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

  111. <a href="_motion_properties_8inl.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><a class="code hl_define" href="_core_8h.html#ad14098b68b8c44ea6112601031268405">JPH_NAMESPACE_BEGIN</a></div>
    118. 

  118. <div class="line"><a id="l00008" name="l00008"></a><span class="lineno">    8</span> </div>
    119. 

  119. <div class="foldopen" id="foldopen00009" data-start="{" data-end="}">
    120. 

  120. <div class="line"><a id="l00009" name="l00009"></a><span class="lineno"><a class="line" href="class_motion_properties.html#afc2471d63f11da6c88141a1adedf6149">    9</a></span><span class="keywordtype">void</span> <a class="code hl_function" href="class_motion_properties.html#afc2471d63f11da6c88141a1adedf6149">MotionProperties::MoveKinematic</a>(<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>
    121. 

  121. <div class="line"><a id="l00010" name="l00010"></a><span class="lineno">   10</span>{</div>
    122. 

  122. <div class="line"><a id="l00011" name="l00011"></a><span class="lineno">   11</span>    <a class="code hl_define" href="_issue_reporting_8h.html#aaf6b1df827e11b7ca5f6f8778bd8f8cd">JPH_ASSERT</a>(BodyAccess::sCheckRights(BodyAccess::sVelocityAccess(), BodyAccess::EAccess::ReadWrite));</div>
    123. 

  123. <div class="line"><a id="l00012" name="l00012"></a><span class="lineno">   12</span>    <a class="code hl_define" href="_issue_reporting_8h.html#aaf6b1df827e11b7ca5f6f8778bd8f8cd">JPH_ASSERT</a>(BodyAccess::sCheckRights(BodyAccess::sPositionAccess(), BodyAccess::EAccess::Read));</div>
    124. 

  124. <div class="line"><a id="l00013" name="l00013"></a><span class="lineno">   13</span>    <a class="code hl_define" href="_issue_reporting_8h.html#aaf6b1df827e11b7ca5f6f8778bd8f8cd">JPH_ASSERT</a>(mCachedBodyType == <a class="code hl_enumvalue" href="_body_type_8h.html#ab494e27db6c263f9e31556ad388eb666a81db01c2775d4446d91c2caba27c53e8">EBodyType::RigidBody</a>);</div>
    125. 

  125. <div class="line"><a id="l00014" name="l00014"></a><span class="lineno">   14</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#a328245ddbb758681fad3c44c9d488fd8a84a8921b25f505d0d2077aeb5db4bc16">EMotionType::Static</a>);</div>
    126. 

  126. <div class="line"><a id="l00015" name="l00015"></a><span class="lineno">   15</span> </div>
    127. 

  127. <div class="line"><a id="l00016" name="l00016"></a><span class="lineno">   16</span>    <span class="comment">// Calculate required linear velocity</span></div>
    128. 

  128. <div class="line"><a id="l00017" name="l00017"></a><span class="lineno">   17</span>    mLinearVelocity = <a class="code hl_function" href="class_motion_properties.html#ab7168117a82829c137798ff843900104">LockTranslation</a>(inDeltaPosition / inDeltaTime);</div>
    129. 

  129. <div class="line"><a id="l00018" name="l00018"></a><span class="lineno">   18</span> </div>
    130. 

  130. <div class="line"><a id="l00019" name="l00019"></a><span class="lineno">   19</span>    <span class="comment">// Calculate required angular velocity</span></div>
    131. 

  131. <div class="line"><a id="l00020" name="l00020"></a><span class="lineno">   20</span>    <a class="code hl_class" href="class_vec3.html">Vec3</a> axis;</div>
    132. 

  132. <div class="line"><a id="l00021" name="l00021"></a><span class="lineno">   21</span>    <span class="keywordtype">float</span> angle;</div>
    133. 

  133. <div class="line"><a id="l00022" name="l00022"></a><span class="lineno">   22</span>    inDeltaRotation.<a class="code hl_function" href="class_quat.html#a618a8eb64122263b8c64109f03ac47b5">GetAxisAngle</a>(axis, angle);</div>
    134. 

  134. <div class="line"><a id="l00023" name="l00023"></a><span class="lineno">   23</span>    mAngularVelocity = <a class="code hl_function" href="class_motion_properties.html#a6bfec52a7ff3345d6fefd3f84faf6be7">LockAngular</a>(axis * (angle / inDeltaTime));</div>
    135. 

  135. <div class="line"><a id="l00024" name="l00024"></a><span class="lineno">   24</span>}</div>
    136. 

  136. </div>
    137. 

  137. <div class="line"><a id="l00025" name="l00025"></a><span class="lineno">   25</span> </div>
    138. 

  138. <div class="foldopen" id="foldopen00026" data-start="{" data-end="}">
    139. 

  139. <div class="line"><a id="l00026" name="l00026"></a><span class="lineno"><a class="line" href="class_motion_properties.html#a2cc70977a90ef8a3bed8a60902f3c2db">   26</a></span><span class="keywordtype">void</span> <a class="code hl_function" href="class_motion_properties.html#a2cc70977a90ef8a3bed8a60902f3c2db">MotionProperties::ClampLinearVelocity</a>()</div>
    140. 

  140. <div class="line"><a id="l00027" name="l00027"></a><span class="lineno">   27</span>{</div>
    141. 

  141. <div class="line"><a id="l00028" name="l00028"></a><span class="lineno">   28</span>    <a class="code hl_define" href="_issue_reporting_8h.html#aaf6b1df827e11b7ca5f6f8778bd8f8cd">JPH_ASSERT</a>(BodyAccess::sCheckRights(BodyAccess::sVelocityAccess(), BodyAccess::EAccess::ReadWrite));</div>
    142. 

  142. <div class="line"><a id="l00029" name="l00029"></a><span class="lineno">   29</span> </div>
    143. 

  143. <div class="line"><a id="l00030" name="l00030"></a><span class="lineno">   30</span>    <span class="keywordtype">float</span> len_sq = mLinearVelocity.<a class="code hl_function" href="class_vec3.html#aba501a6a474028084799f871c9083dc1">LengthSq</a>();</div>
    144. 

  144. <div class="line"><a id="l00031" name="l00031"></a><span class="lineno">   31</span>    <a class="code hl_define" href="_issue_reporting_8h.html#aaf6b1df827e11b7ca5f6f8778bd8f8cd">JPH_ASSERT</a>(isfinite(len_sq));</div>
    145. 

  145. <div class="line"><a id="l00032" name="l00032"></a><span class="lineno">   32</span>    <span class="keywordflow">if</span> (len_sq &gt; <a class="code hl_function" href="_math_8h.html#a61379b8b743a16fe823daeebc1482570">Square</a>(mMaxLinearVelocity))</div>
    146. 

  146. <div class="line"><a id="l00033" name="l00033"></a><span class="lineno">   33</span>        mLinearVelocity *= mMaxLinearVelocity / sqrt(len_sq);</div>
    147. 

  147. <div class="line"><a id="l00034" name="l00034"></a><span class="lineno">   34</span>}</div>
    148. 

  148. </div>
    149. 

  149. <div class="line"><a id="l00035" name="l00035"></a><span class="lineno">   35</span> </div>
    150. 

  150. <div class="foldopen" id="foldopen00036" data-start="{" data-end="}">
    151. 

  151. <div class="line"><a id="l00036" name="l00036"></a><span class="lineno"><a class="line" href="class_motion_properties.html#a098c27b3679ec968b9400a64c53f90c9">   36</a></span><span class="keywordtype">void</span> <a class="code hl_function" href="class_motion_properties.html#a098c27b3679ec968b9400a64c53f90c9">MotionProperties::ClampAngularVelocity</a>()</div>
    152. 

  152. <div class="line"><a id="l00037" name="l00037"></a><span class="lineno">   37</span>{</div>
    153. 

  153. <div class="line"><a id="l00038" name="l00038"></a><span class="lineno">   38</span>    <a class="code hl_define" href="_issue_reporting_8h.html#aaf6b1df827e11b7ca5f6f8778bd8f8cd">JPH_ASSERT</a>(BodyAccess::sCheckRights(BodyAccess::sVelocityAccess(), BodyAccess::EAccess::ReadWrite));</div>
    154. 

  154. <div class="line"><a id="l00039" name="l00039"></a><span class="lineno">   39</span> </div>
    155. 

  155. <div class="line"><a id="l00040" name="l00040"></a><span class="lineno">   40</span>    <span class="keywordtype">float</span> len_sq = mAngularVelocity.<a class="code hl_function" href="class_vec3.html#aba501a6a474028084799f871c9083dc1">LengthSq</a>();</div>
    156. 

