Home Explore Help
Sign In
cpp
/
JoltPhysics
mirror of https://github.com/jrouwe/JoltPhysics.git
2
0
Fork 0
Files Issues 0 Wiki
Branch: gh-pages
Branches Tags
JoltPhysics
/
_path_constraint_8h_source.html

_path_constraint_8h_source.html 69 KB
Permalink History Raw

123456789101112131415161718192021222324252627282930313233343536373839404142434445464748495051525354555657585960616263646566676869707172737475767778798081828384858687888990919293949596979899100101102103104105106107108109110111112113114115116117118119120121122123124125126127128129130131132133134135136137138139140141142143144145146147148149150151152153154155156157158159160161162163164165166167168169170171172173174175176177178179180181182183184185186187188189190191192193194195196197198199200201202203204205206207208209210211212213214215216217218219220221222223224225226227228229230231232233234235236237238239240241242243244245246247248249250251252253254255256257258259260261262263264265266267268269270271272273274275276277278279280281282283284285286287288289290291292293294295296297298299300301302303304305306307308309310311312313314315316317318319320321322323324325326327328329330331332333334335336337338339340341342343344345346347348349350351352353354355356357358359360361362363364365366367368369370 
  1. <!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "https://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
    2. 

  2. <html xmlns="http://www.w3.org/1999/xhtml" lang="en-US">
    3. 

  3. <head>
    4. 

  4. <meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
    5. 

  5. <meta http-equiv="X-UA-Compatible" content="IE=11"/>
    6. 

  6. <meta name="generator" content="Doxygen 1.12.0"/>
    7. 

  7. <meta name="viewport" content="width=device-width, initial-scale=1"/>
    8. 

  8. <title>Jolt Physics: Jolt/Physics/Constraints/PathConstraint.h Source File</title>
    9. 

  9. <link href="tabs.css" rel="stylesheet" type="text/css"/>
    10. 

  10. <script type="text/javascript" src="jquery.js"></script>
    11. 

  11. <script type="text/javascript" src="dynsections.js"></script>
    12. 

  12. <script type="text/javascript" src="clipboard.js"></script>
    13. 

  13. <link href="navtree.css" rel="stylesheet" type="text/css"/>
    14. 

  14. <script type="text/javascript" src="navtreedata.js"></script>
    15. 

  15. <script type="text/javascript" src="navtree.js"></script>
    16. 

  16. <script type="text/javascript" src="resize.js"></script>
    17. 

  17. <script type="text/javascript" src="cookie.js"></script>
    18. 

  18. <link href="search/search.css" rel="stylesheet" type="text/css"/>
    19. 

  19. <script type="text/javascript" src="search/searchdata.js"></script>
    20. 

  20. <script type="text/javascript" src="search/search.js"></script>
    21. 

  21. <script type="text/x-mathjax-config">
    22. 

  22. MathJax.Hub.Config({
    23. 

  23.   extensions: ["tex2jax.js"],
    24. 

  24.   jax: ["input/TeX","output/HTML-CSS"],
    25. 

  25. });
    26. 

  26. </script>
    27. 

  27. <script type="text/javascript" async="async" src="https://cdnjs.cloudflare.com/ajax/libs/mathjax/2.7.5/MathJax.js"></script>
    28. 

  28. <link href="doxygen.css" rel="stylesheet" type="text/css" />
    29. 

  29. </head>
    30. 

  30. <body>
    31. 

  31. <div id="top"><!-- do not remove this div, it is closed by doxygen! -->
    32. 

  32. <div id="titlearea">
    33. 

  33. <table cellspacing="0" cellpadding="0">
    34. 

  34.  <tbody>
    35. 

  35.  <tr id="projectrow">
    36. 

  36.   <td id="projectlogo"><img alt="Logo" src="LogoSmall.png"/></td>
    37. 

  37.   <td id="projectalign">
    38. 

  38.    <div id="projectname">Jolt Physics
    39. 

  39.    </div>
    40. 

  40.    <div id="projectbrief">A multi core friendly Game Physics Engine</div>
    41. 

  41.   </td>
    42. 

  42.  </tr>
    43. 

  43.  </tbody>
    44. 

  44. </table>
    45. 

  45. </div>
    46. 

  46. <!-- end header part -->
    47. 

  47. <!-- Generated by Doxygen 1.12.0 -->
    48. 

  48. <script type="text/javascript">
    49. 

  49. /* @license magnet:?xt=urn:btih:d3d9a9a6595521f9666a5e94cc830dab83b65699&amp;dn=expat.txt MIT */
    50. 

  50. var searchBox = new SearchBox("searchBox", "search/",'.html');
    51. 

  51. /* @license-end */
    52. 

  52. </script>
    53. 

  53. <script type="text/javascript">
    54. 

  54. /* @license magnet:?xt=urn:btih:d3d9a9a6595521f9666a5e94cc830dab83b65699&amp;dn=expat.txt MIT */
    55. 

  55. $(function() { codefold.init(0); });
    56. 

  56. /* @license-end */
    57. 

  57. </script>
    58. 

  58. <script type="text/javascript" src="menudata.js"></script>
    59. 

  59. <script type="text/javascript" src="menu.js"></script>
    60. 

  60. <script type="text/javascript">
    61. 

  61. /* @license magnet:?xt=urn:btih:d3d9a9a6595521f9666a5e94cc830dab83b65699&amp;dn=expat.txt MIT */
    62. 

  62. $(function() {
    63. 

  63.   initMenu('',true,false,'search.php','Search',true);
    64. 

  64.   $(function() { init_search(); });
    65. 

  65. });
    66. 

  66. /* @license-end */
    67. 

  67. </script>
    68. 

  68. <div id="main-nav"></div>
    69. 

  69. </div><!-- top -->
    70. 

  70. <div id="side-nav" class="ui-resizable side-nav-resizable">
    71. 

  71.   <div id="nav-tree">
    72. 

  72.     <div id="nav-tree-contents">
    73. 

  73.       <div id="nav-sync" class="sync"></div>
    74. 

  74.     </div>
    75. 

  75.   </div>
    76. 

  76.   <div id="splitbar" style="-moz-user-select:none;" 
    77. 

  77.        class="ui-resizable-handle">
    78. 

  78.   </div>
    79. 

  79. </div>
    80. 

  80. <script type="text/javascript">
    81. 

  81. /* @license magnet:?xt=urn:btih:d3d9a9a6595521f9666a5e94cc830dab83b65699&amp;dn=expat.txt MIT */
    82. 

  82. $(function(){initNavTree('_path_constraint_8h_source.html',''); initResizable(true); });
    83. 

  83. /* @license-end */
    84. 

  84. </script>
    85. 

  85. <div id="doc-content">
    86. 

  86. <!-- window showing the filter options -->
    87. 

  87. <div id="MSearchSelectWindow"
    88. 

  88.      onmouseover="return searchBox.OnSearchSelectShow()"
    89. 

  89.      onmouseout="return searchBox.OnSearchSelectHide()"
    90. 

  90.      onkeydown="return searchBox.OnSearchSelectKey(event)">
    91. 

  91. </div>
    92. 

  92. 

  93. <!-- iframe showing the search results (closed by default) -->
    94. 

  94. <div id="MSearchResultsWindow">
    95. 

  95. <div id="MSearchResults">
    96. 

  96. <div class="SRPage">
    97. 

  97. <div id="SRIndex">
    98. 

  98. <div id="SRResults"></div>
    99. 

  99. <div class="SRStatus" id="Loading">Loading...</div>
    100. 

  100. <div class="SRStatus" id="Searching">Searching...</div>
    101. 

  101. <div class="SRStatus" id="NoMatches">No Matches</div>
    102. 

  102. </div>
    103. 

  103. </div>
    104. 

  104. </div>
    105. 

  105. </div>
    106. 

  106. 

  107. <div class="header">
    108. 

  108.   <div class="headertitle"><div class="title">PathConstraint.h</div></div>
    109. 

  109. </div><!--header-->
    110. 

  110. <div class="contents">
    111. 

  111. <a href="_path_constraint_8h.html">Go to the documentation of this file.</a><div class="fragment"><div class="line"><a id="l00001" name="l00001"></a><span class="lineno">    1</span><span class="comment">// Jolt Physics Library (https://github.com/jrouwe/JoltPhysics)</span></div>
    112. 

  112. <div class="line"><a id="l00002" name="l00002"></a><span class="lineno">    2</span><span class="comment">// SPDX-FileCopyrightText: 2021 Jorrit Rouwe</span></div>
    113. 

  113. <div class="line"><a id="l00003" name="l00003"></a><span class="lineno">    3</span><span class="comment">// SPDX-License-Identifier: MIT</span></div>
    114. 

  114. <div class="line"><a id="l00004" name="l00004"></a><span class="lineno">    4</span> </div>
    115. 

  115. <div class="line"><a id="l00005" name="l00005"></a><span class="lineno">    5</span><span class="preprocessor">#pragma once</span></div>
    116. 

  116. <div class="line"><a id="l00006" name="l00006"></a><span class="lineno">    6</span> </div>
    117. 

  117. <div class="line"><a id="l00007" name="l00007"></a><span class="lineno">    7</span><span class="preprocessor">#include &lt;<a class="code" href="_two_body_constraint_8h.html">Jolt/Physics/Constraints/TwoBodyConstraint.h</a>&gt;</span></div>
    118. 

