dcec09ce1f4dfaac5955bc70825ebc">EAllowedDOFs::RotationX</a></div><div class="ttdeci">@ RotationX</div><div class="ttdoc">Body can rotate around world space X axis.</div></div>
    375. 

  375. <div class="ttc" id="a_allowed_d_o_fs_8h_html_a47bc570d6b4f457c417078ebab07d913a5958d0bb6455dfb87376b3c24eeb9a46"><div class="ttname"><a href="_allowed_d_o_fs_8h.html#a47bc570d6b4f457c417078ebab07d913a5958d0bb6455dfb87376b3c24eeb9a46">EAllowedDOFs::TranslationY</a></div><div class="ttdeci">@ TranslationY</div><div class="ttdoc">Body can move in world space Y axis.</div></div>
    376. 

  376. <div class="ttc" id="a_allowed_d_o_fs_8h_html_a47bc570d6b4f457c417078ebab07d913a7527ced5a5153f3b21e31c4b177c2ea7"><div class="ttname"><a href="_allowed_d_o_fs_8h.html#a47bc570d6b4f457c417078ebab07d913a7527ced5a5153f3b21e31c4b177c2ea7">EAllowedDOFs::RotationY</a></div><div class="ttdeci">@ RotationY</div><div class="ttdoc">Body can rotate around world space Y axis.</div></div>
    377. 

  377. <div class="ttc" id="a_allowed_d_o_fs_8h_html_a47bc570d6b4f457c417078ebab07d913a7eac98e7f2c74960a4aa9a2a92a8874d"><div class="ttname"><a href="_allowed_d_o_fs_8h.html#a47bc570d6b4f457c417078ebab07d913a7eac98e7f2c74960a4aa9a2a92a8874d">EAllowedDOFs::TranslationZ</a></div><div class="ttdeci">@ TranslationZ</div><div class="ttdoc">Body can move in world space Z axis.</div></div>
    378. 

  378. <div class="ttc" id="a_allowed_d_o_fs_8h_html_a47bc570d6b4f457c417078ebab07d913ab1c94ca2fbc3e78fc30069c8d0f01680"><div class="ttname"><a href="_allowed_d_o_fs_8h.html#a47bc570d6b4f457c417078ebab07d913ab1c94ca2fbc3e78fc30069c8d0f01680">EAllowedDOFs::All</a></div><div class="ttdeci">@ All</div><div class="ttdoc">All degrees of freedom are allowed.</div></div>
    379. 

  379. <div class="ttc" id="a_allowed_d_o_fs_8h_html_a47bc570d6b4f457c417078ebab07d913adf25457a4acbb8220b36cbd34903fc06"><div class="ttname"><a href="_allowed_d_o_fs_8h.html#a47bc570d6b4f457c417078ebab07d913adf25457a4acbb8220b36cbd34903fc06">EAllowedDOFs::TranslationX</a></div><div class="ttdeci">@ TranslationX</div><div class="ttdoc">Body can move in world space X axis.</div></div>
    380. 

  380. <div class="ttc" id="a_allowed_d_o_fs_8h_html_a47bc570d6b4f457c417078ebab07d913ae967cae1a9d601b4335123e013328d34"><div class="ttname"><a href="_allowed_d_o_fs_8h.html#a47bc570d6b4f457c417078ebab07d913ae967cae1a9d601b4335123e013328d34">EAllowedDOFs::RotationZ</a></div><div class="ttdeci">@ RotationZ</div><div class="ttdoc">Body can rotate around world space Z axis.</div></div>
    381. 

  381. <div class="ttc" id="a_body_access_8h_html"><div class="ttname"><a href="_body_access_8h.html">BodyAccess.h</a></div></div>
    382. 

  382. <div class="ttc" id="a_body_type_8h_html"><div class="ttname"><a href="_body_type_8h.html">BodyType.h</a></div></div>
    383. 

  383. <div class="ttc" id="a_body_type_8h_html_ab494e27db6c263f9e31556ad388eb666"><div class="ttname"><a href="_body_type_8h.html#ab494e27db6c263f9e31556ad388eb666">EBodyType</a></div><div class="ttdeci">EBodyType</div><div class="ttdoc">Type of body.</div><div class="ttdef"><b>Definition</b> BodyType.h:11</div></div>
    384. 

  384. <div class="ttc" id="a_core_8h_html_a115946cb5fc5879545e9ccea096a6031"><div class="ttname"><a href="_core_8h.html#a115946cb5fc5879545e9ccea096a6031">uint8</a></div><div class="ttdeci">std::uint8_t uint8</div><div class="ttdef"><b>Definition</b> Core.h:501</div></div>
    385. 

  385. <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>
    386. 

  386. <div class="ttc" id="a_core_8h_html_a60e8696a4678cd348e991a1f172e53f7"><div class="ttname"><a href="_core_8h.html#a60e8696a4678cd348e991a1f172e53f7">uint64</a></div><div class="ttdeci">std::uint64_t uint64</div><div class="ttdef"><b>Definition</b> Core.h:504</div></div>
    387. 