  156. <div class="line"><a id="l00041" name="l00041"></a><span class="lineno">   41</span>    <a class="code hl_define" href="_issue_reporting_8h.html#aaf6b1df827e11b7ca5f6f8778bd8f8cd">JPH_ASSERT</a>(isfinite(len_sq));</div>
    157. 

  157. <div class="line"><a id="l00042" name="l00042"></a><span class="lineno">   42</span>    <span class="keywordflow">if</span> (len_sq &gt; <a class="code hl_function" href="_math_8h.html#a61379b8b743a16fe823daeebc1482570">Square</a>(mMaxAngularVelocity))</div>
    158. 

  158. <div class="line"><a id="l00043" name="l00043"></a><span class="lineno">   43</span>        mAngularVelocity *= mMaxAngularVelocity / sqrt(len_sq);</div>
    159. 

  159. <div class="line"><a id="l00044" name="l00044"></a><span class="lineno">   44</span>}</div>
    160. 

  160. </div>
    161. 

  161. <div class="line"><a id="l00045" name="l00045"></a><span class="lineno">   45</span> </div>
    162. 

  162. <div class="foldopen" id="foldopen00046" data-start="{" data-end="}">
    163. 

  163. <div class="line"><a id="l00046" name="l00046"></a><span class="lineno"><a class="line" href="class_motion_properties.html#a994dad1b2bf71b0f0394bec77fcb9b8e">   46</a></span><span class="keyword">inline</span> <a class="code hl_class" href="class_mat44.html">Mat44</a> <a class="code hl_function" href="class_motion_properties.html#a994dad1b2bf71b0f0394bec77fcb9b8e">MotionProperties::GetLocalSpaceInverseInertiaUnchecked</a>()<span class="keyword"> const</span></div>
    164. 

  164. <div class="line"><a id="l00047" name="l00047"></a><span class="lineno">   47</span><span class="keyword"></span>{</div>
    165. 

  165. <div class="line"><a id="l00048" name="l00048"></a><span class="lineno">   48</span>    <a class="code hl_class" href="class_mat44.html">Mat44</a> rotation = <a class="code hl_function" href="class_mat44.html#ac3109f2d950061c0b4de57e76a132634">Mat44::sRotation</a>(mInertiaRotation);</div>
    166. 

  166. <div class="line"><a id="l00049" name="l00049"></a><span class="lineno">   49</span>    <a class="code hl_class" href="class_mat44.html">Mat44</a> rotation_mul_scale_transposed(mInvInertiaDiagonal.<a class="code hl_function" href="class_vec3.html#a1b03f087ce2755a85ccba4ba56f1e64b">SplatX</a>() * rotation.<a class="code hl_function" href="class_mat44.html#a97c469ed78611039f85415381a67f312">GetColumn4</a>(0), mInvInertiaDiagonal.<a class="code hl_function" href="class_vec3.html#aad5b4211a6d98be56362559eefd9b029">SplatY</a>() * rotation.<a class="code hl_function" href="class_mat44.html#a97c469ed78611039f85415381a67f312">GetColumn4</a>(1), mInvInertiaDiagonal.<a class="code hl_function" href="class_vec3.html#a81f4448e17219aafda0e3b886709d1f4">SplatZ</a>() * rotation.<a class="code hl_function" href="class_mat44.html#a97c469ed78611039f85415381a67f312">GetColumn4</a>(2), <a class="code hl_class" href="class_vec4.html">Vec4</a>(0, 0, 0, 1));</div>
    167. 

  167. <div class="line"><a id="l00050" name="l00050"></a><span class="lineno">   50</span>    <span class="keywordflow">return</span> rotation.<a class="code hl_function" href="class_mat44.html#a595ae3cf26d9fb87761e20b6b35d3d10">Multiply3x3RightTransposed</a>(rotation_mul_scale_transposed);</div>
    168. 

  168. <div class="line"><a id="l00051" name="l00051"></a><span class="lineno">   51</span>}</div>
    169. 

  169. </div>
    170. 

  170. <div class="line"><a id="l00052" name="l00052"></a><span class="lineno">   52</span> </div>
    171. 

  171. <div class="foldopen" id="foldopen00053" data-start="{" data-end="}">
    172. 

  172. <div class="line"><a id="l00053" name="l00053"></a><span class="lineno"><a class="line" href="class_motion_properties.html#a0c437b5479bd58417b50be0da6b852f7">   53</a></span><span class="keyword">inline</span> <span class="keywordtype">void</span> <a class="code hl_function" href="class_motion_properties.html#a0c437b5479bd58417b50be0da6b852f7">MotionProperties::ScaleToMass</a>(<span class="keywordtype">float</span> inMass)</div>
    173. 

  173. <div class="line"><a id="l00054" name="l00054"></a><span class="lineno">   54</span>{</div>
    174. 

  174. <div class="line"><a id="l00055" name="l00055"></a><span class="lineno">   55</span>    <a class="code hl_define" href="_issue_reporting_8h.html#aaf6b1df827e11b7ca5f6f8778bd8f8cd">JPH_ASSERT</a>(mInvMass &gt; 0.0f, <span class="stringliteral">&quot;Body must have finite mass&quot;</span>);</div>
    175. 

  175. <div class="line"><a id="l00056" name="l00056"></a><span class="lineno">   56</span>    <a class="code hl_define" href="_issue_reporting_8h.html#aaf6b1df827e11b7ca5f6f8778bd8f8cd">JPH_ASSERT</a>(inMass &gt; 0.0f, <span class="stringliteral">&quot;New mass cannot be zero&quot;</span>);</div>
    176. 

  176. <div class="line"><a id="l00057" name="l00057"></a><span class="lineno">   57</span> </div>
    177. 

  177. <div class="line"><a id="l00058" name="l00058"></a><span class="lineno">   58</span>    <span class="keywordtype">float</span> new_inv_mass = 1.0f / inMass;</div>
    178. 

  178. <div class="line"><a id="l00059" name="l00059"></a><span class="lineno">   59</span>    mInvInertiaDiagonal *= new_inv_mass / mInvMass;</div>
    179. 

  179. <div class="line"><a id="l00060" name="l00060"></a><span class="lineno">   60</span>    mInvMass = new_inv_mass;</div>
    180. 

  180. <div class="line"><a id="l00061" name="l00061"></a><span class="lineno">   61</span>}</div>
    181. 

  181. </div>
    182. 

  182. <div class="line"><a id="l00062" name="l00062"></a><span class="lineno">   62</span> </div>
    183. 

  183. <div class="foldopen" id="foldopen00063" data-start="{" data-end="}">
    184. 

  184. <div class="line"><a id="l00063" name="l00063"></a><span class="lineno"><a class="line" href="class_motion_properties.html#ad52e9ac8d614918a8dc9c80f22b4847e">   63</a></span><span class="keyword">inline</span> <a class="code hl_class" href="class_mat44.html">Mat44</a> <a class="code hl_function" href="class_motion_properties.html#ad52e9ac8d614918a8dc9c80f22b4847e">MotionProperties::GetLocalSpaceInverseInertia</a>()<span class="keyword"> const</span></div>
    185. 

  185. <div class="line"><a id="l00064" name="l00064"></a><span class="lineno">   64</span><span class="keyword"></span>{</div>
    186. 

  186. <div class="line"><a id="l00065" name="l00065"></a><span class="lineno">   65</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>);</div>
    187. 

  187. <div class="line"><a id="l00066" name="l00066"></a><span class="lineno">   66</span>    <span class="keywordflow">return</span> <a class="code hl_function" href="class_motion_properties.html#a994dad1b2bf71b0f0394bec77fcb9b8e">GetLocalSpaceInverseInertiaUnchecked</a>();</div>
    188. 

  188. <div class="line"><a id="l00067" name="l00067"></a><span class="lineno">   67</span>}</div>
    189. 

  189. </div>
    190. 

  190. <div class="line"><a id="l00068" name="l00068"></a><span class="lineno">   68</span> </div>
    191. 

  191. <div class="foldopen" id="foldopen00069" data-start="{" data-end="}">
    192. 

  192. <div class="line"><a id="l00069" name="l00069"></a><span class="lineno"><a class="line" href="class_motion_properties.html#ab95f2b1c9b6bd9b6082f8cee8a7e1858">   69</a></span><a class="code hl_class" href="class_mat44.html">Mat44</a> <a class="code hl_function" href="class_motion_properties.html#ab95f2b1c9b6bd9b6082f8cee8a7e1858">MotionProperties::GetInverseInertiaForRotation</a>(<a class="code hl_class" href="class_mat44.html">Mat44Arg</a> inRotation)<span class="keyword"> const</span></div>
    193. 