  118. <div class="line"><a id="l00008" name="l00008"></a><span class="lineno">    8</span><span class="preprocessor">#include &lt;<a class="code" href="_path_constraint_path_8h.html">Jolt/Physics/Constraints/PathConstraintPath.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="_motor_settings_8h.html">Jolt/Physics/Constraints/MotorSettings.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="_axis_constraint_part_8h.html">Jolt/Physics/Constraints/ConstraintPart/AxisConstraintPart.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="_dual_axis_constraint_part_8h.html">Jolt/Physics/Constraints/ConstraintPart/DualAxisConstraintPart.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="_hinge_rotation_constraint_part_8h.html">Jolt/Physics/Constraints/ConstraintPart/HingeRotationConstraintPart.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="_rotation_euler_constraint_part_8h.html">Jolt/Physics/Constraints/ConstraintPart/RotationEulerConstraintPart.h</a>&gt;</span></div>
    124. 

  124. <div class="line"><a id="l00014" name="l00014"></a><span class="lineno">   14</span> </div>
    125. 

  125. <div class="line"><a id="l00015" name="l00015"></a><span class="lineno">   15</span><a class="code hl_define" href="_core_8h.html#ad14098b68b8c44ea6112601031268405">JPH_NAMESPACE_BEGIN</a></div>
    126. 

  126. <div class="line"><a id="l00016" name="l00016"></a><span class="lineno">   16</span> </div>
    127. 

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

  128. <div class="line"><a id="l00018" name="l00018"></a><span class="lineno">   18</span><a class="code hl_define" href="_core_8h.html#a46d791d2b1f95fa056399441a2ad8667">JPH_GCC_SUPPRESS_WARNING</a>(<span class="stringliteral">&quot;-Wshadow&quot;</span>) <span class="comment">// GCC complains about the &#39;Free&#39; value conflicting with the &#39;Free&#39; method</span></div>
    129. 

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

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

  131. <div class="foldopen" id="foldopen00021" data-start="{" data-end="};">
    132. 

  132. <div class="line"><a id="l00021" name="l00021"></a><span class="lineno"><a class="line" href="_path_constraint_8h.html#ad9f01f2f5231cdacf562f04aefbba51b">   21</a></span>enum class <a class="code hl_enumeration" href="_path_constraint_8h.html#ad9f01f2f5231cdacf562f04aefbba51b">EPathRotationConstraintType</a></div>
    133. 

  133. <div class="line"><a id="l00022" name="l00022"></a><span class="lineno">   22</span>{</div>
    134. 

  134. <div class="line"><a id="l00023" name="l00023"></a><span class="lineno">   23</span>    <a class="code hl_enumvalue" href="_path_constraint_8h.html#ad9f01f2f5231cdacf562f04aefbba51bab24ce0cd392a5b0b8dedc66c25213594">Free</a>,                           </div>
    135. 

  135. <div class="line"><a id="l00024" name="l00024"></a><span class="lineno">   24</span>    <a class="code hl_enumvalue" href="_path_constraint_8h.html#ad9f01f2f5231cdacf562f04aefbba51bae683cb817d9b6df8318feeff63c0dc7a">ConstrainAroundTangent</a>,         </div>
    136. 

  136. <div class="line"><a id="l00025" name="l00025"></a><span class="lineno">   25</span>    <a class="code hl_enumvalue" href="_path_constraint_8h.html#ad9f01f2f5231cdacf562f04aefbba51bab302156e1f72f50fcaf8f21a79175edb">ConstrainAroundNormal</a>,          </div>
    137. 

  137. <div class="line"><a id="l00026" name="l00026"></a><span class="lineno">   26</span>    <a class="code hl_enumvalue" href="_path_constraint_8h.html#ad9f01f2f5231cdacf562f04aefbba51bac47ca6b2c57b8f6f71ffc3447b2bc732">ConstrainAroundBinormal</a>,        </div>
    138. 

  138. <div class="line"><a id="l00027" name="l00027"></a><span class="lineno">   27</span>    <a class="code hl_enumvalue" href="_path_constraint_8h.html#ad9f01f2f5231cdacf562f04aefbba51ba073f41f446822810e8d12d203367a61f">ConstrainToPath</a>,                </div>
    139. 

  139. <div class="line"><a id="l00028" name="l00028"></a><span class="lineno">   28</span>    <a class="code hl_enumvalue" href="_path_constraint_8h.html#ad9f01f2f5231cdacf562f04aefbba51ba22d4f54f5a2001373cac7b8d8f246f11">FullyConstrained</a>,               </div>
    140. 

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

  141. </div>
    142. 

  142. <div class="line"><a id="l00030" name="l00030"></a><span class="lineno">   30</span> </div>
    143. 

  143. <div class="line"><a id="l00031" name="l00031"></a><span class="lineno">   31</span>JPH_SUPPRESS_WARNING_POP</div>
    144. 

  144. <div class="line"><a id="l00032" name="l00032"></a><span class="lineno">   32</span> </div>
    145. 

  145. <div class="foldopen" id="foldopen00041" data-start="{" data-end="};">
    146. 

  146. <div class="line"><a id="l00041" name="l00041"></a><span class="lineno"><a class="line" href="class_path_constraint_settings.html">   41</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_path_constraint_settings.html">PathConstraintSettings</a> final : <span class="keyword">public</span> <a class="code hl_class" href="class_two_body_constraint_settings.html">TwoBodyConstraintSettings</a></div>
    147. 

  147. <div class="line"><a id="l00042" name="l00042"></a><span class="lineno">   42</span>{</div>
    148. 

  148. <div class="line"><a id="l00043" name="l00043"></a><span class="lineno">   43</span>    <a class="code hl_define" href="_serializable_object_8h.html#ad80cbee2b256f570ee204534dec05da4">JPH_DECLARE_SERIALIZABLE_VIRTUAL</a>(<a class="code hl_define" href="_core_8h.html#a2712a9b0f778ab9d1aa5118b4e8e6bd8">JPH_EXPORT</a>, <a class="code hl_class" href="class_path_constraint_settings.html">PathConstraintSettings</a>)</div>
    149. 

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

  150. <div class="line"><a id="l00045" name="l00045"></a><span class="lineno">   45</span><span class="keyword">public</span>:</div>
    151. 

  151. <div class="line"><a id="l00046" name="l00046"></a><span class="lineno">   46</span>    <span class="comment">// See: ConstraintSettings::SaveBinaryState</span></div>
    152. 

  152. <div class="line"><a id="l00047" name="l00047"></a><span class="lineno">   47</span>    <span class="keyword">virtual</span> <span class="keywordtype">void</span>                    <a class="code hl_function" href="class_constraint_settings.html#a3123d8d5dc6b127c2d19c95f6fe23a74">SaveBinaryState</a>(<a class="code hl_class" href="class_stream_out.html">StreamOut</a> &amp;inStream) <span class="keyword">const override</span>;</div>
    153. 

  153. <div class="line"><a id="l00048" name="l00048"></a><span class="lineno">   48</span> </div>
    154. 

  154. <div class="line"><a id="l00050" name="l00050"></a><span class="lineno">   50</span>    <span class="keyword">virtual</span> <a class="code hl_class" href="class_two_body_constraint.html">TwoBodyConstraint</a> *     <a class="code hl_function" href="class_two_body_constraint_settings.html#a42e353e736b0254b02008b050a28f55b">Create</a>(<a class="code hl_class" href="class_body.html">Body</a> &amp;inBody1, <a class="code hl_class" href="class_body.html">Body</a> &amp;inBody2) <span class="keyword">const override</span>;</div>
    155. 

  155. <div class="line"><a id="l00051" name="l00051"></a><span class="lineno">   51</span> </div>
    156. 

  156. <div class="line"><a id="l00053" name="l00053"></a><span class="lineno"><a class="line" href="class_path_constraint_settings.html#a6069d97c30057ec55fbce2b0a4058748">   53</a></span>    <a class="code hl_class" href="class_ref_const.html">RefConst&lt;PathConstraintPath&gt;</a>    <a class="code hl_variable" href="class_path_constraint_settings.html#a6069d97c30057ec55fbce2b0a4058748">mPath</a>;</div>
    157. 

  157. <div class="line"><a id="l00054" name="l00054"></a><span class="lineno">   54</span> </div>
    158. 

  158. <div class="line"><a id="l00056" name="l00056"></a><span class="lineno"><a class="line" href="class_path_constraint_settings.html#ac7dada42ac3bf1276e3b970b2cc4406c">   56</a></span>    <a class="code hl_class" href="class_vec3.html">Vec3</a>                            mPathPosition = <a class="code hl_function" href="class_vec3.html#ad03c52ab27761bc1e64e33c47632ba51">Vec3::sZero</a>();</div>
    159. 

  159. <div class="line"><a id="l00057" name="l00057"></a><span class="lineno">   57</span> </div>
    160. 

  160. <div class="line"><a id="l00059" name="l00059"></a><span class="lineno"><a class="line" href="class_path_constraint_settings.html#a74a9207faa30912010e4e1a4acd49745">   59</a></span>    <a class="code hl_class" href="class_quat.html">Quat</a>                            mPathRotation = <a class="code hl_function" href="class_quat.html#a73a43fe262fbbbc0b1872d238b972794">Quat::sIdentity</a>();</div>
    161. 