  387. <div class="ttc" id="a_core_8h_html_a69aa29b598b851b0640aa225a9e5d61d"><div class="ttname"><a href="_core_8h.html#a69aa29b598b851b0640aa225a9e5d61d">uint</a></div><div class="ttdeci">unsigned int uint</div><div class="ttdef"><b>Definition</b> Core.h:500</div></div>
    388. 

  388. <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>
    389. 

  389. <div class="ttc" id="a_core_8h_html_a8f95e75e58492e87412191fabadd8ca8"><div class="ttname"><a href="_core_8h.html#a8f95e75e58492e87412191fabadd8ca8">uint32</a></div><div class="ttdeci">std::uint32_t uint32</div><div class="ttdef"><b>Definition</b> Core.h:503</div></div>
    390. 

  390. <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>
    391. 

  391. <div class="ttc" id="a_determinism_log_8h_html"><div class="ttname"><a href="_determinism_log_8h.html">DeterminismLog.h</a></div></div>
    392. 

  392. <div class="ttc" id="a_determinism_log_8h_html_a61c37041df47384bded07d7067fc8cf7"><div class="ttname"><a href="_determinism_log_8h.html#a61c37041df47384bded07d7067fc8cf7">JPH_DET_LOG</a></div><div class="ttdeci">#define JPH_DET_LOG(...)</div><div class="ttdoc">By default we log nothing.</div><div class="ttdef"><b>Definition</b> DeterminismLog.h:155</div></div>
    393. 

  393. <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>
    394. 

  394. <div class="ttc" id="a_mass_properties_8h_html"><div class="ttname"><a href="_mass_properties_8h.html">MassProperties.h</a></div></div>
    395. 

  395. <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>
    396. 

  396. <div class="ttc" id="a_motion_properties_8h_html_a97f69c4b07965ef22ebe08465e1c3db0"><div class="ttname"><a href="_motion_properties_8h.html#a97f69c4b07965ef22ebe08465e1c3db0">ECanSleep</a></div><div class="ttdeci">ECanSleep</div><div class="ttdoc">Enum that determines if an object can go to sleep.</div><div class="ttdef"><b>Definition</b> MotionProperties.h:22</div></div>
    397. 

  397. <div class="ttc" id="a_motion_properties_8h_html_a97f69c4b07965ef22ebe08465e1c3db0a93264bf5e739b984ef79c2fbc76863c6"><div class="ttname"><a href="_motion_properties_8h.html#a97f69c4b07965ef22ebe08465e1c3db0a93264bf5e739b984ef79c2fbc76863c6">ECanSleep::CanSleep</a></div><div class="ttdeci">@ CanSleep</div><div class="ttdoc">Object can go to sleep.</div></div>
    398. 

  398. <div class="ttc" id="a_motion_properties_8h_html_a97f69c4b07965ef22ebe08465e1c3db0af6565583dd53a537e5c7376048299104"><div class="ttname"><a href="_motion_properties_8h.html#a97f69c4b07965ef22ebe08465e1c3db0af6565583dd53a537e5c7376048299104">ECanSleep::CannotSleep</a></div><div class="ttdeci">@ CannotSleep</div><div class="ttdoc">Object cannot go to sleep.</div></div>
    399. 

  399. <div class="ttc" id="a_motion_properties_8inl_html"><div class="ttname"><a href="_motion_properties_8inl.html">MotionProperties.inl</a></div></div>
    400. 

  400. <div class="ttc" id="a_motion_quality_8h_html"><div class="ttname"><a href="_motion_quality_8h.html">MotionQuality.h</a></div></div>
    401. 

  401. <div class="ttc" id="a_motion_quality_8h_html_af43db3453103c2e62526f54dd8542d3a"><div class="ttname"><a href="_motion_quality_8h.html#af43db3453103c2e62526f54dd8542d3a">EMotionQuality</a></div><div class="ttdeci">EMotionQuality</div><div class="ttdoc">Motion quality, or how well it detects collisions when it has a high velocity.</div><div class="ttdef"><b>Definition</b> MotionQuality.h:11</div></div>
    402. 

  402. <div class="ttc" id="a_motion_type_8h_html"><div class="ttname"><a href="_motion_type_8h.html">MotionType.h</a></div></div>
    403. 

  403. <div class="ttc" id="a_motion_type_8h_html_a328245ddbb758681fad3c44c9d488fd8"><div class="ttname"><a href="_motion_type_8h.html#a328245ddbb758681fad3c44c9d488fd8">EMotionType</a></div><div class="ttdeci">EMotionType</div><div class="ttdoc">Motion type of a physics body.</div><div class="ttdef"><b>Definition</b> MotionType.h:11</div></div>
    404. 

  404. <div class="ttc" id="a_motion_type_8h_html_a328245ddbb758681fad3c44c9d488fd8a971fd8cc345d8bd9f92e9f7d88fdf20c"><div class="ttname"><a href="_motion_type_8h.html#a328245ddbb758681fad3c44c9d488fd8a971fd8cc345d8bd9f92e9f7d88fdf20c">EMotionType::Dynamic</a></div><div class="ttdeci">@ Dynamic</div><div class="ttdoc">Responds to forces as a normal physics object.</div></div>
    405. 