  193. <div class="line"><a id="l00070" name="l00070"></a><span class="lineno">   70</span><span class="keyword"></span>{</div>
    194. 

  194. <div class="line"><a id="l00071" name="l00071"></a><span class="lineno">   71</span>    <a class="code hl_define" href="_issue_reporting_8h.html#aaf6b1df827e11b7ca5f6f8778bd8f8cd">JPH_ASSERT</a>(mCachedMotionType == <a class="code hl_enumvalue" href="_motion_type_8h.html#a328245ddbb758681fad3c44c9d488fd8a971fd8cc345d8bd9f92e9f7d88fdf20c">EMotionType::Dynamic</a>);</div>
    195. 

  195. <div class="line"><a id="l00072" name="l00072"></a><span class="lineno">   72</span> </div>
    196. 

  196. <div class="line"><a id="l00073" name="l00073"></a><span class="lineno">   73</span>    <a class="code hl_class" href="class_mat44.html">Mat44</a> rotation = inRotation.<a class="code hl_function" href="class_mat44.html#ab599aaeab3e4b832f7f4097816650b14">Multiply3x3</a>(<a class="code hl_function" href="class_mat44.html#ac3109f2d950061c0b4de57e76a132634">Mat44::sRotation</a>(mInertiaRotation));</div>
    197. 

  197. <div class="line"><a id="l00074" name="l00074"></a><span class="lineno">   74</span>    <a class="code hl_class" href="class_mat44.html">Mat44</a> rotation_mul_scale_transposed(mInvInertiaDiagonal.<a class="code hl_function" href="class_vec3.html#a1b03f087ce2755a85ccba4ba56f1e64b">SplatX</a>() * rotation.<a class="code hl_function" href="class_mat44.html#a97c469ed78611039f85415381a67f312">GetColumn4</a>(0), mInvInertiaDiagonal.<a class="code hl_function" href="class_vec3.html#aad5b4211a6d98be56362559eefd9b029">SplatY</a>() * rotation.<a class="code hl_function" href="class_mat44.html#a97c469ed78611039f85415381a67f312">GetColumn4</a>(1), mInvInertiaDiagonal.<a class="code hl_function" href="class_vec3.html#a81f4448e17219aafda0e3b886709d1f4">SplatZ</a>() * rotation.<a class="code hl_function" href="class_mat44.html#a97c469ed78611039f85415381a67f312">GetColumn4</a>(2), <a class="code hl_class" href="class_vec4.html">Vec4</a>(0, 0, 0, 1));</div>
    198. 

  198. <div class="line"><a id="l00075" name="l00075"></a><span class="lineno">   75</span>    <a class="code hl_class" href="class_mat44.html">Mat44</a> inverse_inertia = rotation.<a class="code hl_function" href="class_mat44.html#a595ae3cf26d9fb87761e20b6b35d3d10">Multiply3x3RightTransposed</a>(rotation_mul_scale_transposed);</div>
    199. 

  199. <div class="line"><a id="l00076" name="l00076"></a><span class="lineno">   76</span> </div>
    200. 

  200. <div class="line"><a id="l00077" name="l00077"></a><span class="lineno">   77</span>    <span class="comment">// We need to mask out both the rows and columns of DOFs that are not allowed</span></div>
    201. 

  201. <div class="line"><a id="l00078" name="l00078"></a><span class="lineno">   78</span>    <a class="code hl_class" href="class_vec4.html">Vec4</a> angular_dofs_mask = <a class="code hl_function" href="class_motion_properties.html#ae0c08282aaf3b1a38cd958c32840e329">GetAngularDOFsMask</a>().<a class="code hl_function" href="class_u_vec4.html#af399ef91439555b5264eec1790537547">ReinterpretAsFloat</a>();</div>
    202. 

  202. <div class="line"><a id="l00079" name="l00079"></a><span class="lineno">   79</span>    inverse_inertia.<a class="code hl_function" href="class_mat44.html#ace29aeaafa5bbff8a159105fee78e2d2">SetColumn4</a>(0, <a class="code hl_function" href="class_vec4.html#a1b0f06643e493c801cdd07a18ff8b2dd">Vec4::sAnd</a>(inverse_inertia.<a class="code hl_function" href="class_mat44.html#a97c469ed78611039f85415381a67f312">GetColumn4</a>(0), <a class="code hl_function" href="class_vec4.html#a1b0f06643e493c801cdd07a18ff8b2dd">Vec4::sAnd</a>(angular_dofs_mask, angular_dofs_mask.<a class="code hl_function" href="class_vec4.html#a02525e7f8473c93268058324115eeb02">SplatX</a>())));</div>
    203. 

  203. <div class="line"><a id="l00080" name="l00080"></a><span class="lineno">   80</span>    inverse_inertia.<a class="code hl_function" href="class_mat44.html#ace29aeaafa5bbff8a159105fee78e2d2">SetColumn4</a>(1, <a class="code hl_function" href="class_vec4.html#a1b0f06643e493c801cdd07a18ff8b2dd">Vec4::sAnd</a>(inverse_inertia.<a class="code hl_function" href="class_mat44.html#a97c469ed78611039f85415381a67f312">GetColumn4</a>(1), <a class="code hl_function" href="class_vec4.html#a1b0f06643e493c801cdd07a18ff8b2dd">Vec4::sAnd</a>(angular_dofs_mask, angular_dofs_mask.<a class="code hl_function" href="class_vec4.html#a7ea3bcf62a6055b45527f720a51d0005">SplatY</a>())));</div>
    204. 

  204. <div class="line"><a id="l00081" name="l00081"></a><span class="lineno">   81</span>    inverse_inertia.<a class="code hl_function" href="class_mat44.html#ace29aeaafa5bbff8a159105fee78e2d2">SetColumn4</a>(2, <a class="code hl_function" href="class_vec4.html#a1b0f06643e493c801cdd07a18ff8b2dd">Vec4::sAnd</a>(inverse_inertia.<a class="code hl_function" href="class_mat44.html#a97c469ed78611039f85415381a67f312">GetColumn4</a>(2), <a class="code hl_function" href="class_vec4.html#a1b0f06643e493c801cdd07a18ff8b2dd">Vec4::sAnd</a>(angular_dofs_mask, angular_dofs_mask.<a class="code hl_function" href="class_vec4.html#a8fcd8e6ed1b4cf308656cca7cf68d5ee">SplatZ</a>())));</div>
    205. 

  205. <div class="line"><a id="l00082" name="l00082"></a><span class="lineno">   82</span> </div>
    206. 

  206. <div class="line"><a id="l00083" name="l00083"></a><span class="lineno">   83</span>    <span class="keywordflow">return</span> inverse_inertia;</div>
    207. 

  207. <div class="line"><a id="l00084" name="l00084"></a><span class="lineno">   84</span>}</div>
    208. 

  208. </div>
    209. 

  209. <div class="line"><a id="l00085" name="l00085"></a><span class="lineno">   85</span> </div>
    210. 

  210. <div class="foldopen" id="foldopen00086" data-start="{" data-end="}">
    211. 

  211. <div class="line"><a id="l00086" name="l00086"></a><span class="lineno"><a class="line" href="class_motion_properties.html#aa8a73ea7940a316151262ed9a28c4fbb">   86</a></span><a class="code hl_class" href="class_vec3.html">Vec3</a> <a class="code hl_function" href="class_motion_properties.html#aa8a73ea7940a316151262ed9a28c4fbb">MotionProperties::MultiplyWorldSpaceInverseInertiaByVector</a>(<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>
    212. 

  212. <div class="line"><a id="l00087" name="l00087"></a><span class="lineno">   87</span><span class="keyword"></span>{</div>
    213. 

  213. <div class="line"><a id="l00088" name="l00088"></a><span class="lineno">   88</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>);</div>
    214. 

  214. <div class="line"><a id="l00089" name="l00089"></a><span class="lineno">   89</span> </div>
    215. 

  215. <div class="line"><a id="l00090" name="l00090"></a><span class="lineno">   90</span>    <span class="comment">// Mask out columns of DOFs that are not allowed</span></div>
    216. 

  216. <div class="line"><a id="l00091" name="l00091"></a><span class="lineno">   91</span>    <a class="code hl_class" href="class_vec3.html">Vec3</a> angular_dofs_mask = <a class="code hl_class" href="class_vec3.html">Vec3</a>(<a class="code hl_function" href="class_motion_properties.html#ae0c08282aaf3b1a38cd958c32840e329">GetAngularDOFsMask</a>().ReinterpretAsFloat());</div>
    217. 