  161. <div class="line"><a id="l00060" name="l00060"></a><span class="lineno">   60</span> </div>
    162. 

  162. <div class="line"><a id="l00062" name="l00062"></a><span class="lineno"><a class="line" href="class_path_constraint_settings.html#ae13a68ddfe0a452f9814993c622c3995">   62</a></span>    <span class="keywordtype">float</span>                           mPathFraction = 0.0f;</div>
    163. 

  163. <div class="line"><a id="l00063" name="l00063"></a><span class="lineno">   63</span> </div>
    164. 

  164. <div class="line"><a id="l00065" name="l00065"></a><span class="lineno"><a class="line" href="class_path_constraint_settings.html#ada5d4e5611d226800461d69120122538">   65</a></span>    <span class="keywordtype">float</span>                           mMaxFrictionForce = 0.0f;</div>
    165. 

  165. <div class="line"><a id="l00066" name="l00066"></a><span class="lineno">   66</span> </div>
    166. 

  166. <div class="line"><a id="l00068" name="l00068"></a><span class="lineno"><a class="line" href="class_path_constraint_settings.html#a634e294d5b4b5f82a40cb8c2bf2cf776">   68</a></span>    <a class="code hl_class" href="class_motor_settings.html">MotorSettings</a>                   <a class="code hl_variable" href="class_path_constraint_settings.html#a634e294d5b4b5f82a40cb8c2bf2cf776">mPositionMotorSettings</a>;</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_path_constraint_settings.html#afe6bb172faac97fcd47d8c9282ca1a19">   71</a></span>    <a class="code hl_enumeration" href="_path_constraint_8h.html#ad9f01f2f5231cdacf562f04aefbba51b">EPathRotationConstraintType</a>     mRotationConstraintType = <a class="code hl_enumvalue" href="_path_constraint_8h.html#ad9f01f2f5231cdacf562f04aefbba51bab24ce0cd392a5b0b8dedc66c25213594">EPathRotationConstraintType::Free</a>;</div>
    169. 

  169. <div class="line"><a id="l00072" name="l00072"></a><span class="lineno">   72</span> </div>
    170. 

  170. <div class="line"><a id="l00073" name="l00073"></a><span class="lineno">   73</span><span class="keyword">protected</span>:</div>
    171. 

  171. <div class="line"><a id="l00074" name="l00074"></a><span class="lineno">   74</span>    <span class="comment">// See: ConstraintSettings::RestoreBinaryState</span></div>
    172. 

  172. <div class="line"><a id="l00075" name="l00075"></a><span class="lineno">   75</span>    <span class="keyword">virtual</span> <span class="keywordtype">void</span>                    <a class="code hl_function" href="class_constraint_settings.html#a71f815e6f2e1bd3e0c8be210936b0e79">RestoreBinaryState</a>(<a class="code hl_class" href="class_stream_in.html">StreamIn</a> &amp;inStream) <span class="keyword">override</span>;</div>
    173. 

  173. <div class="line"><a id="l00076" name="l00076"></a><span class="lineno">   76</span>};</div>
    174. 

  174. </div>
    175. 

  175. <div class="line"><a id="l00077" name="l00077"></a><span class="lineno">   77</span> </div>
    176. 

  176. <div class="foldopen" id="foldopen00079" data-start="{" data-end="};">
    177. 

  177. <div class="line"><a id="l00079" name="l00079"></a><span class="lineno"><a class="line" href="class_path_constraint.html">   79</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_path_constraint.html">PathConstraint</a> final : <span class="keyword">public</span> <a class="code hl_class" href="class_two_body_constraint.html">TwoBodyConstraint</a></div>
    178. 

  178. <div class="line"><a id="l00080" name="l00080"></a><span class="lineno">   80</span>{</div>
    179. 

  179. <div class="line"><a id="l00081" name="l00081"></a><span class="lineno">   81</span><span class="keyword">public</span>:</div>
    180. 

  180. <div class="line"><a id="l00082" name="l00082"></a><span class="lineno">   82</span>    <a class="code hl_define" href="_memory_8h.html#a91074fb218fe28954a0938c099ddd9e0">JPH_OVERRIDE_NEW_DELETE</a></div>
    181. 

  181. <div class="line"><a id="l00083" name="l00083"></a><span class="lineno">   83</span> </div>
    182. 

  182. <div class="line"><a id="l00085" name="l00085"></a><span class="lineno">   85</span>                                    <a class="code hl_class" href="class_path_constraint.html">PathConstraint</a>(<a class="code hl_class" href="class_body.html">Body</a> &amp;inBody1, <a class="code hl_class" href="class_body.html">Body</a> &amp;inBody2, <span class="keyword">const</span> <a class="code hl_class" href="class_path_constraint_settings.html">PathConstraintSettings</a> &amp;inSettings);</div>
    183. 

  183. <div class="line"><a id="l00086" name="l00086"></a><span class="lineno">   86</span> </div>
    184. 

  184. <div class="line"><a id="l00087" name="l00087"></a><span class="lineno">   87</span>    <span class="comment">// Generic interface of a constraint</span></div>
    185. 

  185. <div class="line"><a id="l00088" name="l00088"></a><span class="lineno"><a class="line" href="class_path_constraint.html#a73052367b302ac8b30a9505aa1901795">   88</a></span>    <span class="keyword">virtual</span> <a class="code hl_enumeration" href="_constraint_8h.html#adfc8350888df0c3a51714b7f372baf2d">EConstraintSubType</a>      <a class="code hl_function" href="class_path_constraint.html#a73052367b302ac8b30a9505aa1901795">GetSubType</a>()<span class="keyword"> const override                             </span>{ <span class="keywordflow">return</span> <a class="code hl_enumvalue" href="_constraint_8h.html#adfc8350888df0c3a51714b7f372baf2daac70412e939d72a9234cdebb1af5867b">EConstraintSubType::Path</a>; }</div>
    186. 

  186. <div class="line"><a id="l00089" name="l00089"></a><span class="lineno">   89</span>    <span class="keyword">virtual</span> <span class="keywordtype">void</span>                    NotifyShapeChanged(<span class="keyword">const</span> <a class="code hl_class" href="class_body_i_d.html">BodyID</a> &amp;inBodyID, <a class="code hl_class" href="class_vec3.html">Vec3Arg</a> inDeltaCOM) <span class="keyword">override</span>;</div>
    187. 

  187. <div class="line"><a id="l00090" name="l00090"></a><span class="lineno">   90</span>    <span class="keyword">virtual</span> <span class="keywordtype">void</span>                    SetupVelocityConstraint(<span class="keywordtype">float</span> inDeltaTime) <span class="keyword">override</span>;</div>
    188. 

  188. <div class="line"><a id="l00091" name="l00091"></a><span class="lineno">   91</span>    <span class="keyword">virtual</span> <span class="keywordtype">void</span>                    ResetWarmStart() <span class="keyword">override</span>;</div>
    189. 

  189. <div class="line"><a id="l00092" name="l00092"></a><span class="lineno">   92</span>    <span class="keyword">virtual</span> <span class="keywordtype">void</span>                    WarmStartVelocityConstraint(<span class="keywordtype">float</span> inWarmStartImpulseRatio) <span class="keyword">override</span>;</div>
    190. 

  190. <div class="line"><a id="l00093" name="l00093"></a><span class="lineno">   93</span>    <span class="keyword">virtual</span> <span class="keywordtype">bool</span>                    SolveVelocityConstraint(<span class="keywordtype">float</span> inDeltaTime) <span class="keyword">override</span>;</div>
    191. 

  191. <div class="line"><a id="l00094" name="l00094"></a><span class="lineno">   94</span>    <span class="keyword">virtual</span> <span class="keywordtype">bool</span>                    SolvePositionConstraint(<span class="keywordtype">float</span> inDeltaTime, <span class="keywordtype">float</span> inBaumgarte) <span class="keyword">override</span>;</div>
    192. 

  192. <div class="line"><a id="l00095" name="l00095"></a><span class="lineno">   95</span><span class="preprocessor">#ifdef JPH_DEBUG_RENDERER</span></div>
    193. 

  193. <div class="line"><a id="l00096" name="l00096"></a><span class="lineno">   96</span>    <span class="keyword">virtual</span> <span class="keywordtype">void</span>                    DrawConstraint(<a class="code hl_class" href="class_debug_renderer.html">DebugRenderer</a> *inRenderer) <span class="keyword">const override</span>;</div>
    194. 

  194. <div class="line"><a id="l00097" name="l00097"></a><span class="lineno">   97</span><span class="preprocessor">#endif </span><span class="comment">// JPH_DEBUG_RENDERER</span></div>
    195. 

  195. <div class="line"><a id="l00098" name="l00098"></a><span class="lineno">   98</span>    <span class="keyword">virtual</span> <span class="keywordtype">void</span>                    SaveState(<a class="code hl_class" href="class_state_recorder.html">StateRecorder</a> &amp;inStream) <span class="keyword">const override</span>;</div>
    196. 

  196. <div class="line"><a id="l00099" name="l00099"></a><span class="lineno">   99</span>    <span class="keyword">virtual</span> <span class="keywordtype">void</span>                    RestoreState(<a class="code hl_class" href="class_state_recorder.html">StateRecorder</a> &amp;inStream) <span class="keyword">override</span>;</div>
    197. 