  405. <div class="ttc" id="a_sphere_8h_html"><div class="ttname"><a href="_sphere_8h.html">Sphere.h</a></div></div>
    406. 

  406. <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>
    407. 

  407. <div class="ttc" id="aclass_body_manager_html"><div class="ttname"><a href="class_body_manager.html">BodyManager</a></div><div class="ttdef"><b>Definition</b> BodyManager.h:47</div></div>
    408. 

  408. <div class="ttc" id="aclass_d_vec3_html"><div class="ttname"><a href="class_d_vec3.html">DVec3</a></div><div class="ttdef"><b>Definition</b> DVec3.h:14</div></div>
    409. 

  409. <div class="ttc" id="aclass_d_vec3_html_ac19d415377cf91a317d29cc99d319134"><div class="ttname"><a href="class_d_vec3.html#ac19d415377cf91a317d29cc99d319134">DVec3::sLoadDouble3Unsafe</a></div><div class="ttdeci">static JPH_INLINE DVec3 sLoadDouble3Unsafe(const Double3 &amp;inV)</div><div class="ttdoc">Load 3 doubles from memory (reads 64 bits extra which it doesn't use)</div><div class="ttdef"><b>Definition</b> DVec3.inl:160</div></div>
    410. 

  410. <div class="ttc" id="aclass_double3_html"><div class="ttname"><a href="class_double3.html">Double3</a></div><div class="ttdoc">Class that holds 3 doubles. Used as a storage class. Convert to DVec3 for calculations.</div><div class="ttdef"><b>Definition</b> Double3.h:13</div></div>
    411. 

  411. <div class="ttc" id="aclass_float3_html"><div class="ttname"><a href="class_float3.html">Float3</a></div><div class="ttdoc">Class that holds 3 floats. Used as a storage class. Convert to Vec3 for calculations.</div><div class="ttdef"><b>Definition</b> Float3.h:13</div></div>
    412. 

  412. <div class="ttc" id="aclass_mass_properties_html"><div class="ttname"><a href="class_mass_properties.html">MassProperties</a></div><div class="ttdoc">Describes the mass and inertia properties of a body. Used during body construction only.</div><div class="ttdef"><b>Definition</b> MassProperties.h:16</div></div>
    413. 

  413. <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>
    414. 

  414. <div class="ttc" id="aclass_motion_properties_html"><div class="ttname"><a href="class_motion_properties.html">MotionProperties</a></div><div class="ttdoc">The Body class only keeps track of state for static bodies, the MotionProperties class keeps the addi...</div><div class="ttdef"><b>Definition</b> MotionProperties.h:29</div></div>
    415. 

  415. <div class="ttc" id="aclass_motion_properties_html_a083c86092c13479288dcc63c02e11f30"><div class="ttname"><a href="class_motion_properties.html#a083c86092c13479288dcc63c02e11f30">MotionProperties::SetLinearVelocity</a></div><div class="ttdeci">void SetLinearVelocity(Vec3Arg inLinearVelocity)</div><div class="ttdoc">Set world space linear velocity of the center of mass.</div><div class="ttdef"><b>Definition</b> MotionProperties.h:46</div></div>
    416. 

  416. <div class="ttc" id="aclass_motion_properties_html_a0907c71717fa56d6af7dfc642bc56e2b"><div class="ttname"><a href="class_motion_properties.html#a0907c71717fa56d6af7dfc642bc56e2b">MotionProperties::GetIslandIndexInternal</a></div><div class="ttdeci">uint32 GetIslandIndexInternal() const</div><div class="ttdoc">Access to the island index.</div><div class="ttdef"><b>Definition</b> MotionProperties.h:230</div></div>
    417. 

  417. <div class="ttc" id="aclass_motion_properties_html_a167bd8cbbb918e630e2b297841165234"><div class="ttname"><a href="class_motion_properties.html#a167bd8cbbb918e630e2b297841165234">MotionProperties::SetNumVelocityStepsOverride</a></div><div class="ttdeci">void SetNumVelocityStepsOverride(uint inN)</div><div class="ttdoc">Used only when this body is dynamic and colliding. Override for the number of solver velocity iterati...</div><div class="ttdef"><b>Definition</b> MotionProperties.h:182</div></div>
    418. 

  418. <div class="ttc" id="aclass_motion_properties_html_a2b76b04c1ab039a881788d8a4ae7c115"><div class="ttname"><a href="class_motion_properties.html#a2b76b04c1ab039a881788d8a4ae7c115">MotionProperties::SetAngularVelocityClamped</a></div><div class="ttdeci">void SetAngularVelocityClamped(Vec3Arg inAngularVelocity)</div><div class="ttdoc">Set world space angular velocity of the center of mass, will make sure the value is clamped against t...</div><div class="ttdef"><b>Definition</b> MotionProperties.h:58</div></div>
    419. 

  419. <div class="ttc" id="aclass_motion_properties_html_a300d1a36925946850e301155c70b7bef"><div class="ttname"><a href="class_motion_properties.html#a300d1a36925946850e301155c70b7bef">MotionProperties::GetInertiaRotation</a></div><div class="ttdeci">Quat GetInertiaRotation() const</div><div class="ttdoc">Rotation (R) that takes inverse inertia diagonal to local space: .</div><div class="ttdef"><b>Definition</b> MotionProperties.h:108</div></div>
    420. 