  217. <div class="line"><a id="l00092" name="l00092"></a><span class="lineno">   92</span>    <a class="code hl_class" href="class_vec3.html">Vec3</a> v = <a class="code hl_function" href="class_vec3.html#a96e892074ac7e8638cb70ede768f08a8">Vec3::sAnd</a>(inV, angular_dofs_mask);</div>
    218. 

  218. <div class="line"><a id="l00093" name="l00093"></a><span class="lineno">   93</span> </div>
    219. 

  219. <div class="line"><a id="l00094" name="l00094"></a><span class="lineno">   94</span>    <span class="comment">// Multiply vector by inverse inertia</span></div>
    220. 

  220. <div class="line"><a id="l00095" name="l00095"></a><span class="lineno">   95</span>    <a class="code hl_class" href="class_mat44.html">Mat44</a> rotation = <a class="code hl_function" href="class_mat44.html#ac3109f2d950061c0b4de57e76a132634">Mat44::sRotation</a>(inBodyRotation * mInertiaRotation);</div>
    221. 

  221. <div class="line"><a id="l00096" name="l00096"></a><span class="lineno">   96</span>    <a class="code hl_class" href="class_vec3.html">Vec3</a> result = rotation.<a class="code hl_function" href="class_mat44.html#ab599aaeab3e4b832f7f4097816650b14">Multiply3x3</a>(mInvInertiaDiagonal * rotation.<a class="code hl_function" href="class_mat44.html#a3ed66bc4c5e8e010657bd5bb109f1406">Multiply3x3Transposed</a>(v));</div>
    222. 

  222. <div class="line"><a id="l00097" name="l00097"></a><span class="lineno">   97</span> </div>
    223. 

  223. <div class="line"><a id="l00098" name="l00098"></a><span class="lineno">   98</span>    <span class="comment">// Mask out rows of DOFs that are not allowed</span></div>
    224. 

  224. <div class="line"><a id="l00099" name="l00099"></a><span class="lineno">   99</span>    <span class="keywordflow">return</span> <a class="code hl_function" href="class_vec3.html#a96e892074ac7e8638cb70ede768f08a8">Vec3::sAnd</a>(result, angular_dofs_mask);</div>
    225. 

  225. <div class="line"><a id="l00100" name="l00100"></a><span class="lineno">  100</span>}</div>
    226. 

  226. </div>
    227. 

  227. <div class="line"><a id="l00101" name="l00101"></a><span class="lineno">  101</span> </div>
    228. 

  228. <div class="foldopen" id="foldopen00102" data-start="{" data-end="}">
    229. 

  229. <div class="line"><a id="l00102" name="l00102"></a><span class="lineno"><a class="line" href="class_motion_properties.html#a78c58cb27772068a0aa3cbe286ddaf0b">  102</a></span><span class="keywordtype">void</span> <a class="code hl_function" href="class_motion_properties.html#a78c58cb27772068a0aa3cbe286ddaf0b">MotionProperties::ApplyGyroscopicForceInternal</a>(<a class="code hl_class" href="class_quat.html">QuatArg</a> inBodyRotation, <span class="keywordtype">float</span> inDeltaTime)</div>
    230. 

  230. <div class="line"><a id="l00103" name="l00103"></a><span class="lineno">  103</span>{</div>
    231. 

  231. <div class="line"><a id="l00104" name="l00104"></a><span class="lineno">  104</span>    <a class="code hl_define" href="_issue_reporting_8h.html#aaf6b1df827e11b7ca5f6f8778bd8f8cd">JPH_ASSERT</a>(BodyAccess::sCheckRights(BodyAccess::sVelocityAccess(), BodyAccess::EAccess::ReadWrite));</div>
    232. 

  232. <div class="line"><a id="l00105" name="l00105"></a><span class="lineno">  105</span>    <a class="code hl_define" href="_issue_reporting_8h.html#aaf6b1df827e11b7ca5f6f8778bd8f8cd">JPH_ASSERT</a>(mCachedBodyType == <a class="code hl_enumvalue" href="_body_type_8h.html#ab494e27db6c263f9e31556ad388eb666a81db01c2775d4446d91c2caba27c53e8">EBodyType::RigidBody</a>);</div>
    233. 

  233. <div class="line"><a id="l00106" name="l00106"></a><span class="lineno">  106</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>);</div>
    234. 

  234. <div class="line"><a id="l00107" name="l00107"></a><span class="lineno">  107</span> </div>
    235. 

  235. <div class="line"><a id="l00108" name="l00108"></a><span class="lineno">  108</span>    <span class="comment">// Calculate local space inertia tensor (a diagonal in local space)</span></div>
    236. 

  236. <div class="line"><a id="l00109" name="l00109"></a><span class="lineno">  109</span>    <a class="code hl_class" href="class_u_vec4.html">UVec4</a> is_zero = <a class="code hl_function" href="class_vec3.html#acd0e4130c1b2863b203812f4922b3642">Vec3::sEquals</a>(mInvInertiaDiagonal, <a class="code hl_function" href="class_vec3.html#ad03c52ab27761bc1e64e33c47632ba51">Vec3::sZero</a>());</div>
    237. 

  237. <div class="line"><a id="l00110" name="l00110"></a><span class="lineno">  110</span>    <a class="code hl_class" href="class_vec3.html">Vec3</a> denominator = <a class="code hl_function" href="class_vec3.html#ae0f4ab3438fe6b9782010ef8212a6d69">Vec3::sSelect</a>(mInvInertiaDiagonal, <a class="code hl_function" href="class_vec3.html#a6bc0731860c69d4e3151981d2dc24e93">Vec3::sOne</a>(), is_zero);</div>
    238. 

  238. <div class="line"><a id="l00111" name="l00111"></a><span class="lineno">  111</span>    <a class="code hl_class" href="class_vec3.html">Vec3</a> nominator = <a class="code hl_function" href="class_vec3.html#ae0f4ab3438fe6b9782010ef8212a6d69">Vec3::sSelect</a>(<a class="code hl_function" href="class_vec3.html#a6bc0731860c69d4e3151981d2dc24e93">Vec3::sOne</a>(), <a class="code hl_function" href="class_vec3.html#ad03c52ab27761bc1e64e33c47632ba51">Vec3::sZero</a>(), is_zero);</div>
    239. 

  239. <div class="line"><a id="l00112" name="l00112"></a><span class="lineno">  112</span>    <a class="code hl_class" href="class_vec3.html">Vec3</a> local_inertia = nominator / denominator; <span class="comment">// Avoid dividing by zero, inertia in this axis will be zero</span></div>
    240. 

  240. <div class="line"><a id="l00113" name="l00113"></a><span class="lineno">  113</span> </div>
    241. 

  241. <div class="line"><a id="l00114" name="l00114"></a><span class="lineno">  114</span>    <span class="comment">// Calculate local space angular momentum</span></div>
    242. 

  242. <div class="line"><a id="l00115" name="l00115"></a><span class="lineno">  115</span>    <a class="code hl_class" href="class_quat.html">Quat</a> inertia_space_to_world_space = inBodyRotation * mInertiaRotation;</div>
    243. 

  243. <div class="line"><a id="l00116" name="l00116"></a><span class="lineno">  116</span>    <a class="code hl_class" href="class_vec3.html">Vec3</a> local_angular_velocity = inertia_space_to_world_space.<a class="code hl_function" href="class_quat.html#a108350bfce9aa53b1af87fbe2698f6f4">InverseRotate</a>(mAngularVelocity);</div>
    244. 

  244. <div class="line"><a id="l00117" name="l00117"></a><span class="lineno">  117</span>    <a class="code hl_class" href="class_vec3.html">Vec3</a> local_momentum = local_inertia * local_angular_velocity;</div>
    245. 

  245. <div class="line"><a id="l00118" name="l00118"></a><span class="lineno">  118</span> </div>
    246. 

  246. <div class="line"><a id="l00119" name="l00119"></a><span class="lineno">  119</span>    <span class="comment">// The gyroscopic force applies a torque: T = -w x I w where w is angular velocity and I the inertia tensor</span></div>
    247. 

  247. <div class="line"><a id="l00120" name="l00120"></a><span class="lineno">  120</span>    <span class="comment">// Calculate the new angular momentum by applying the gyroscopic force and make sure the new magnitude is the same as the old one</span></div>
    248. 

  248. <div class="line"><a id="l00121" name="l00121"></a><span class="lineno">  121</span>    <span class="comment">// to avoid introducing energy into the system due to the Euler step</span></div>
    249. 

  249. <div class="line"><a id="l00122" name="l00122"></a><span class="lineno">  122</span>    <a class="code hl_class" href="class_vec3.html">Vec3</a> new_local_momentum = local_momentum - inDeltaTime * local_angular_velocity.<a class="code hl_function" href="class_vec3.html#a224811af391ccfd1e05282eda22d1de8">Cross</a>(local_momentum);</div>
    250. 