  197. <div class="line"><a id="l00100" name="l00100"></a><span class="lineno"><a class="line" href="class_path_constraint.html#a5f6d3c7d860ee5c715f8fef818fd4f1f">  100</a></span>    <span class="keyword">virtual</span> <span class="keywordtype">bool</span>                    <a class="code hl_function" href="class_path_constraint.html#a5f6d3c7d860ee5c715f8fef818fd4f1f">IsActive</a>()<span class="keyword"> const override                               </span>{ <span class="keywordflow">return</span> <a class="code hl_function" href="class_two_body_constraint.html#a9ec4e14ada31bf5172141c2d50663e76">TwoBodyConstraint::IsActive</a>() &amp;&amp; mPath != <span class="keyword">nullptr</span>; }</div>
    198. 

  198. <div class="line"><a id="l00101" name="l00101"></a><span class="lineno">  101</span>    <span class="keyword">virtual</span> <a class="code hl_class" href="class_ref.html">Ref&lt;ConstraintSettings&gt;</a> GetConstraintSettings() <span class="keyword">const override</span>;</div>
    199. 

  199. <div class="line"><a id="l00102" name="l00102"></a><span class="lineno">  102</span> </div>
    200. 

  200. <div class="line"><a id="l00103" name="l00103"></a><span class="lineno">  103</span>    <span class="comment">// See: TwoBodyConstraint</span></div>
    201. 

  201. <div class="line"><a id="l00104" name="l00104"></a><span class="lineno"><a class="line" href="class_path_constraint.html#a7fd4ca9762f295af3146258606a6e22a">  104</a></span>    <span class="keyword">virtual</span> <a class="code hl_class" href="class_mat44.html">Mat44</a>                   <a class="code hl_function" href="class_path_constraint.html#a7fd4ca9762f295af3146258606a6e22a">GetConstraintToBody1Matrix</a>()<span class="keyword"> const override             </span>{ <span class="keywordflow">return</span> mPathToBody1; }</div>
    202. 

  202. <div class="line"><a id="l00105" name="l00105"></a><span class="lineno"><a class="line" href="class_path_constraint.html#aefa354c9926217e88db8741736121f20">  105</a></span>    <span class="keyword">virtual</span> <a class="code hl_class" href="class_mat44.html">Mat44</a>                   <a class="code hl_function" href="class_path_constraint.html#aefa354c9926217e88db8741736121f20">GetConstraintToBody2Matrix</a>()<span class="keyword"> const override             </span>{ <span class="keywordflow">return</span> mPathToBody2; }</div>
    203. 

  203. <div class="line"><a id="l00106" name="l00106"></a><span class="lineno">  106</span> </div>
    204. 

  204. <div class="line"><a id="l00108" name="l00108"></a><span class="lineno">  108</span>    <span class="keywordtype">void</span>                            SetPath(<span class="keyword">const</span> <a class="code hl_class" href="class_path_constraint_path.html">PathConstraintPath</a> *inPath, <span class="keywordtype">float</span> inPathFraction);</div>
    205. 

  205. <div class="line"><a id="l00109" name="l00109"></a><span class="lineno">  109</span> </div>
    206. 

  206. <div class="line"><a id="l00111" name="l00111"></a><span class="lineno"><a class="line" href="class_path_constraint.html#ab2fd78b89e5df020c5ed865c900326d4">  111</a></span>    <span class="keyword">const</span> <a class="code hl_class" href="class_path_constraint_path.html">PathConstraintPath</a> *      <a class="code hl_function" href="class_path_constraint.html#ab2fd78b89e5df020c5ed865c900326d4">GetPath</a>()<span class="keyword"> const                                         </span>{ <span class="keywordflow">return</span> mPath; }</div>
    207. 

  207. <div class="line"><a id="l00112" name="l00112"></a><span class="lineno">  112</span> </div>
    208. 

  208. <div class="line"><a id="l00114" name="l00114"></a><span class="lineno"><a class="line" href="class_path_constraint.html#af0f434b2bb5e416a6efc402aaa5eba22">  114</a></span>    <span class="keywordtype">float</span>                           <a class="code hl_function" href="class_path_constraint.html#af0f434b2bb5e416a6efc402aaa5eba22">GetPathFraction</a>()<span class="keyword"> const                                 </span>{ <span class="keywordflow">return</span> mPathFraction; }</div>
    209. 

  209. <div class="line"><a id="l00115" name="l00115"></a><span class="lineno">  115</span> </div>
    210. 

  210. <div class="line"><a id="l00117" name="l00117"></a><span class="lineno"><a class="line" href="class_path_constraint.html#ad6901dcd63274ede819db76d1e68607e">  117</a></span>    <span class="keywordtype">void</span>                            <a class="code hl_function" href="class_path_constraint.html#ad6901dcd63274ede819db76d1e68607e">SetMaxFrictionForce</a>(<span class="keywordtype">float</span> inFrictionForce)              { mMaxFrictionForce = inFrictionForce; }</div>
    211. 

  211. <div class="line"><a id="l00118" name="l00118"></a><span class="lineno"><a class="line" href="class_path_constraint.html#a0de4a86654e7757baf2e0715aae9e221">  118</a></span>    <span class="keywordtype">float</span>                           <a class="code hl_function" href="class_path_constraint.html#a0de4a86654e7757baf2e0715aae9e221">GetMaxFrictionForce</a>()<span class="keyword"> const                             </span>{ <span class="keywordflow">return</span> mMaxFrictionForce; }</div>
    212. 

  212. <div class="line"><a id="l00119" name="l00119"></a><span class="lineno">  119</span> </div>
    213. 

  213. <div class="line"><a id="l00121" name="l00121"></a><span class="lineno"><a class="line" href="class_path_constraint.html#aae30cd39beec4628b22295eec9fdb66b">  121</a></span>    <a class="code hl_class" href="class_motor_settings.html">MotorSettings</a> &amp;                 <a class="code hl_function" href="class_path_constraint.html#aae30cd39beec4628b22295eec9fdb66b">GetPositionMotorSettings</a>()                              { <span class="keywordflow">return</span> mPositionMotorSettings; }</div>
    214. 

  214. <div class="line"><a id="l00122" name="l00122"></a><span class="lineno"><a class="line" href="class_path_constraint.html#afe1f87898534471bb7dc888dd9676262">  122</a></span>    <span class="keyword">const</span> <a class="code hl_class" href="class_motor_settings.html">MotorSettings</a> &amp;           <a class="code hl_function" href="class_path_constraint.html#afe1f87898534471bb7dc888dd9676262">GetPositionMotorSettings</a>()<span class="keyword"> const                        </span>{ <span class="keywordflow">return</span> mPositionMotorSettings; }</div>
    215. 

  215. <div class="line"><a id="l00123" name="l00123"></a><span class="lineno">  123</span> </div>
    216. 

  216. <div class="line"><a id="l00124" name="l00124"></a><span class="lineno">  124</span>    <span class="comment">// Position motor controls (drives body 2 along the path)</span></div>
    217. 

  217. <div class="line"><a id="l00125" name="l00125"></a><span class="lineno"><a class="line" href="class_path_constraint.html#a668c00d9305747b19511d13f4947ca33">  125</a></span>    <span class="keywordtype">void</span>                            <a class="code hl_function" href="class_path_constraint.html#a668c00d9305747b19511d13f4947ca33">SetPositionMotorState</a>(<a class="code hl_enumeration" href="_motor_settings_8h.html#a691a2387946263d993fa8e1c9488bc2b">EMotorState</a> inState)              { <a class="code hl_define" href="_issue_reporting_8h.html#aaf6b1df827e11b7ca5f6f8778bd8f8cd">JPH_ASSERT</a>(inState == <a class="code hl_enumvalue" href="_motor_settings_8h.html#a691a2387946263d993fa8e1c9488bc2bad15305d7a4e34e02489c74a5ef542f36">EMotorState::Off</a> || mPositionMotorSettings.IsValid()); mPositionMotorState = inState; }</div>
    218. 

  218. <div class="line"><a id="l00126" name="l00126"></a><span class="lineno"><a class="line" href="class_path_constraint.html#a2d073636288d7a79e0453fff543c0660">  126</a></span>    <a class="code hl_enumeration" href="_motor_settings_8h.html#a691a2387946263d993fa8e1c9488bc2b">EMotorState</a>                     <a class="code hl_function" href="class_path_constraint.html#a2d073636288d7a79e0453fff543c0660">GetPositionMotorState</a>()<span class="keyword"> const                           </span>{ <span class="keywordflow">return</span> mPositionMotorState; }</div>
    219. 

  219. <div class="line"><a id="l00127" name="l00127"></a><span class="lineno"><a class="line" href="class_path_constraint.html#a1b6ed041ae2c5ca2e0622cc866ff10ce">  127</a></span>    <span class="keywordtype">void</span>                            <a class="code hl_function" href="class_path_constraint.html#a1b6ed041ae2c5ca2e0622cc866ff10ce">SetTargetVelocity</a>(<span class="keywordtype">float</span> inVelocity)                     { mTargetVelocity = inVelocity; }</div>
    220. 