  420. <div class="ttc" id="aclass_motion_properties_html_a322397545544a5b330d68fa894e021cf"><div class="ttname"><a href="class_motion_properties.html#a322397545544a5b330d68fa894e021cf">MotionProperties::GetMaxLinearVelocity</a></div><div class="ttdeci">float GetMaxLinearVelocity() const</div><div class="ttdoc">Maximum linear velocity that a body can achieve. Used to prevent the system from exploding.</div><div class="ttdef"><b>Definition</b> MotionProperties.h:67</div></div>
    421. 

  421. <div class="ttc" id="aclass_motion_properties_html_a3b3277de19d5dc081a6e15111f7dc14c"><div class="ttname"><a href="class_motion_properties.html#a3b3277de19d5dc081a6e15111f7dc14c">MotionProperties::GetPointVelocityCOM</a></div><div class="ttdeci">JPH_INLINE Vec3 GetPointVelocityCOM(Vec3Arg inPointRelativeToCOM) const</div><div class="ttdoc">Velocity of point inPoint (in center of mass space, e.g. on the surface of the body) of the body (uni...</div><div class="ttdef"><b>Definition</b> MotionProperties.h:133</div></div>
    422. 

  422. <div class="ttc" id="aclass_motion_properties_html_a4a60f30bee17d06efaa9fa368f70e260"><div class="ttname"><a href="class_motion_properties.html#a4a60f30bee17d06efaa9fa368f70e260">MotionProperties::GetInverseInertiaDiagonal</a></div><div class="ttdeci">Vec3 GetInverseInertiaDiagonal() const</div><div class="ttdoc">Diagonal of inverse inertia matrix: D. Should only be called on a dynamic object (static or kinematic...</div><div class="ttdef"><b>Definition</b> MotionProperties.h:105</div></div>
    423. 

  423. <div class="ttc" id="aclass_motion_properties_html_a4e7820bc189da3db3f2135686bfa0e9d"><div class="ttname"><a href="class_motion_properties.html#a4e7820bc189da3db3f2135686bfa0e9d">MotionProperties::GetNumPositionStepsOverride</a></div><div class="ttdeci">uint GetNumPositionStepsOverride() const</div><div class="ttdef"><b>Definition</b> MotionProperties.h:187</div></div>
    424. 

  424. <div class="ttc" id="aclass_motion_properties_html_a509aafb031d301cbef7e2efdd16ee3dd"><div class="ttname"><a href="class_motion_properties.html#a509aafb031d301cbef7e2efdd16ee3dd">MotionProperties::SetInverseInertia</a></div><div class="ttdeci">void SetInverseInertia(Vec3Arg inDiagonal, QuatArg inRot)</div><div class="ttdef"><b>Definition</b> MotionProperties.h:114</div></div>
    425. 

  425. <div class="ttc" id="aclass_motion_properties_html_a512531eb6b5f90a69deca6a0d0889243"><div class="ttname"><a href="class_motion_properties.html#a512531eb6b5f90a69deca6a0d0889243">MotionProperties::GetGravityFactor</a></div><div class="ttdeci">float GetGravityFactor() const</div><div class="ttdoc">Get gravity factor (1 = normal gravity, 0 = no gravity)</div><div class="ttdef"><b>Definition</b> MotionProperties.h:88</div></div>
    426. 

  426. <div class="ttc" id="aclass_motion_properties_html_a5b570eb5488b3ca5f0c1b48ef0cf6dbe"><div class="ttname"><a href="class_motion_properties.html#a5b570eb5488b3ca5f0c1b48ef0cf6dbe">MotionProperties::AddLinearVelocityStep</a></div><div class="ttdeci">void AddLinearVelocityStep(Vec3Arg inLinearVelocityChange)</div><div class="ttdef"><b>Definition</b> MotionProperties.h:217</div></div>
    427. 

  427. <div class="ttc" id="aclass_motion_properties_html_a5c7901aaa430061775c7c39af08168db"><div class="ttname"><a href="class_motion_properties.html#a5c7901aaa430061775c7c39af08168db">MotionProperties::GetMaxAngularVelocity</a></div><div class="ttdeci">float GetMaxAngularVelocity() const</div><div class="ttdoc">Maximum angular velocity that a body can achieve. Used to prevent the system from exploding.</div><div class="ttdef"><b>Definition</b> MotionProperties.h:71</div></div>
    428. 

  428. <div class="ttc" id="aclass_motion_properties_html_a5e9dad9b92aa67163bed3200709be901"><div class="ttname"><a href="class_motion_properties.html#a5e9dad9b92aa67163bed3200709be901">MotionProperties::SetLinearVelocityClamped</a></div><div class="ttdeci">void SetLinearVelocityClamped(Vec3Arg inLinearVelocity)</div><div class="ttdoc">Set world space linear velocity of the center of mass, will make sure the value is clamped against th...</div><div class="ttdef"><b>Definition</b> MotionProperties.h:49</div></div>
    429. 