  250. <div class="line"><a id="l00123" name="l00123"></a><span class="lineno">  123</span>    <span class="keywordtype">float</span> new_local_momentum_len_sq = new_local_momentum.<a class="code hl_function" href="class_vec3.html#aba501a6a474028084799f871c9083dc1">LengthSq</a>();</div>
    251. 

  251. <div class="line"><a id="l00124" name="l00124"></a><span class="lineno">  124</span>    new_local_momentum = new_local_momentum_len_sq &gt; 0.0f? new_local_momentum * sqrt(local_momentum.<a class="code hl_function" href="class_vec3.html#aba501a6a474028084799f871c9083dc1">LengthSq</a>() / new_local_momentum_len_sq) : <a class="code hl_function" href="class_vec3.html#ad03c52ab27761bc1e64e33c47632ba51">Vec3::sZero</a>();</div>
    252. 

  252. <div class="line"><a id="l00125" name="l00125"></a><span class="lineno">  125</span> </div>
    253. 

  253. <div class="line"><a id="l00126" name="l00126"></a><span class="lineno">  126</span>    <span class="comment">// Convert back to world space angular velocity</span></div>
    254. 

  254. <div class="line"><a id="l00127" name="l00127"></a><span class="lineno">  127</span>    mAngularVelocity = inertia_space_to_world_space * (mInvInertiaDiagonal * new_local_momentum);</div>
    255. 

  255. <div class="line"><a id="l00128" name="l00128"></a><span class="lineno">  128</span>}</div>
    256. 

  256. </div>
    257. 

  257. <div class="line"><a id="l00129" name="l00129"></a><span class="lineno">  129</span> </div>
    258. 

  258. <div class="foldopen" id="foldopen00130" data-start="{" data-end="}">
    259. 

  259. <div class="line"><a id="l00130" name="l00130"></a><span class="lineno"><a class="line" href="class_motion_properties.html#ae1d0e7670106211909852cd6844286d9">  130</a></span><span class="keywordtype">void</span> <a class="code hl_function" href="class_motion_properties.html#ae1d0e7670106211909852cd6844286d9">MotionProperties::ApplyForceTorqueAndDragInternal</a>(<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>
    260. 

  260. <div class="line"><a id="l00131" name="l00131"></a><span class="lineno">  131</span>{</div>
    261. 

  261. <div class="line"><a id="l00132" name="l00132"></a><span class="lineno">  132</span>    <a class="code hl_define" href="_issue_reporting_8h.html#aaf6b1df827e11b7ca5f6f8778bd8f8cd">JPH_ASSERT</a>(BodyAccess::sCheckRights(BodyAccess::sVelocityAccess(), BodyAccess::EAccess::ReadWrite));</div>
    262. 

  262. <div class="line"><a id="l00133" name="l00133"></a><span class="lineno">  133</span>    <a class="code hl_define" href="_issue_reporting_8h.html#aaf6b1df827e11b7ca5f6f8778bd8f8cd">JPH_ASSERT</a>(mCachedBodyType == <a class="code hl_enumvalue" href="_body_type_8h.html#ab494e27db6c263f9e31556ad388eb666a81db01c2775d4446d91c2caba27c53e8">EBodyType::RigidBody</a>);</div>
    263. 

  263. <div class="line"><a id="l00134" name="l00134"></a><span class="lineno">  134</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>);</div>
    264. 

  264. <div class="line"><a id="l00135" name="l00135"></a><span class="lineno">  135</span> </div>
    265. 

  265. <div class="line"><a id="l00136" name="l00136"></a><span class="lineno">  136</span>    <span class="comment">// Update linear velocity</span></div>
    266. 

  266. <div class="line"><a id="l00137" name="l00137"></a><span class="lineno">  137</span>    mLinearVelocity = <a class="code hl_function" href="class_motion_properties.html#ab7168117a82829c137798ff843900104">LockTranslation</a>(mLinearVelocity + inDeltaTime * (mGravityFactor * inGravity + mInvMass * <a class="code hl_function" href="class_motion_properties.html#ab2db20476c9ab24b796a9f5877caaea5">GetAccumulatedForce</a>()));</div>
    267. 

  267. <div class="line"><a id="l00138" name="l00138"></a><span class="lineno">  138</span> </div>
    268. 

  268. <div class="line"><a id="l00139" name="l00139"></a><span class="lineno">  139</span>    <span class="comment">// Update angular velocity</span></div>
    269. 

  269. <div class="line"><a id="l00140" name="l00140"></a><span class="lineno">  140</span>    mAngularVelocity += inDeltaTime * <a class="code hl_function" href="class_motion_properties.html#aa8a73ea7940a316151262ed9a28c4fbb">MultiplyWorldSpaceInverseInertiaByVector</a>(inBodyRotation, <a class="code hl_function" href="class_motion_properties.html#a73cef0ab26c9bc15a2908e632c953bc2">GetAccumulatedTorque</a>());</div>
    270. 

  270. <div class="line"><a id="l00141" name="l00141"></a><span class="lineno">  141</span> </div>
    271. 

  271. <div class="line"><a id="l00142" name="l00142"></a><span class="lineno">  142</span>    <span class="comment">// Linear damping: dv/dt = -c * v</span></div>
    272. 

  272. <div class="line"><a id="l00143" name="l00143"></a><span class="lineno">  143</span>    <span class="comment">// Solution: v(t) = v(0) * e^(-c * t) or v2 = v1 * e^(-c * dt)</span></div>
    273. 

  273. <div class="line"><a id="l00144" name="l00144"></a><span class="lineno">  144</span>    <span class="comment">// Taylor expansion of e^(-c * dt) = 1 - c * dt + ...</span></div>
    274. 

  274. <div class="line"><a id="l00145" name="l00145"></a><span class="lineno">  145</span>    <span class="comment">// Since dt is usually in the order of 1/60 and c is a low number too this approximation is good enough</span></div>
    275. 

  275. <div class="line"><a id="l00146" name="l00146"></a><span class="lineno">  146</span>    mLinearVelocity *= max(0.0f, 1.0f - mLinearDamping * inDeltaTime);</div>
    276. 

  276. <div class="line"><a id="l00147" name="l00147"></a><span class="lineno">  147</span>    mAngularVelocity *= max(0.0f, 1.0f - mAngularDamping * inDeltaTime);</div>
    277. 

  277. <div class="line"><a id="l00148" name="l00148"></a><span class="lineno">  148</span> </div>
    278. 

  278. <div class="line"><a id="l00149" name="l00149"></a><span class="lineno">  149</span>    <span class="comment">// Clamp velocities</span></div>
    279. 

  279. <div class="line"><a id="l00150" name="l00150"></a><span class="lineno">  150</span>    <a class="code hl_function" href="class_motion_properties.html#a2cc70977a90ef8a3bed8a60902f3c2db">ClampLinearVelocity</a>();</div>
    280. 

  280. <div class="line"><a id="l00151" name="l00151"></a><span class="lineno">  151</span>    <a class="code hl_function" href="class_motion_properties.html#a098c27b3679ec968b9400a64c53f90c9">ClampAngularVelocity</a>();</div>
    281. 

  281. <div class="line"><a id="l00152" name="l00152"></a><span class="lineno">  152</span>}</div>
    282. 

  282. </div>
    283. 

  283. <div class="line"><a id="l00153" name="l00153"></a><span class="lineno">  153</span> </div>
    284. 

  284. <div class="foldopen" id="foldopen00154" data-start="{" data-end="}">
    285. 

  285. <div class="line"><a id="l00154" name="l00154"></a><span class="lineno"><a class="line" href="class_motion_properties.html#aad3b333b7af3e3b39be95edf9b69d133">  154</a></span><span class="keywordtype">void</span> <a class="code hl_function" href="class_motion_properties.html#aad3b333b7af3e3b39be95edf9b69d133">MotionProperties::ResetSleepTestSpheres</a>(<span class="keyword">const</span> <a class="code hl_class" href="class_vec3.html">RVec3</a> *inPoints)</div>
    286. 

  286. <div class="line"><a id="l00155" name="l00155"></a><span class="lineno">  155</span>{</div>
    287. 

  287. <div class="line"><a id="l00156" name="l00156"></a><span class="lineno">  156</span><span class="preprocessor">#ifdef JPH_DOUBLE_PRECISION</span></div>
    288. 

  288. <div class="line"><a id="l00157" name="l00157"></a><span class="lineno">  157</span>    <span class="comment">// Make spheres relative to the first point and initialize them to zero radius</span></div>
    289. 