  220. <div class="line"><a id="l00128" name="l00128"></a><span class="lineno"><a class="line" href="class_path_constraint.html#a9c6d88045a77cb4f442e3ef239b20d84">  128</a></span>    <span class="keywordtype">float</span>                           <a class="code hl_function" href="class_path_constraint.html#a9c6d88045a77cb4f442e3ef239b20d84">GetTargetVelocity</a>()<span class="keyword"> const                               </span>{ <span class="keywordflow">return</span> mTargetVelocity; }</div>
    221. 

  221. <div class="line"><a id="l00129" name="l00129"></a><span class="lineno"><a class="line" href="class_path_constraint.html#a22196b6a304d015a58ceb2b08923583d">  129</a></span>    <span class="keywordtype">void</span>                            <a class="code hl_function" href="class_path_constraint.html#a22196b6a304d015a58ceb2b08923583d">SetTargetPathFraction</a>(<span class="keywordtype">float</span> inFraction)                 { <a class="code hl_define" href="_issue_reporting_8h.html#aaf6b1df827e11b7ca5f6f8778bd8f8cd">JPH_ASSERT</a>(mPath-&gt;IsLooping() || (inFraction &gt;= 0.0f &amp;&amp; inFraction &lt;= mPath-&gt;GetPathMaxFraction())); mTargetPathFraction = inFraction; }</div>
    222. 

  222. <div class="line"><a id="l00130" name="l00130"></a><span class="lineno"><a class="line" href="class_path_constraint.html#a48f8818d18d5c46c27a6ba69d91c36b3">  130</a></span>    <span class="keywordtype">float</span>                           <a class="code hl_function" href="class_path_constraint.html#a48f8818d18d5c46c27a6ba69d91c36b3">GetTargetPathFraction</a>()<span class="keyword"> const                           </span>{ <span class="keywordflow">return</span> mTargetPathFraction; }</div>
    223. 

  223. <div class="line"><a id="l00131" name="l00131"></a><span class="lineno">  131</span> </div>
    224. 

  224. <div class="line"><a id="l00133" name="l00133"></a><span class="lineno"><a class="line" href="class_path_constraint.html#aad8272de843a287e26bf320fdf2755a3">  133</a></span>    <span class="keyword">inline</span> <a class="code hl_class" href="class_vector.html">Vector&lt;2&gt;</a>                <a class="code hl_function" href="class_path_constraint.html#aad8272de843a287e26bf320fdf2755a3">GetTotalLambdaPosition</a>()<span class="keyword"> const                          </span>{ <span class="keywordflow">return</span> mPositionConstraintPart.GetTotalLambda(); }</div>
    225. 

  225. <div class="line"><a id="l00134" name="l00134"></a><span class="lineno"><a class="line" href="class_path_constraint.html#afef42c01cab96ed8cb32c607a6a0baf8">  134</a></span>    <span class="keyword">inline</span> <span class="keywordtype">float</span>                    <a class="code hl_function" href="class_path_constraint.html#afef42c01cab96ed8cb32c607a6a0baf8">GetTotalLambdaPositionLimits</a>()<span class="keyword"> const                    </span>{ <span class="keywordflow">return</span> mPositionLimitsConstraintPart.GetTotalLambda(); }</div>
    226. 

  226. <div class="line"><a id="l00135" name="l00135"></a><span class="lineno"><a class="line" href="class_path_constraint.html#ad9f21a4ed20007ceb8181db0bf999ce3">  135</a></span>    <span class="keyword">inline</span> <span class="keywordtype">float</span>                    <a class="code hl_function" href="class_path_constraint.html#ad9f21a4ed20007ceb8181db0bf999ce3">GetTotalLambdaMotor</a>()<span class="keyword"> const                             </span>{ <span class="keywordflow">return</span> mPositionMotorConstraintPart.GetTotalLambda(); }</div>
    227. 

  227. <div class="line"><a id="l00136" name="l00136"></a><span class="lineno"><a class="line" href="class_path_constraint.html#abb7f43813e7aa47c1719550303e8b768">  136</a></span>    <span class="keyword">inline</span> <a class="code hl_class" href="class_vector.html">Vector&lt;2&gt;</a>                <a class="code hl_function" href="class_path_constraint.html#abb7f43813e7aa47c1719550303e8b768">GetTotalLambdaRotationHinge</a>()<span class="keyword"> const                     </span>{ <span class="keywordflow">return</span> mHingeConstraintPart.GetTotalLambda(); }</div>
    228. 

  228. <div class="line"><a id="l00137" name="l00137"></a><span class="lineno"><a class="line" href="class_path_constraint.html#a7dc7086987fb9a1761fc9fab81ceadb3">  137</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_path_constraint.html#a7dc7086987fb9a1761fc9fab81ceadb3">GetTotalLambdaRotation</a>()<span class="keyword"> const                          </span>{ <span class="keywordflow">return</span> mRotationConstraintPart.GetTotalLambda(); }</div>
    229. 

  229. <div class="line"><a id="l00138" name="l00138"></a><span class="lineno">  138</span> </div>
    230. 

  230. <div class="line"><a id="l00139" name="l00139"></a><span class="lineno">  139</span><span class="keyword">private</span>:</div>
    231. 

  231. <div class="line"><a id="l00140" name="l00140"></a><span class="lineno">  140</span>    <span class="comment">// Internal helper function to calculate the values below</span></div>
    232. 

  232. <div class="line"><a id="l00141" name="l00141"></a><span class="lineno">  141</span>    <span class="keywordtype">void</span>                            CalculateConstraintProperties(<span class="keywordtype">float</span> inDeltaTime);</div>
    233. 

  233. <div class="line"><a id="l00142" name="l00142"></a><span class="lineno">  142</span> </div>
    234. 

  234. <div class="line"><a id="l00143" name="l00143"></a><span class="lineno">  143</span>    <span class="comment">// CONFIGURATION PROPERTIES FOLLOW</span></div>
    235. 

  235. <div class="line"><a id="l00144" name="l00144"></a><span class="lineno">  144</span> </div>
    236. 

  236. <div class="line"><a id="l00145" name="l00145"></a><span class="lineno">  145</span>    <a class="code hl_class" href="class_ref_const.html">RefConst&lt;PathConstraintPath&gt;</a>    mPath;                                                  </div>
    237. 

  237. <div class="line"><a id="l00146" name="l00146"></a><span class="lineno">  146</span>    <a class="code hl_class" href="class_mat44.html">Mat44</a>                           mPathToBody1;                                           </div>
    238. 

  238. <div class="line"><a id="l00147" name="l00147"></a><span class="lineno">  147</span>    <a class="code hl_class" href="class_mat44.html">Mat44</a>                           mPathToBody2;                                           </div>
    239. 

  239. <div class="line"><a id="l00148" name="l00148"></a><span class="lineno">  148</span>    <a class="code hl_enumeration" href="_path_constraint_8h.html#ad9f01f2f5231cdacf562f04aefbba51b">EPathRotationConstraintType</a>     mRotationConstraintType;                                </div>
    240. 

  240. <div class="line"><a id="l00149" name="l00149"></a><span class="lineno">  149</span> </div>
    241. 

  241. <div class="line"><a id="l00150" name="l00150"></a><span class="lineno">  150</span>    <span class="comment">// Friction</span></div>
    242. 

  242. <div class="line"><a id="l00151" name="l00151"></a><span class="lineno">  151</span>    <span class="keywordtype">float</span>                           mMaxFrictionForce;</div>
    243. 

  243. <div class="line"><a id="l00152" name="l00152"></a><span class="lineno">  152</span> </div>
    244. 

  244. <div class="line"><a id="l00153" name="l00153"></a><span class="lineno">  153</span>    <span class="comment">// Motor controls</span></div>
    245. 

  245. <div class="line"><a id="l00154" name="l00154"></a><span class="lineno">  154</span>    <a class="code hl_class" href="class_motor_settings.html">MotorSettings</a>                   mPositionMotorSettings;</div>
    246. 

  246. <div class="line"><a id="l00155" name="l00155"></a><span class="lineno">  155</span>    <a class="code hl_enumeration" href="_motor_settings_8h.html#a691a2387946263d993fa8e1c9488bc2b">EMotorState</a>                     mPositionMotorState = <a class="code hl_enumvalue" href="_motor_settings_8h.html#a691a2387946263d993fa8e1c9488bc2bad15305d7a4e34e02489c74a5ef542f36">EMotorState::Off</a>;</div>
    247. 

  247. <div class="line"><a id="l00156" name="l00156"></a><span class="lineno">  156</span>    <span class="keywordtype">float</span>                           mTargetVelocity = 0.0f;</div>
    248. 

  248. <div class="line"><a id="l00157" name="l00157"></a><span class="lineno">  157</span>    <span class="keywordtype">float</span>                           mTargetPathFraction = 0.0f;</div>
    249. 

  249. <div class="line"><a id="l00158" name="l00158"></a><span class="lineno">  158</span> </div>
    250. 

  250. <div class="line"><a id="l00159" name="l00159"></a><span class="lineno">  159</span>    <span class="comment">// RUN TIME PROPERTIES FOLLOW</span></div>
    251. 

  251. <div class="line"><a id="l00160" name="l00160"></a><span class="lineno">  160</span> </div>
    252. 

  252. <div class="line"><a id="l00161" name="l00161"></a><span class="lineno">  161</span>    <span class="comment">// Positions where the point constraint acts on in world space</span></div>
    253. 