  429. <div class="ttc" id="aclass_motion_properties_html_a5f3564a6a505e92239eea4ba544fc119"><div class="ttname"><a href="class_motion_properties.html#a5f3564a6a505e92239eea4ba544fc119">MotionProperties::GetNumVelocityStepsOverride</a></div><div class="ttdeci">uint GetNumVelocityStepsOverride() const</div><div class="ttdef"><b>Definition</b> MotionProperties.h:183</div></div>
    430. 

  430. <div class="ttc" id="aclass_motion_properties_html_a5f3ae7ce5fe716cf9dc83f05553164b0"><div class="ttname"><a href="class_motion_properties.html#a5f3ae7ce5fe716cf9dc83f05553164b0">MotionProperties::GetInverseMassUnchecked</a></div><div class="ttdeci">float GetInverseMassUnchecked() const</div><div class="ttdef"><b>Definition</b> MotionProperties.h:96</div></div>
    431. 

  431. <div class="ttc" id="aclass_motion_properties_html_a6478c1ccabfc23ee9ce98faa0643c080"><div class="ttname"><a href="class_motion_properties.html#a6478c1ccabfc23ee9ce98faa0643c080">MotionProperties::GetLinearVelocity</a></div><div class="ttdeci">Vec3 GetLinearVelocity() const</div><div class="ttdoc">Get world space linear velocity of the center of mass.</div><div class="ttdef"><b>Definition</b> MotionProperties.h:43</div></div>
    432. 

  432. <div class="ttc" id="aclass_motion_properties_html_a66348339a05a43b730e1591273aace18"><div class="ttname"><a href="class_motion_properties.html#a66348339a05a43b730e1591273aace18">MotionProperties::GetAngularVelocity</a></div><div class="ttdeci">Vec3 GetAngularVelocity() const</div><div class="ttdoc">Get world space angular velocity of the center of mass.</div><div class="ttdef"><b>Definition</b> MotionProperties.h:52</div></div>
    433. 

  433. <div class="ttc" id="aclass_motion_properties_html_a6665e01c407036815ac084edcf28d53f"><div class="ttname"><a href="class_motion_properties.html#a6665e01c407036815ac084edcf28d53f">MotionProperties::SetMaxAngularVelocity</a></div><div class="ttdeci">void SetMaxAngularVelocity(float inAngularVelocity)</div><div class="ttdef"><b>Definition</b> MotionProperties.h:72</div></div>
    434. 

  434. <div class="ttc" id="aclass_motion_properties_html_a6bfec52a7ff3345d6fefd3f84faf6be7"><div class="ttname"><a href="class_motion_properties.html#a6bfec52a7ff3345d6fefd3f84faf6be7">MotionProperties::LockAngular</a></div><div class="ttdeci">JPH_INLINE Vec3 LockAngular(Vec3Arg inV) const</div><div class="ttdoc">Takes an angular velocity / torque vector inV and returns a vector where the components that are not ...</div><div class="ttdef"><b>Definition</b> MotionProperties.h:176</div></div>
    435. 

  435. <div class="ttc" id="aclass_motion_properties_html_a6e4c20984b986f7f3e474eee9d54a612"><div class="ttname"><a href="class_motion_properties.html#a6e4c20984b986f7f3e474eee9d54a612">MotionProperties::ResetMotion</a></div><div class="ttdeci">JPH_INLINE void ResetMotion()</div><div class="ttdef"><b>Definition</b> MotionProperties.h:148</div></div>
    436. 

  436. <div class="ttc" id="aclass_motion_properties_html_a73cef0ab26c9bc15a2908e632c953bc2"><div class="ttname"><a href="class_motion_properties.html#a73cef0ab26c9bc15a2908e632c953bc2">MotionProperties::GetAccumulatedTorque</a></div><div class="ttdeci">JPH_INLINE Vec3 GetAccumulatedTorque() const</div><div class="ttdef"><b>Definition</b> MotionProperties.h:139</div></div>
    437. 

  437. <div class="ttc" id="aclass_motion_properties_html_a7609b8a4460b1fb13fa4079beff33e92"><div class="ttname"><a href="class_motion_properties.html#a7609b8a4460b1fb13fa4079beff33e92">MotionProperties::SetIslandIndexInternal</a></div><div class="ttdeci">void SetIslandIndexInternal(uint32 inIndex)</div><div class="ttdef"><b>Definition</b> MotionProperties.h:231</div></div>
    438. 

  438. <div class="ttc" id="aclass_motion_properties_html_a778022ed795539ac55eb26f7bd4080e6"><div class="ttname"><a href="class_motion_properties.html#a778022ed795539ac55eb26f7bd4080e6">MotionProperties::GetAngularDamping</a></div><div class="ttdeci">float GetAngularDamping() const</div><div class="ttdoc">Get angular damping: dw/dt = -c * w. c. Value should be zero or positive and is usually close to 0.</div><div class="ttdef"><b>Definition</b> MotionProperties.h:84</div></div>
    439. 