  289. <div class="line"><a id="l00158" name="l00158"></a><span class="lineno">  158</span>    <a class="code hl_class" href="class_d_vec3.html">DVec3</a> offset = inPoints[0];</div>
    290. 

  290. <div class="line"><a id="l00159" name="l00159"></a><span class="lineno">  159</span>    offset.<a class="code hl_function" href="class_d_vec3.html#a660cd286454202510b44fa18c2283d4d">StoreDouble3</a>(&amp;mSleepTestOffset);</div>
    291. 

  291. <div class="line"><a id="l00160" name="l00160"></a><span class="lineno">  160</span>    mSleepTestSpheres[0] = <a class="code hl_enumvalue" href="_shape_8h.html#aa332e0529e75b83aad91881c8d32551bab7095f057db3fefa7325ad93a04e14fd">Sphere</a>(<a class="code hl_function" href="class_vec3.html#ad03c52ab27761bc1e64e33c47632ba51">Vec3::sZero</a>(), 0.0f);</div>
    292. 

  292. <div class="line"><a id="l00161" name="l00161"></a><span class="lineno">  161</span>    <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i = 1; i &lt; 3; ++i)</div>
    293. 

  293. <div class="line"><a id="l00162" name="l00162"></a><span class="lineno">  162</span>        mSleepTestSpheres[i] = <a class="code hl_enumvalue" href="_shape_8h.html#aa332e0529e75b83aad91881c8d32551bab7095f057db3fefa7325ad93a04e14fd">Sphere</a>(<a class="code hl_class" href="class_vec3.html">Vec3</a>(inPoints[i] - offset), 0.0f);</div>
    294. 

  294. <div class="line"><a id="l00163" name="l00163"></a><span class="lineno">  163</span><span class="preprocessor">#else</span></div>
    295. 

  295. <div class="line"><a id="l00164" name="l00164"></a><span class="lineno">  164</span>    <span class="comment">// Initialize the spheres to zero radius around the supplied points</span></div>
    296. 

  296. <div class="line"><a id="l00165" name="l00165"></a><span class="lineno">  165</span>    <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i = 0; i &lt; 3; ++i)</div>
    297. 

  297. <div class="line"><a id="l00166" name="l00166"></a><span class="lineno">  166</span>        mSleepTestSpheres[i] = <a class="code hl_enumvalue" href="_shape_8h.html#aa332e0529e75b83aad91881c8d32551bab7095f057db3fefa7325ad93a04e14fd">Sphere</a>(inPoints[i], 0.0f);</div>
    298. 

  298. <div class="line"><a id="l00167" name="l00167"></a><span class="lineno">  167</span><span class="preprocessor">#endif</span></div>
    299. 

  299. <div class="line"><a id="l00168" name="l00168"></a><span class="lineno">  168</span> </div>
    300. 

  300. <div class="line"><a id="l00169" name="l00169"></a><span class="lineno">  169</span>    mSleepTestTimer = 0.0f;</div>
    301. 

  301. <div class="line"><a id="l00170" name="l00170"></a><span class="lineno">  170</span>}</div>
    302. 

  302. </div>
    303. 

  303. <div class="line"><a id="l00171" name="l00171"></a><span class="lineno">  171</span> </div>
    304. 

  304. <div class="foldopen" id="foldopen00172" data-start="{" data-end="}">
    305. 

  305. <div class="line"><a id="l00172" name="l00172"></a><span class="lineno"><a class="line" href="class_motion_properties.html#a1342087f5bae51bc6d46542ae29bca66">  172</a></span><a class="code hl_enumeration" href="_motion_properties_8h.html#a97f69c4b07965ef22ebe08465e1c3db0">ECanSleep</a> <a class="code hl_function" href="class_motion_properties.html#a1342087f5bae51bc6d46542ae29bca66">MotionProperties::AccumulateSleepTime</a>(<span class="keywordtype">float</span> inDeltaTime, <span class="keywordtype">float</span> inTimeBeforeSleep)</div>
    306. 

  306. <div class="line"><a id="l00173" name="l00173"></a><span class="lineno">  173</span>{</div>
    307. 

  307. <div class="line"><a id="l00174" name="l00174"></a><span class="lineno">  174</span>    mSleepTestTimer += inDeltaTime;</div>
    308. 

  308. <div class="line"><a id="l00175" name="l00175"></a><span class="lineno">  175</span>    <span class="keywordflow">return</span> mSleepTestTimer &gt;= inTimeBeforeSleep? <a class="code hl_enumvalue" href="_motion_properties_8h.html#a97f69c4b07965ef22ebe08465e1c3db0a93264bf5e739b984ef79c2fbc76863c6">ECanSleep::CanSleep</a> : <a class="code hl_enumvalue" href="_motion_properties_8h.html#a97f69c4b07965ef22ebe08465e1c3db0af6565583dd53a537e5c7376048299104">ECanSleep::CannotSleep</a>;</div>
    309. 

  309. <div class="line"><a id="l00176" name="l00176"></a><span class="lineno">  176</span>}</div>
    310. 

  310. </div>
    311. 

  311. <div class="line"><a id="l00177" name="l00177"></a><span class="lineno">  177</span> </div>
    312. 

  312. <div class="line"><a id="l00178" name="l00178"></a><span class="lineno">  178</span><a class="code hl_define" href="_core_8h.html#a73da8725998b00321a9db341202d650d">JPH_NAMESPACE_END</a></div>
    313. 

  313. <div class="ttc" id="a_body_type_8h_html_ab494e27db6c263f9e31556ad388eb666a81db01c2775d4446d91c2caba27c53e8"><div class="ttname"><a href="_body_type_8h.html#ab494e27db6c263f9e31556ad388eb666a81db01c2775d4446d91c2caba27c53e8">EBodyType::RigidBody</a></div><div class="ttdeci">@ RigidBody</div><div class="ttdoc">Rigid body consisting of a rigid shape.</div></div>
    314. 

  314. <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>
    315. 

  315. <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>
    316. 

  316. <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>
    317. 

  317. <div class="ttc" id="a_math_8h_html_a61379b8b743a16fe823daeebc1482570"><div class="ttname"><a href="_math_8h.html#a61379b8b743a16fe823daeebc1482570">Square</a></div><div class="ttdeci">JPH_INLINE constexpr T Square(T inV)</div><div class="ttdoc">Square a value.</div><div class="ttdef"><b>Definition</b> Math.h:55</div></div>
    318. 

  318. <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>
    319. 

  319. <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>
    320. 

  320. <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>
    321. 

  321. <div class="ttc" id="a_motion_type_8h_html_a328245ddbb758681fad3c44c9d488fd8a84a8921b25f505d0d2077aeb5db4bc16"><div class="ttname"><a href="_motion_type_8h.html#a328245ddbb758681fad3c44c9d488fd8a84a8921b25f505d0d2077aeb5db4bc16">EMotionType::Static</a></div><div class="ttdeci">@ Static</div><div class="ttdoc">Non movable.</div></div>
    322. 

  322. <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>
    323. 

  323. <div class="ttc" id="a_shape_8h_html_aa332e0529e75b83aad91881c8d32551bab7095f057db3fefa7325ad93a04e14fd"><div class="ttname"><a href="_shape_8h.html#aa332e0529e75b83aad91881c8d32551bab7095f057db3fefa7325ad93a04e14fd">EShapeSubType::Sphere</a></div><div class="ttdeci">@ Sphere</div></div>
    324. 

  324. <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>
    325. 

  325. <div class="ttc" id="aclass_d_vec3_html_a660cd286454202510b44fa18c2283d4d"><div class="ttname"><a href="class_d_vec3.html#a660cd286454202510b44fa18c2283d4d">DVec3::StoreDouble3</a></div><div class="ttdeci">JPH_INLINE void StoreDouble3(Double3 *outV) const</div><div class="ttdoc">Store 3 doubles to memory.</div><div class="ttdef"><b>Definition</b> DVec3.inl:176</div></div>
    326. 

  326. <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>
    327. 

  327. <div class="ttc" id="aclass_mat44_html_a3ed66bc4c5e8e010657bd5bb109f1406"><div class="ttname"><a href="class_mat44.html#a3ed66bc4c5e8e010657bd5bb109f1406">Mat44::Multiply3x3Transposed</a></div><div class="ttdeci">JPH_INLINE Vec3 Multiply3x3Transposed(Vec3Arg inV) const</div><div class="ttdoc">Multiply vector by only 3x3 part of the transpose of the matrix ( )</div><div class="ttdef"><b>Definition</b> Mat44.inl:336</div></div>
    328. 