  253. <div class="line"><a id="l00162" name="l00162"></a><span class="lineno">  162</span>    <a class="code hl_class" href="class_vec3.html">Vec3</a>                            mR1;</div>
    254. 

  254. <div class="line"><a id="l00163" name="l00163"></a><span class="lineno">  163</span>    <a class="code hl_class" href="class_vec3.html">Vec3</a>                            mR2;</div>
    255. 

  255. <div class="line"><a id="l00164" name="l00164"></a><span class="lineno">  164</span> </div>
    256. 

  256. <div class="line"><a id="l00165" name="l00165"></a><span class="lineno">  165</span>    <span class="comment">// X2 + R2 - X1 - R1</span></div>
    257. 

  257. <div class="line"><a id="l00166" name="l00166"></a><span class="lineno">  166</span>    <a class="code hl_class" href="class_vec3.html">Vec3</a>                            mU;</div>
    258. 

  258. <div class="line"><a id="l00167" name="l00167"></a><span class="lineno">  167</span> </div>
    259. 

  259. <div class="line"><a id="l00168" name="l00168"></a><span class="lineno">  168</span>    <span class="comment">// World space path tangent</span></div>
    260. 

  260. <div class="line"><a id="l00169" name="l00169"></a><span class="lineno">  169</span>    <a class="code hl_class" href="class_vec3.html">Vec3</a>                            mPathTangent;</div>
    261. 

  261. <div class="line"><a id="l00170" name="l00170"></a><span class="lineno">  170</span> </div>
    262. 

  262. <div class="line"><a id="l00171" name="l00171"></a><span class="lineno">  171</span>    <span class="comment">// Normals to the path tangent</span></div>
    263. 

  263. <div class="line"><a id="l00172" name="l00172"></a><span class="lineno">  172</span>    <a class="code hl_class" href="class_vec3.html">Vec3</a>                            mPathNormal;</div>
    264. 

  264. <div class="line"><a id="l00173" name="l00173"></a><span class="lineno">  173</span>    <a class="code hl_class" href="class_vec3.html">Vec3</a>                            mPathBinormal;</div>
    265. 

  265. <div class="line"><a id="l00174" name="l00174"></a><span class="lineno">  174</span> </div>
    266. 

  266. <div class="line"><a id="l00175" name="l00175"></a><span class="lineno">  175</span>    <span class="comment">// Inverse of initial rotation from body 1 to body 2 in body 1 space (only used when rotation constraint type is FullyConstrained)</span></div>
    267. 

  267. <div class="line"><a id="l00176" name="l00176"></a><span class="lineno">  176</span>    <a class="code hl_class" href="class_quat.html">Quat</a>                            mInvInitialOrientation;</div>
    268. 

  268. <div class="line"><a id="l00177" name="l00177"></a><span class="lineno">  177</span> </div>
    269. 

  269. <div class="line"><a id="l00178" name="l00178"></a><span class="lineno">  178</span>    <span class="comment">// Current fraction along the path where body 2 is attached</span></div>
    270. 

  270. <div class="line"><a id="l00179" name="l00179"></a><span class="lineno">  179</span>    <span class="keywordtype">float</span>                           mPathFraction = 0.0f;</div>
    271. 

  271. <div class="line"><a id="l00180" name="l00180"></a><span class="lineno">  180</span> </div>
    272. 

  272. <div class="line"><a id="l00181" name="l00181"></a><span class="lineno">  181</span>    <span class="comment">// Translation constraint parts</span></div>
    273. 

  273. <div class="line"><a id="l00182" name="l00182"></a><span class="lineno">  182</span>    <a class="code hl_class" href="class_dual_axis_constraint_part.html">DualAxisConstraintPart</a>          mPositionConstraintPart;                                </div>
    274. 

  274. <div class="line"><a id="l00183" name="l00183"></a><span class="lineno">  183</span>    <a class="code hl_class" href="class_axis_constraint_part.html">AxisConstraintPart</a>              mPositionLimitsConstraintPart;                          </div>
    275. 

  275. <div class="line"><a id="l00184" name="l00184"></a><span class="lineno">  184</span>    <a class="code hl_class" href="class_axis_constraint_part.html">AxisConstraintPart</a>              mPositionMotorConstraintPart;                           </div>
    276. 

  276. <div class="line"><a id="l00185" name="l00185"></a><span class="lineno">  185</span> </div>
    277. 

  277. <div class="line"><a id="l00186" name="l00186"></a><span class="lineno">  186</span>    <span class="comment">// Rotation constraint parts</span></div>
    278. 

  278. <div class="line"><a id="l00187" name="l00187"></a><span class="lineno">  187</span>    <a class="code hl_class" href="class_hinge_rotation_constraint_part.html">HingeRotationConstraintPart</a>     mHingeConstraintPart;                                   </div>
    279. 

  279. <div class="line"><a id="l00188" name="l00188"></a><span class="lineno">  188</span>    <a class="code hl_class" href="class_rotation_euler_constraint_part.html">RotationEulerConstraintPart</a>     mRotationConstraintPart;                                </div>
    280. 

  280. <div class="line"><a id="l00189" name="l00189"></a><span class="lineno">  189</span>};</div>
    281. 

  281. </div>
    282. 

  282. <div class="line"><a id="l00190" name="l00190"></a><span class="lineno">  190</span> </div>
    283. 

  283. <div class="line"><a id="l00191" name="l00191"></a><span class="lineno">  191</span><a class="code hl_define" href="_core_8h.html#a73da8725998b00321a9db341202d650d">JPH_NAMESPACE_END</a></div>
    284. 

  284. <div class="ttc" id="a_axis_constraint_part_8h_html"><div class="ttname"><a href="_axis_constraint_part_8h.html">AxisConstraintPart.h</a></div></div>
    285. 

  285. <div class="ttc" id="a_constraint_8h_html_adfc8350888df0c3a51714b7f372baf2d"><div class="ttname"><a href="_constraint_8h.html#adfc8350888df0c3a51714b7f372baf2d">EConstraintSubType</a></div><div class="ttdeci">EConstraintSubType</div><div class="ttdoc">Enum to identify constraint sub type.</div><div class="ttdef"><b>Definition</b> Constraint.h:34</div></div>
    286. 

  286. <div class="ttc" id="a_constraint_8h_html_adfc8350888df0c3a51714b7f372baf2daac70412e939d72a9234cdebb1af5867b"><div class="ttname"><a href="_constraint_8h.html#adfc8350888df0c3a51714b7f372baf2daac70412e939d72a9234cdebb1af5867b">EConstraintSubType::Path</a></div><div class="ttdeci">@ Path</div></div>
    287. 

  287. <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>
    288. 

  288. <div class="ttc" id="a_core_8h_html_a46d791d2b1f95fa056399441a2ad8667"><div class="ttname"><a href="_core_8h.html#a46d791d2b1f95fa056399441a2ad8667">JPH_GCC_SUPPRESS_WARNING</a></div><div class="ttdeci">#define JPH_GCC_SUPPRESS_WARNING(w)</div><div class="ttdef"><b>Definition</b> Core.h:312</div></div>
    289. 

  289. <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>
    290. 

  290. <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>
    291. 

  291. <div class="ttc" id="a_dual_axis_constraint_part_8h_html"><div class="ttname"><a href="_dual_axis_constraint_part_8h.html">DualAxisConstraintPart.h</a></div></div>
    292. 

  292. <div class="ttc" id="a_hinge_rotation_constraint_part_8h_html"><div class="ttname"><a href="_hinge_rotation_constraint_part_8h.html">HingeRotationConstraintPart.h</a></div></div>
    293. 

  293. <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>
    294. 

  294. <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>
    295. 

  295. <div class="ttc" id="a_motor_settings_8h_html"><div class="ttname"><a href="_motor_settings_8h.html">MotorSettings.h</a></div></div>
    296. 

  296. <div class="ttc" id="a_motor_settings_8h_html_a691a2387946263d993fa8e1c9488bc2b"><div class="ttname"><a href="_motor_settings_8h.html#a691a2387946263d993fa8e1c9488bc2b">EMotorState</a></div><div class="ttdeci">EMotorState</div><div class="ttdef"><b>Definition</b> MotorSettings.h:17</div></div>
    297. 

  297. <div class="ttc" id="a_motor_settings_8h_html_a691a2387946263d993fa8e1c9488bc2bad15305d7a4e34e02489c74a5ef542f36"><div class="ttname"><a href="_motor_settings_8h.html#a691a2387946263d993fa8e1c9488bc2bad15305d7a4e34e02489c74a5ef542f36">EMotorState::Off</a></div><div class="ttdeci">@ Off</div><div class="ttdoc">Motor is off.</div></div>
    298. 

  298. <div class="ttc" id="a_path_constraint_8h_html_ad9f01f2f5231cdacf562f04aefbba51b"><div class="ttname"><a href="_path_constraint_8h.html#ad9f01f2f5231cdacf562f04aefbba51b">EPathRotationConstraintType</a></div><div class="ttdeci">EPathRotationConstraintType</div><div class="ttdoc">How to constrain the rotation of the body to a PathConstraint.</div><div class="ttdef"><b>Definition</b> PathConstraint.h:22</div></div>
    299. 