  439. <div class="ttc" id="aclass_motion_properties_html_a81a597bd1f9f40f3fbf36991203a5280"><div class="ttname"><a href="class_motion_properties.html#a81a597bd1f9f40f3fbf36991203a5280">MotionProperties::SubLinearVelocityStep</a></div><div class="ttdeci">void SubLinearVelocityStep(Vec3Arg inLinearVelocityChange)</div><div class="ttdef"><b>Definition</b> MotionProperties.h:218</div></div>
    440. 

  440. <div class="ttc" id="aclass_motion_properties_html_a8a959bd2f7d8eb581d999e3b01920aa8"><div class="ttname"><a href="class_motion_properties.html#a8a959bd2f7d8eb581d999e3b01920aa8">MotionProperties::GetInverseMass</a></div><div class="ttdeci">float GetInverseMass() const</div><div class="ttdoc">Get inverse mass (1 / mass). Should only be called on a dynamic object (static or kinematic bodies ha...</div><div class="ttdef"><b>Definition</b> MotionProperties.h:95</div></div>
    441. 

  441. <div class="ttc" id="aclass_motion_properties_html_a8cc6486eb03942da485948ba1cadb78c"><div class="ttname"><a href="class_motion_properties.html#a8cc6486eb03942da485948ba1cadb78c">MotionProperties::SetGravityFactor</a></div><div class="ttdeci">void SetGravityFactor(float inGravityFactor)</div><div class="ttdef"><b>Definition</b> MotionProperties.h:89</div></div>
    442. 

  442. <div class="ttc" id="aclass_motion_properties_html_a8da4f3c3b9d4afe28293492923f1dee0"><div class="ttname"><a href="class_motion_properties.html#a8da4f3c3b9d4afe28293492923f1dee0">MotionProperties::GetLinearDOFsMask</a></div><div class="ttdeci">JPH_INLINE UVec4 GetLinearDOFsMask() const</div><div class="ttdoc">Returns a vector where the linear components that are not allowed by mAllowedDOFs are set to 0 and th...</div><div class="ttdef"><b>Definition</b> MotionProperties.h:156</div></div>
    443. 

  443. <div class="ttc" id="aclass_motion_properties_html_a8f27aeee8dec3e0e94479bd233ca9d2f"><div class="ttname"><a href="class_motion_properties.html#a8f27aeee8dec3e0e94479bd233ca9d2f">MotionProperties::GetIndexInActiveBodiesInternal</a></div><div class="ttdeci">uint32 GetIndexInActiveBodiesInternal() const</div><div class="ttdoc">Access to the index in the active bodies array.</div><div class="ttdef"><b>Definition</b> MotionProperties.h:234</div></div>
    444. 

  444. <div class="ttc" id="aclass_motion_properties_html_a8f94e1d248e0ff62aa7496e2092924a8"><div class="ttname"><a href="class_motion_properties.html#a8f94e1d248e0ff62aa7496e2092924a8">MotionProperties::GetLinearDamping</a></div><div class="ttdeci">float GetLinearDamping() const</div><div class="ttdoc">Get linear damping: dv/dt = -c * v. c. Value should be zero or positive and is usually close to 0.</div><div class="ttdef"><b>Definition</b> MotionProperties.h:80</div></div>
    445. 

  445. <div class="ttc" id="aclass_motion_properties_html_a98672fc0c6884643944e570e1d78ac07"><div class="ttname"><a href="class_motion_properties.html#a98672fc0c6884643944e570e1d78ac07">MotionProperties::SubAngularVelocityStep</a></div><div class="ttdeci">void SubAngularVelocityStep(Vec3Arg inAngularVelocityChange)</div><div class="ttdef"><b>Definition</b> MotionProperties.h:220</div></div>
    446. 

  446. <div class="ttc" id="aclass_motion_properties_html_a98ccf77045902a10f5665ba7208b67f4"><div class="ttname"><a href="class_motion_properties.html#a98ccf77045902a10f5665ba7208b67f4">MotionProperties::ResetForce</a></div><div class="ttdeci">JPH_INLINE void ResetForce()</div><div class="ttdef"><b>Definition</b> MotionProperties.h:142</div></div>
    447. 

  447. <div class="ttc" id="aclass_motion_properties_html_a9bf9425aab99ea920b73577819e579b1"><div class="ttname"><a href="class_motion_properties.html#a9bf9425aab99ea920b73577819e579b1">MotionProperties::SetInverseMass</a></div><div class="ttdeci">void SetInverseMass(float inInverseMass)</div><div class="ttdef"><b>Definition</b> MotionProperties.h:102</div></div>
    448. 

  448. <div class="ttc" id="aclass_motion_properties_html_a9cbe62f9eebdc6f63c82d9e52ef352fe"><div class="ttname"><a href="class_motion_properties.html#a9cbe62f9eebdc6f63c82d9e52ef352fe">MotionProperties::ResetSleepTestTimer</a></div><div class="ttdeci">void ResetSleepTestTimer()</div><div class="ttdoc">Reset the sleep test timer without resetting the sleep test spheres.</div><div class="ttdef"><b>Definition</b> MotionProperties.h:244</div></div>
    449. 