  328. <div class="ttc" id="aclass_mat44_html_a595ae3cf26d9fb87761e20b6b35d3d10"><div class="ttname"><a href="class_mat44.html#a595ae3cf26d9fb87761e20b6b35d3d10">Mat44::Multiply3x3RightTransposed</a></div><div class="ttdeci">JPH_INLINE Mat44 Multiply3x3RightTransposed(Mat44Arg inM) const</div><div class="ttdoc">Multiply 3x3 matrix by the transpose of a 3x3 matrix ( )</div><div class="ttdef"><b>Definition</b> Mat44.inl:397</div></div>
    329. 

  329. <div class="ttc" id="aclass_mat44_html_a97c469ed78611039f85415381a67f312"><div class="ttname"><a href="class_mat44.html#a97c469ed78611039f85415381a67f312">Mat44::GetColumn4</a></div><div class="ttdeci">JPH_INLINE Vec4 GetColumn4(uint inCol) const</div><div class="ttdef"><b>Definition</b> Mat44.h:160</div></div>
    330. 

  330. <div class="ttc" id="aclass_mat44_html_ab599aaeab3e4b832f7f4097816650b14"><div class="ttname"><a href="class_mat44.html#ab599aaeab3e4b832f7f4097816650b14">Mat44::Multiply3x3</a></div><div class="ttdeci">JPH_INLINE Vec3 Multiply3x3(Vec3Arg inV) const</div><div class="ttdoc">Multiply vector by only 3x3 part of the matrix.</div><div class="ttdef"><b>Definition</b> Mat44.inl:316</div></div>
    331. 

  331. <div class="ttc" id="aclass_mat44_html_ac3109f2d950061c0b4de57e76a132634"><div class="ttname"><a href="class_mat44.html#ac3109f2d950061c0b4de57e76a132634">Mat44::sRotation</a></div><div class="ttdeci">static JPH_INLINE Mat44 sRotation(Vec3Arg inAxis, float inAngle)</div><div class="ttdoc">Rotate around arbitrary axis.</div><div class="ttdef"><b>Definition</b> Mat44.inl:139</div></div>
    332. 

  332. <div class="ttc" id="aclass_mat44_html_ace29aeaafa5bbff8a159105fee78e2d2"><div class="ttname"><a href="class_mat44.html#ace29aeaafa5bbff8a159105fee78e2d2">Mat44::SetColumn4</a></div><div class="ttdeci">JPH_INLINE void SetColumn4(uint inCol, Vec4Arg inV)</div><div class="ttdef"><b>Definition</b> Mat44.h:161</div></div>
    333. 

  333. <div class="ttc" id="aclass_motion_properties_html_a098c27b3679ec968b9400a64c53f90c9"><div class="ttname"><a href="class_motion_properties.html#a098c27b3679ec968b9400a64c53f90c9">MotionProperties::ClampAngularVelocity</a></div><div class="ttdeci">void ClampAngularVelocity()</div><div class="ttdef"><b>Definition</b> MotionProperties.inl:36</div></div>
    334. 

  334. <div class="ttc" id="aclass_motion_properties_html_a0c437b5479bd58417b50be0da6b852f7"><div class="ttname"><a href="class_motion_properties.html#a0c437b5479bd58417b50be0da6b852f7">MotionProperties::ScaleToMass</a></div><div class="ttdeci">void ScaleToMass(float inMass)</div><div class="ttdef"><b>Definition</b> MotionProperties.inl:53</div></div>
    335. 

  335. <div class="ttc" id="aclass_motion_properties_html_a1342087f5bae51bc6d46542ae29bca66"><div class="ttname"><a href="class_motion_properties.html#a1342087f5bae51bc6d46542ae29bca66">MotionProperties::AccumulateSleepTime</a></div><div class="ttdeci">ECanSleep AccumulateSleepTime(float inDeltaTime, float inTimeBeforeSleep)</div><div class="ttdoc">Accumulate sleep time and return if a body can go to sleep.</div><div class="ttdef"><b>Definition</b> MotionProperties.inl:172</div></div>
    336. 

  336. <div class="ttc" id="aclass_motion_properties_html_a2cc70977a90ef8a3bed8a60902f3c2db"><div class="ttname"><a href="class_motion_properties.html#a2cc70977a90ef8a3bed8a60902f3c2db">MotionProperties::ClampLinearVelocity</a></div><div class="ttdeci">void ClampLinearVelocity()</div><div class="ttdoc">Clamp velocity according to limit.</div><div class="ttdef"><b>Definition</b> MotionProperties.inl:26</div></div>
    337. 

  337. <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>
    338. 

  338. <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>
    339. 

  339. <div class="ttc" id="aclass_motion_properties_html_a78c58cb27772068a0aa3cbe286ddaf0b"><div class="ttname"><a href="class_motion_properties.html#a78c58cb27772068a0aa3cbe286ddaf0b">MotionProperties::ApplyGyroscopicForceInternal</a></div><div class="ttdeci">void ApplyGyroscopicForceInternal(QuatArg inBodyRotation, float inDeltaTime)</div><div class="ttdoc">Apply the gyroscopic force (aka Dzhanibekov effect, see https://en.wikipedia.org/wiki/Tennis_racket_t...</div><div class="ttdef"><b>Definition</b> MotionProperties.inl:102</div></div>
    340. 

  340. <div class="ttc" id="aclass_motion_properties_html_a994dad1b2bf71b0f0394bec77fcb9b8e"><div class="ttname"><a href="class_motion_properties.html#a994dad1b2bf71b0f0394bec77fcb9b8e">MotionProperties::GetLocalSpaceInverseInertiaUnchecked</a></div><div class="ttdeci">Mat44 GetLocalSpaceInverseInertiaUnchecked() const</div><div class="ttdoc">Same as GetLocalSpaceInverseInertia() but doesn't check if the body is dynamic.</div><div class="ttdef"><b>Definition</b> MotionProperties.inl:46</div></div>
    341. 

  341. <div class="ttc" id="aclass_motion_properties_html_aa8a73ea7940a316151262ed9a28c4fbb"><div class="ttname"><a href="class_motion_properties.html#aa8a73ea7940a316151262ed9a28c4fbb">MotionProperties::MultiplyWorldSpaceInverseInertiaByVector</a></div><div class="ttdeci">JPH_INLINE Vec3 MultiplyWorldSpaceInverseInertiaByVector(QuatArg inBodyRotation, Vec3Arg inV) const</div><div class="ttdoc">Multiply a vector with the inverse world space inertia tensor ( ). Zero if object is static or kinema...</div><div class="ttdef"><b>Definition</b> MotionProperties.inl:86</div></div>
    342. 

  342. <div class="ttc" id="aclass_motion_properties_html_aad3b333b7af3e3b39be95edf9b69d133"><div class="ttname"><a href="class_motion_properties.html#aad3b333b7af3e3b39be95edf9b69d133">MotionProperties::ResetSleepTestSpheres</a></div><div class="ttdeci">void ResetSleepTestSpheres(const RVec3 *inPoints)</div><div class="ttdoc">Reset spheres to center around inPoints with radius 0.</div><div class="ttdef"><b>Definition</b> MotionProperties.inl:154</div></div>
    343. 

  343. <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>
    344. 

  344. <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>
    345. 

  345. <div class="ttc" id="aclass_motion_properties_html_ab95f2b1c9b6bd9b6082f8cee8a7e1858"><div class="ttname"><a href="class_motion_properties.html#ab95f2b1c9b6bd9b6082f8cee8a7e1858">MotionProperties::GetInverseInertiaForRotation</a></div><div class="ttdeci">Mat44 GetInverseInertiaForRotation(Mat44Arg inRotation) const</div><div class="ttdoc">Get inverse inertia matrix ( ) for a given object rotation (translation will be ignored)....</div><div class="ttdef"><b>Definition</b> MotionProperties.inl:69</div></div>
    346. 

  346. <div class="ttc" id="aclass_motion_properties_html_ad52e9ac8d614918a8dc9c80f22b4847e"><div class="ttname"><a href="class_motion_properties.html#ad52e9ac8d614918a8dc9c80f22b4847e">MotionProperties::GetLocalSpaceInverseInertia</a></div><div class="ttdeci">Mat44 GetLocalSpaceInverseInertia() const</div><div class="ttdoc">Get inverse inertia matrix ( ). Will be a matrix of zeros for a static or kinematic object.</div><div class="ttdef"><b>Definition</b> MotionProperties.inl:63</div></div>
    347. 

  347. <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>
    348. 