  299. <div class="ttc" id="a_path_constraint_8h_html_ad9f01f2f5231cdacf562f04aefbba51ba073f41f446822810e8d12d203367a61f"><div class="ttname"><a href="_path_constraint_8h.html#ad9f01f2f5231cdacf562f04aefbba51ba073f41f446822810e8d12d203367a61f">EPathRotationConstraintType::ConstrainToPath</a></div><div class="ttdeci">@ ConstrainToPath</div><div class="ttdoc">Fully constrain the rotation of body 2 to the path (following the tangent and normal of the path)</div></div>
    300. 

  300. <div class="ttc" id="a_path_constraint_8h_html_ad9f01f2f5231cdacf562f04aefbba51ba22d4f54f5a2001373cac7b8d8f246f11"><div class="ttname"><a href="_path_constraint_8h.html#ad9f01f2f5231cdacf562f04aefbba51ba22d4f54f5a2001373cac7b8d8f246f11">EPathRotationConstraintType::FullyConstrained</a></div><div class="ttdeci">@ FullyConstrained</div><div class="ttdoc">Fully constrain the rotation of the body 2 to the rotation of body 1.</div></div>
    301. 

  301. <div class="ttc" id="a_path_constraint_8h_html_ad9f01f2f5231cdacf562f04aefbba51bab24ce0cd392a5b0b8dedc66c25213594"><div class="ttname"><a href="_path_constraint_8h.html#ad9f01f2f5231cdacf562f04aefbba51bab24ce0cd392a5b0b8dedc66c25213594">EPathRotationConstraintType::Free</a></div><div class="ttdeci">@ Free</div><div class="ttdoc">Do not constrain the rotation of the body at all.</div></div>
    302. 

  302. <div class="ttc" id="a_path_constraint_8h_html_ad9f01f2f5231cdacf562f04aefbba51bab302156e1f72f50fcaf8f21a79175edb"><div class="ttname"><a href="_path_constraint_8h.html#ad9f01f2f5231cdacf562f04aefbba51bab302156e1f72f50fcaf8f21a79175edb">EPathRotationConstraintType::ConstrainAroundNormal</a></div><div class="ttdeci">@ ConstrainAroundNormal</div><div class="ttdoc">Only allow rotation around the normal vector (perpendicular to the path)</div></div>
    303. 

  303. <div class="ttc" id="a_path_constraint_8h_html_ad9f01f2f5231cdacf562f04aefbba51bac47ca6b2c57b8f6f71ffc3447b2bc732"><div class="ttname"><a href="_path_constraint_8h.html#ad9f01f2f5231cdacf562f04aefbba51bac47ca6b2c57b8f6f71ffc3447b2bc732">EPathRotationConstraintType::ConstrainAroundBinormal</a></div><div class="ttdeci">@ ConstrainAroundBinormal</div><div class="ttdoc">Only allow rotation around the binormal vector (perpendicular to the path)</div></div>
    304. 

  304. <div class="ttc" id="a_path_constraint_8h_html_ad9f01f2f5231cdacf562f04aefbba51bae683cb817d9b6df8318feeff63c0dc7a"><div class="ttname"><a href="_path_constraint_8h.html#ad9f01f2f5231cdacf562f04aefbba51bae683cb817d9b6df8318feeff63c0dc7a">EPathRotationConstraintType::ConstrainAroundTangent</a></div><div class="ttdeci">@ ConstrainAroundTangent</div><div class="ttdoc">Only allow rotation around the tangent vector (following the path)</div></div>
    305. 

  305. <div class="ttc" id="a_path_constraint_path_8h_html"><div class="ttname"><a href="_path_constraint_path_8h.html">PathConstraintPath.h</a></div></div>
    306. 

  306. <div class="ttc" id="a_rotation_euler_constraint_part_8h_html"><div class="ttname"><a href="_rotation_euler_constraint_part_8h.html">RotationEulerConstraintPart.h</a></div></div>
    307. 

  307. <div class="ttc" id="a_serializable_object_8h_html_ad80cbee2b256f570ee204534dec05da4"><div class="ttname"><a href="_serializable_object_8h.html#ad80cbee2b256f570ee204534dec05da4">JPH_DECLARE_SERIALIZABLE_VIRTUAL</a></div><div class="ttdeci">#define JPH_DECLARE_SERIALIZABLE_VIRTUAL(linkage, class_name)</div><div class="ttdef"><b>Definition</b> SerializableObject.h:109</div></div>
    308. 

  308. <div class="ttc" id="a_two_body_constraint_8h_html"><div class="ttname"><a href="_two_body_constraint_8h.html">TwoBodyConstraint.h</a></div></div>
    309. 

  309. <div class="ttc" id="aclass_axis_constraint_part_html"><div class="ttname"><a href="class_axis_constraint_part.html">AxisConstraintPart</a></div><div class="ttdef"><b>Definition</b> AxisConstraintPart.h:43</div></div>
    310. 

  310. <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>
    311. 

  311. <div class="ttc" id="aclass_body_i_d_html"><div class="ttname"><a href="class_body_i_d.html">BodyID</a></div><div class="ttdoc">ID of a body. This is a way of reasoning about bodies in a multithreaded simulation while avoiding ra...</div><div class="ttdef"><b>Definition</b> BodyID.h:13</div></div>
    312. 

  312. <div class="ttc" id="aclass_constraint_settings_html_a3123d8d5dc6b127c2d19c95f6fe23a74"><div class="ttname"><a href="class_constraint_settings.html#a3123d8d5dc6b127c2d19c95f6fe23a74">ConstraintSettings::SaveBinaryState</a></div><div class="ttdeci">virtual void SaveBinaryState(StreamOut &amp;inStream) const</div><div class="ttdoc">Saves the contents of the constraint settings in binary form to inStream.</div><div class="ttdef"><b>Definition</b> Constraint.cpp:26</div></div>
    313. 

  313. <div class="ttc" id="aclass_constraint_settings_html_a71f815e6f2e1bd3e0c8be210936b0e79"><div class="ttname"><a href="class_constraint_settings.html#a71f815e6f2e1bd3e0c8be210936b0e79">ConstraintSettings::RestoreBinaryState</a></div><div class="ttdeci">virtual void RestoreBinaryState(StreamIn &amp;inStream)</div><div class="ttdoc">This function should not be called directly, it is used by sRestoreFromBinaryState.</div><div class="ttdef"><b>Definition</b> Constraint.cpp:36</div></div>
    314. 

  314. <div class="ttc" id="aclass_debug_renderer_html"><div class="ttname"><a href="class_debug_renderer.html">DebugRenderer</a></div><div class="ttdef"><b>Definition</b> DebugRenderer.h:47</div></div>
    315. 

  315. <div class="ttc" id="aclass_dual_axis_constraint_part_html"><div class="ttname"><a href="class_dual_axis_constraint_part.html">DualAxisConstraintPart</a></div><div class="ttdef"><b>Definition</b> DualAxisConstraintPart.h:48</div></div>
    316. 

  316. <div class="ttc" id="aclass_hinge_rotation_constraint_part_html"><div class="ttname"><a href="class_hinge_rotation_constraint_part.html">HingeRotationConstraintPart</a></div><div class="ttdef"><b>Definition</b> HingeRotationConstraintPart.h:44</div></div>
    317. 

  317. <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>
    318. 

  318. <div class="ttc" id="aclass_motor_settings_html"><div class="ttname"><a href="class_motor_settings.html">MotorSettings</a></div><div class="ttdef"><b>Definition</b> MotorSettings.h:26</div></div>
    319. 

  319. <div class="ttc" id="aclass_path_constraint_html"><div class="ttname"><a href="class_path_constraint.html">PathConstraint</a></div><div class="ttdoc">Path constraint, used to constrain the degrees of freedom between two bodies to a path.</div><div class="ttdef"><b>Definition</b> PathConstraint.h:80</div></div>
    320. 

  320. <div class="ttc" id="aclass_path_constraint_html_a0de4a86654e7757baf2e0715aae9e221"><div class="ttname"><a href="class_path_constraint.html#a0de4a86654e7757baf2e0715aae9e221">PathConstraint::GetMaxFrictionForce</a></div><div class="ttdeci">float GetMaxFrictionForce() const</div><div class="ttdef"><b>Definition</b> PathConstraint.h:118</div></div>
    321. 

  321. <div class="ttc" id="aclass_path_constraint_html_a1b6ed041ae2c5ca2e0622cc866ff10ce"><div class="ttname"><a href="class_path_constraint.html#a1b6ed041ae2c5ca2e0622cc866ff10ce">PathConstraint::SetTargetVelocity</a></div><div class="ttdeci">void SetTargetVelocity(float inVelocity)</div><div class="ttdef"><b>Definition</b> PathConstraint.h:127</div></div>
    322. 

  322. <div class="ttc" id="aclass_path_constraint_html_a22196b6a304d015a58ceb2b08923583d"><div class="ttname"><a href="class_path_constraint.html#a22196b6a304d015a58ceb2b08923583d">PathConstraint::SetTargetPathFraction</a></div><div class="ttdeci">void SetTargetPathFraction(float inFraction)</div><div class="ttdef"><b>Definition</b> PathConstraint.h:129</div></div>
    323. 