  449. <div class="ttc" id="aclass_motion_properties_html_aa647afa51bbc165ebfa4f791fbb1f71f"><div class="ttname"><a href="class_motion_properties.html#aa647afa51bbc165ebfa4f791fbb1f71f">MotionProperties::SetAngularVelocity</a></div><div class="ttdeci">void SetAngularVelocity(Vec3Arg inAngularVelocity)</div><div class="ttdoc">Set world space angular velocity of the center of mass.</div><div class="ttdef"><b>Definition</b> MotionProperties.h:55</div></div>
    450. 

  450. <div class="ttc" id="aclass_motion_properties_html_ab2db20476c9ab24b796a9f5877caaea5"><div class="ttname"><a href="class_motion_properties.html#ab2db20476c9ab24b796a9f5877caaea5">MotionProperties::GetAccumulatedForce</a></div><div class="ttdeci">JPH_INLINE Vec3 GetAccumulatedForce() const</div><div class="ttdef"><b>Definition</b> MotionProperties.h:136</div></div>
    451. 

  451. <div class="ttc" id="aclass_motion_properties_html_ab7168117a82829c137798ff843900104"><div class="ttname"><a href="class_motion_properties.html#ab7168117a82829c137798ff843900104">MotionProperties::LockTranslation</a></div><div class="ttdeci">JPH_INLINE Vec3 LockTranslation(Vec3Arg inV) const</div><div class="ttdoc">Takes a translation vector inV and returns a vector where the components that are not allowed by mAll...</div><div class="ttdef"><b>Definition</b> MotionProperties.h:163</div></div>
    452. 

  452. <div class="ttc" id="aclass_motion_properties_html_ac452632a71e6ba6de822339be8c3ee80"><div class="ttname"><a href="class_motion_properties.html#ac452632a71e6ba6de822339be8c3ee80">MotionProperties::SetMaxLinearVelocity</a></div><div class="ttdeci">void SetMaxLinearVelocity(float inLinearVelocity)</div><div class="ttdef"><b>Definition</b> MotionProperties.h:68</div></div>
    453. 

  453. <div class="ttc" id="aclass_motion_properties_html_acd43aa954cec19be744724fd633f892a"><div class="ttname"><a href="class_motion_properties.html#acd43aa954cec19be744724fd633f892a">MotionProperties::GetMotionQuality</a></div><div class="ttdeci">JPH_OVERRIDE_NEW_DELETE EMotionQuality GetMotionQuality() const</div><div class="ttdoc">Motion quality, or how well it detects collisions when it has a high velocity.</div><div class="ttdef"><b>Definition</b> MotionProperties.h:34</div></div>
    454. 

  454. <div class="ttc" id="aclass_motion_properties_html_acebdeeddc6f51f570414a094cf668992"><div class="ttname"><a href="class_motion_properties.html#acebdeeddc6f51f570414a094cf668992">MotionProperties::SetLinearDamping</a></div><div class="ttdeci">void SetLinearDamping(float inLinearDamping)</div><div class="ttdef"><b>Definition</b> MotionProperties.h:81</div></div>
    455. 

  455. <div class="ttc" id="aclass_motion_properties_html_ae036052c7d094e459a17cdc6c9b8a0ce"><div class="ttname"><a href="class_motion_properties.html#ae036052c7d094e459a17cdc6c9b8a0ce">MotionProperties::SetAngularDamping</a></div><div class="ttdeci">void SetAngularDamping(float inAngularDamping)</div><div class="ttdef"><b>Definition</b> MotionProperties.h:85</div></div>
    456. 

  456. <div class="ttc" id="aclass_motion_properties_html_ae0c08282aaf3b1a38cd958c32840e329"><div class="ttname"><a href="class_motion_properties.html#ae0c08282aaf3b1a38cd958c32840e329">MotionProperties::GetAngularDOFsMask</a></div><div class="ttdeci">JPH_INLINE UVec4 GetAngularDOFsMask() const</div><div class="ttdoc">Returns a vector where the angular components that are not allowed by mAllowedDOFs are set to 0 and t...</div><div class="ttdef"><b>Definition</b> MotionProperties.h:169</div></div>
    457. 

  457. <div class="ttc" id="aclass_motion_properties_html_ae261a122f450a34d6a9d06e66d21e7f0"><div class="ttname"><a href="class_motion_properties.html#ae261a122f450a34d6a9d06e66d21e7f0">MotionProperties::SetNumPositionStepsOverride</a></div><div class="ttdeci">void SetNumPositionStepsOverride(uint inN)</div><div class="ttdoc">Used only when this body is dynamic and colliding. Override for the number of solver position iterati...</div><div class="ttdef"><b>Definition</b> MotionProperties.h:186</div></div>
    458. 

  458. <div class="ttc" id="aclass_motion_properties_html_ae2bc5e1e111514783c9df29987815516"><div class="ttname"><a href="class_motion_properties.html#ae2bc5e1e111514783c9df29987815516">MotionProperties::GetAllowedDOFs</a></div><div class="ttdeci">EAllowedDOFs GetAllowedDOFs() const</div><div class="ttdoc">Get the allowed degrees of freedom that this body has (this can be changed by calling SetMassProperti...</div><div class="ttdef"><b>Definition</b> MotionProperties.h:37</div></div>
    459. 