  348. <div class="ttc" id="aclass_motion_properties_html_ae1d0e7670106211909852cd6844286d9"><div class="ttname"><a href="class_motion_properties.html#ae1d0e7670106211909852cd6844286d9">MotionProperties::ApplyForceTorqueAndDragInternal</a></div><div class="ttdeci">void ApplyForceTorqueAndDragInternal(QuatArg inBodyRotation, Vec3Arg inGravity, float inDeltaTime)</div><div class="ttdoc">Apply all accumulated forces, torques and drag (should only be called by the PhysicsSystem)</div><div class="ttdef"><b>Definition</b> MotionProperties.inl:130</div></div>
    349. 

  349. <div class="ttc" id="aclass_motion_properties_html_afc2471d63f11da6c88141a1adedf6149"><div class="ttname"><a href="class_motion_properties.html#afc2471d63f11da6c88141a1adedf6149">MotionProperties::MoveKinematic</a></div><div class="ttdeci">void MoveKinematic(Vec3Arg inDeltaPosition, QuatArg inDeltaRotation, float inDeltaTime)</div><div class="ttdoc">Set velocity of body such that it will be rotate/translate by inDeltaPosition/Rotation in inDeltaTime...</div><div class="ttdef"><b>Definition</b> MotionProperties.inl:9</div></div>
    350. 

  350. <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>
    351. 

  351. <div class="ttc" id="aclass_quat_html_a108350bfce9aa53b1af87fbe2698f6f4"><div class="ttname"><a href="class_quat.html#a108350bfce9aa53b1af87fbe2698f6f4">Quat::InverseRotate</a></div><div class="ttdeci">JPH_INLINE Vec3 InverseRotate(Vec3Arg inValue) const</div><div class="ttdoc">Rotate a vector by the inverse of this quaternion.</div><div class="ttdef"><b>Definition</b> Quat.inl:353</div></div>
    352. 

  352. <div class="ttc" id="aclass_quat_html_a618a8eb64122263b8c64109f03ac47b5"><div class="ttname"><a href="class_quat.html#a618a8eb64122263b8c64109f03ac47b5">Quat::GetAxisAngle</a></div><div class="ttdeci">JPH_INLINE void GetAxisAngle(Vec3 &amp;outAxis, float &amp;outAngle) const</div><div class="ttdoc">Get axis and angle that represents this quaternion, outAngle will always be in the range .</div><div class="ttdef"><b>Definition</b> Quat.inl:137</div></div>
    353. 

  353. <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>
    354. 

  354. <div class="ttc" id="aclass_u_vec4_html_af399ef91439555b5264eec1790537547"><div class="ttname"><a href="class_u_vec4.html#af399ef91439555b5264eec1790537547">UVec4::ReinterpretAsFloat</a></div><div class="ttdeci">JPH_INLINE Vec4 ReinterpretAsFloat() const</div><div class="ttdoc">Reinterpret UVec4 as a Vec4 (doesn't change the bits)</div><div class="ttdef"><b>Definition</b> UVec4.inl:367</div></div>
    355. 

  355. <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>
    356. 

  356. <div class="ttc" id="aclass_vec3_html_a1b03f087ce2755a85ccba4ba56f1e64b"><div class="ttname"><a href="class_vec3.html#a1b03f087ce2755a85ccba4ba56f1e64b">Vec3::SplatX</a></div><div class="ttdeci">JPH_INLINE Vec4 SplatX() const</div><div class="ttdoc">Replicate the X component to all components.</div><div class="ttdef"><b>Definition</b> Vec3.inl:534</div></div>
    357. 

  357. <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>
    358. 

  358. <div class="ttc" id="aclass_vec3_html_a6bc0731860c69d4e3151981d2dc24e93"><div class="ttname"><a href="class_vec3.html#a6bc0731860c69d4e3151981d2dc24e93">Vec3::sOne</a></div><div class="ttdeci">static JPH_INLINE Vec3 sOne()</div><div class="ttdoc">Vector with all ones.</div><div class="ttdef"><b>Definition</b> Vec3.inl:125</div></div>
    359. 

  359. <div class="ttc" id="aclass_vec3_html_a81f4448e17219aafda0e3b886709d1f4"><div class="ttname"><a href="class_vec3.html#a81f4448e17219aafda0e3b886709d1f4">Vec3::SplatZ</a></div><div class="ttdeci">JPH_INLINE Vec4 SplatZ() const</div><div class="ttdoc">Replicate the Z component to all components.</div><div class="ttdef"><b>Definition</b> Vec3.inl:556</div></div>
    360. 

  360. <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>
    361. 

  361. <div class="ttc" id="aclass_vec3_html_aad5b4211a6d98be56362559eefd9b029"><div class="ttname"><a href="class_vec3.html#aad5b4211a6d98be56362559eefd9b029">Vec3::SplatY</a></div><div class="ttdeci">JPH_INLINE Vec4 SplatY() const</div><div class="ttdoc">Replicate the Y component to all components.</div><div class="ttdef"><b>Definition</b> Vec3.inl:545</div></div>
    362. 

  362. <div class="ttc" id="aclass_vec3_html_aba501a6a474028084799f871c9083dc1"><div class="ttname"><a href="class_vec3.html#aba501a6a474028084799f871c9083dc1">Vec3::LengthSq</a></div><div class="ttdeci">JPH_INLINE float LengthSq() const</div><div class="ttdoc">Squared length of vector.</div><div class="ttdef"><b>Definition</b> Vec3.inl:666</div></div>
    363. 

  363. <div class="ttc" id="aclass_vec3_html_acd0e4130c1b2863b203812f4922b3642"><div class="ttname"><a href="class_vec3.html#acd0e4130c1b2863b203812f4922b3642">Vec3::sEquals</a></div><div class="ttdeci">static JPH_INLINE UVec4 sEquals(Vec3Arg inV1, Vec3Arg inV2)</div><div class="ttdoc">Equals (component wise)</div><div class="ttdef"><b>Definition</b> Vec3.inl:178</div></div>
    364. 

  364. <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>
    365. 

  365. <div class="ttc" id="aclass_vec3_html_ae0f4ab3438fe6b9782010ef8212a6d69"><div class="ttname"><a href="class_vec3.html#ae0f4ab3438fe6b9782010ef8212a6d69">Vec3::sSelect</a></div><div class="ttdeci">static JPH_INLINE Vec3 sSelect(Vec3Arg inNotSet, Vec3Arg inSet, UVec4Arg inControl)</div><div class="ttdoc">Component wise select, returns inNotSet when highest bit of inControl = 0 and inSet when highest bit ...</div><div class="ttdef"><b>Definition</b> Vec3.inl:270</div></div>
    366. 

  366. <div class="ttc" id="aclass_vec4_html"><div class="ttname"><a href="class_vec4.html">Vec4</a></div><div class="ttdef"><b>Definition</b> Vec4.h:14</div></div>
    367. 

  367. <div class="ttc" id="aclass_vec4_html_a02525e7f8473c93268058324115eeb02"><div class="ttname"><a href="class_vec4.html#a02525e7f8473c93268058324115eeb02">Vec4::SplatX</a></div><div class="ttdeci">JPH_INLINE Vec4 SplatX() const</div><div class="ttdoc">Replicate the X component to all components.</div><div class="ttdef"><b>Definition</b> Vec4.inl:573</div></div>
    368. 

  368. <div class="ttc" id="aclass_vec4_html_a1b0f06643e493c801cdd07a18ff8b2dd"><div class="ttname"><a href="class_vec4.html#a1b0f06643e493c801cdd07a18ff8b2dd">Vec4::sAnd</a></div><div class="ttdeci">static JPH_INLINE Vec4 sAnd(Vec4Arg inV1, Vec4Arg inV2)</div><div class="ttdoc">Logical and (component wise)</div><div class="ttdef"><b>Definition</b> Vec4.inl:303</div></div>
    369. 

  369. <div class="ttc" id="aclass_vec4_html_a7ea3bcf62a6055b45527f720a51d0005"><div class="ttname"><a href="class_vec4.html#a7ea3bcf62a6055b45527f720a51d0005">Vec4::SplatY</a></div><div class="ttdeci">JPH_INLINE Vec4 SplatY() const</div><div class="ttdoc">Replicate the Y component to all components.</div><div class="ttdef"><b>Definition</b> Vec4.inl:584</div></div>
    370. 

  370. <div class="ttc" id="aclass_vec4_html_a8fcd8e6ed1b4cf308656cca7cf68d5ee"><div class="ttname"><a href="class_vec4.html#a8fcd8e6ed1b4cf308656cca7cf68d5ee">Vec4::SplatZ</a></div><div class="ttdeci">JPH_INLINE Vec4 SplatZ() const</div><div class="ttdoc">Replicate the Z component to all components.</div><div class="ttdef"><b>Definition</b> Vec4.inl:595</div></div>
    371. 

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