  459. <div class="ttc" id="aclass_motion_properties_html_ae85a09814d25c0550eb408d3798e7f08"><div class="ttname"><a href="class_motion_properties.html#ae85a09814d25c0550eb408d3798e7f08">MotionProperties::GetAllowSleeping</a></div><div class="ttdeci">bool GetAllowSleeping() const</div><div class="ttdoc">If this body can go to sleep.</div><div class="ttdef"><b>Definition</b> MotionProperties.h:40</div></div>
    460. 

  460. <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>
    461. 

  461. <div class="ttc" id="aclass_motion_properties_html_afed5a48ab2a5e703c00e2e9ef2e0c68a"><div class="ttname"><a href="class_motion_properties.html#afed5a48ab2a5e703c00e2e9ef2e0c68a">MotionProperties::ResetTorque</a></div><div class="ttdeci">JPH_INLINE void ResetTorque()</div><div class="ttdef"><b>Definition</b> MotionProperties.h:145</div></div>
    462. 

  462. <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>
    463. 

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    464. 

  464. <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>
    465. 

  465. <div class="ttc" id="aclass_u_vec4_html"><div class="ttname"><a href="class_u_vec4.html">UVec4</a></div><div class="ttdef"><b>Definition</b> UVec4.h:12</div></div>
    466. 

  466. <div class="ttc" id="aclass_u_vec4_html_a4287a7bd825aaf6111f310e0c92bd152"><div class="ttname"><a href="class_u_vec4.html#a4287a7bd825aaf6111f310e0c92bd152">UVec4::sReplicate</a></div><div class="ttdeci">static JPH_INLINE UVec4 sReplicate(uint32 inV)</div><div class="ttdoc">Replicate int inV across all components.</div><div class="ttdef"><b>Definition</b> UVec4.inl:56</div></div>
    467. 

  467. <div class="ttc" id="aclass_u_vec4_html_a69a2126a24a31ead596e3316c1285145"><div class="ttname"><a href="class_u_vec4.html#a69a2126a24a31ead596e3316c1285145">UVec4::sAnd</a></div><div class="ttdeci">static JPH_INLINE UVec4 sAnd(UVec4Arg inV1, UVec4Arg inV2)</div><div class="ttdoc">Logical and (component wise)</div><div class="ttdef"><b>Definition</b> UVec4.inl:202</div></div>
    468. 

  468. <div class="ttc" id="aclass_u_vec4_html_a7124c8dadba4fa2467bb542e33b664f1"><div class="ttname"><a href="class_u_vec4.html#a7124c8dadba4fa2467bb542e33b664f1">UVec4::sEquals</a></div><div class="ttdeci">static JPH_INLINE UVec4 sEquals(UVec4Arg inV1, UVec4Arg inV2)</div><div class="ttdoc">Equals (component wise)</div><div class="ttdef"><b>Definition</b> UVec4.inl:143</div></div>
    469. 

  469. <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>
    470. 

  470. <div class="ttc" id="aclass_vec3_html_a224811af391ccfd1e05282eda22d1de8"><div class="ttname"><a href="class_vec3.html#a224811af391ccfd1e05282eda22d1de8">Vec3::Cross</a></div><div class="ttdeci">JPH_INLINE Vec3 Cross(Vec3Arg inV2) const</div><div class="ttdoc">Cross product.</div><div class="ttdef"><b>Definition</b> Vec3.inl:595</div></div>
    471. 

  471. <div class="ttc" id="aclass_vec3_html_a38a9efffc3f9413f3dd702abc73eb9a2"><div class="ttname"><a href="class_vec3.html#a38a9efffc3f9413f3dd702abc73eb9a2">Vec3::Length</a></div><div class="ttdeci">JPH_INLINE float Length() const</div><div class="ttdoc">Length of vector.</div><div class="ttdef"><b>Definition</b> Vec3.inl:682</div></div>
    472. 

  472. <div class="ttc" id="aclass_vec3_html_a96e892074ac7e8638cb70ede768f08a8"><div class="ttname"><a href="class_vec3.html#a96e892074ac7e8638cb70ede768f08a8">Vec3::sAnd</a></div><div class="ttdeci">static JPH_INLINE Vec3 sAnd(Vec3Arg inV1, Vec3Arg inV2)</div><div class="ttdoc">Logical and (component wise)</div><div class="ttdef"><b>Definition</b> Vec3.inl:315</div></div>
    473. 

  473. <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>
    474. 

  474. <div class="ttc" id="aclass_vec3_html_aea30fe731618ffa249ecdcba2c66ab4e"><div class="ttname"><a href="class_vec3.html#aea30fe731618ffa249ecdcba2c66ab4e">Vec3::sLoadFloat3Unsafe</a></div><div class="ttdeci">static JPH_INLINE Vec3 sLoadFloat3Unsafe(const Float3 &amp;inV)</div><div class="ttdoc">Load 3 floats from memory (reads 32 bits extra which it doesn't use)</div><div class="ttdef"><b>Definition</b> Vec3.inl:135</div></div>
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