  323. <div class="ttc" id="aclass_path_constraint_html_a2d073636288d7a79e0453fff543c0660"><div class="ttname"><a href="class_path_constraint.html#a2d073636288d7a79e0453fff543c0660">PathConstraint::GetPositionMotorState</a></div><div class="ttdeci">EMotorState GetPositionMotorState() const</div><div class="ttdef"><b>Definition</b> PathConstraint.h:126</div></div>
    324. 

  324. <div class="ttc" id="aclass_path_constraint_html_a48f8818d18d5c46c27a6ba69d91c36b3"><div class="ttname"><a href="class_path_constraint.html#a48f8818d18d5c46c27a6ba69d91c36b3">PathConstraint::GetTargetPathFraction</a></div><div class="ttdeci">float GetTargetPathFraction() const</div><div class="ttdef"><b>Definition</b> PathConstraint.h:130</div></div>
    325. 

  325. <div class="ttc" id="aclass_path_constraint_html_a5f6d3c7d860ee5c715f8fef818fd4f1f"><div class="ttname"><a href="class_path_constraint.html#a5f6d3c7d860ee5c715f8fef818fd4f1f">PathConstraint::IsActive</a></div><div class="ttdeci">virtual bool IsActive() const override</div><div class="ttdoc">Solver interface.</div><div class="ttdef"><b>Definition</b> PathConstraint.h:100</div></div>
    326. 

  326. <div class="ttc" id="aclass_path_constraint_html_a668c00d9305747b19511d13f4947ca33"><div class="ttname"><a href="class_path_constraint.html#a668c00d9305747b19511d13f4947ca33">PathConstraint::SetPositionMotorState</a></div><div class="ttdeci">void SetPositionMotorState(EMotorState inState)</div><div class="ttdef"><b>Definition</b> PathConstraint.h:125</div></div>
    327. 

  327. <div class="ttc" id="aclass_path_constraint_html_a73052367b302ac8b30a9505aa1901795"><div class="ttname"><a href="class_path_constraint.html#a73052367b302ac8b30a9505aa1901795">PathConstraint::GetSubType</a></div><div class="ttdeci">virtual EConstraintSubType GetSubType() const override</div><div class="ttdoc">Get the sub type of a constraint.</div><div class="ttdef"><b>Definition</b> PathConstraint.h:88</div></div>
    328. 

  328. <div class="ttc" id="aclass_path_constraint_html_a7dc7086987fb9a1761fc9fab81ceadb3"><div class="ttname"><a href="class_path_constraint.html#a7dc7086987fb9a1761fc9fab81ceadb3">PathConstraint::GetTotalLambdaRotation</a></div><div class="ttdeci">Vec3 GetTotalLambdaRotation() const</div><div class="ttdef"><b>Definition</b> PathConstraint.h:137</div></div>
    329. 

  329. <div class="ttc" id="aclass_path_constraint_html_a7fd4ca9762f295af3146258606a6e22a"><div class="ttname"><a href="class_path_constraint.html#a7fd4ca9762f295af3146258606a6e22a">PathConstraint::GetConstraintToBody1Matrix</a></div><div class="ttdeci">virtual Mat44 GetConstraintToBody1Matrix() const override</div><div class="ttdoc">Calculates the transform that transforms from constraint space to body 1 space. The first column of t...</div><div class="ttdef"><b>Definition</b> PathConstraint.h:104</div></div>
    330. 

  330. <div class="ttc" id="aclass_path_constraint_html_a9c6d88045a77cb4f442e3ef239b20d84"><div class="ttname"><a href="class_path_constraint.html#a9c6d88045a77cb4f442e3ef239b20d84">PathConstraint::GetTargetVelocity</a></div><div class="ttdeci">float GetTargetVelocity() const</div><div class="ttdef"><b>Definition</b> PathConstraint.h:128</div></div>
    331. 

  331. <div class="ttc" id="aclass_path_constraint_html_aad8272de843a287e26bf320fdf2755a3"><div class="ttname"><a href="class_path_constraint.html#aad8272de843a287e26bf320fdf2755a3">PathConstraint::GetTotalLambdaPosition</a></div><div class="ttdeci">Vector&lt; 2 &gt; GetTotalLambdaPosition() const</div><div class="ttdef"><b>Definition</b> PathConstraint.h:133</div></div>
    332. 

  332. <div class="ttc" id="aclass_path_constraint_html_aae30cd39beec4628b22295eec9fdb66b"><div class="ttname"><a href="class_path_constraint.html#aae30cd39beec4628b22295eec9fdb66b">PathConstraint::GetPositionMotorSettings</a></div><div class="ttdeci">MotorSettings &amp; GetPositionMotorSettings()</div><div class="ttdoc">Position motor settings.</div><div class="ttdef"><b>Definition</b> PathConstraint.h:121</div></div>
    333. 

  333. <div class="ttc" id="aclass_path_constraint_html_ab2fd78b89e5df020c5ed865c900326d4"><div class="ttname"><a href="class_path_constraint.html#ab2fd78b89e5df020c5ed865c900326d4">PathConstraint::GetPath</a></div><div class="ttdeci">const PathConstraintPath * GetPath() const</div><div class="ttdoc">Access to the current path.</div><div class="ttdef"><b>Definition</b> PathConstraint.h:111</div></div>
    334. 

  334. <div class="ttc" id="aclass_path_constraint_html_abb7f43813e7aa47c1719550303e8b768"><div class="ttname"><a href="class_path_constraint.html#abb7f43813e7aa47c1719550303e8b768">PathConstraint::GetTotalLambdaRotationHinge</a></div><div class="ttdeci">Vector&lt; 2 &gt; GetTotalLambdaRotationHinge() const</div><div class="ttdef"><b>Definition</b> PathConstraint.h:136</div></div>
    335. 

  335. <div class="ttc" id="aclass_path_constraint_html_ad6901dcd63274ede819db76d1e68607e"><div class="ttname"><a href="class_path_constraint.html#ad6901dcd63274ede819db76d1e68607e">PathConstraint::SetMaxFrictionForce</a></div><div class="ttdeci">void SetMaxFrictionForce(float inFrictionForce)</div><div class="ttdoc">Friction control.</div><div class="ttdef"><b>Definition</b> PathConstraint.h:117</div></div>
    336. 

  336. <div class="ttc" id="aclass_path_constraint_html_ad9f21a4ed20007ceb8181db0bf999ce3"><div class="ttname"><a href="class_path_constraint.html#ad9f21a4ed20007ceb8181db0bf999ce3">PathConstraint::GetTotalLambdaMotor</a></div><div class="ttdeci">float GetTotalLambdaMotor() const</div><div class="ttdef"><b>Definition</b> PathConstraint.h:135</div></div>
    337. 

  337. <div class="ttc" id="aclass_path_constraint_html_aefa354c9926217e88db8741736121f20"><div class="ttname"><a href="class_path_constraint.html#aefa354c9926217e88db8741736121f20">PathConstraint::GetConstraintToBody2Matrix</a></div><div class="ttdeci">virtual Mat44 GetConstraintToBody2Matrix() const override</div><div class="ttdoc">Calculates the transform that transforms from constraint space to body 2 space. The first column of t...</div><div class="ttdef"><b>Definition</b> PathConstraint.h:105</div></div>
    338. 

  338. <div class="ttc" id="aclass_path_constraint_html_af0f434b2bb5e416a6efc402aaa5eba22"><div class="ttname"><a href="class_path_constraint.html#af0f434b2bb5e416a6efc402aaa5eba22">PathConstraint::GetPathFraction</a></div><div class="ttdeci">float GetPathFraction() const</div><div class="ttdoc">Access to the current fraction along the path e [0, GetPath()-&gt;GetMaxPathFraction()].</div><div class="ttdef"><b>Definition</b> PathConstraint.h:114</div></div>
    339. 

  339. <div class="ttc" id="aclass_path_constraint_html_afe1f87898534471bb7dc888dd9676262"><div class="ttname"><a href="class_path_constraint.html#afe1f87898534471bb7dc888dd9676262">PathConstraint::GetPositionMotorSettings</a></div><div class="ttdeci">const MotorSettings &amp; GetPositionMotorSettings() const</div><div class="ttdef"><b>Definition</b> PathConstraint.h:122</div></div>
    340. 

  340. <div class="ttc" id="aclass_path_constraint_html_afef42c01cab96ed8cb32c607a6a0baf8"><div class="ttname"><a href="class_path_constraint.html#afef42c01cab96ed8cb32c607a6a0baf8">PathConstraint::GetTotalLambdaPositionLimits</a></div><div class="ttdeci">float GetTotalLambdaPositionLimits() const</div><div class="ttdef"><b>Definition</b> PathConstraint.h:134</div></div>
    341. 

  341. <div class="ttc" id="aclass_path_constraint_path_html"><div class="ttname"><a href="class_path_constraint_path.html">PathConstraintPath</a></div><div class="ttdoc">The path for a path constraint. It allows attaching two bodies to each other while giving the second ...</div><div class="ttdef"><b>Definition</b> PathConstraintPath.h:21</div></div>
    342. 

  342. <div class="ttc" id="aclass_path_constraint_settings_html"><div class="ttname"><a href="class_path_constraint_settings.html">PathConstraintSettings</a></div><div class="ttdef"><b>Definition</b> PathConstraint.h:42</div></div>
    343. 

  343. <div class="ttc" id="aclass_path_constraint_settings_html_a6069d97c30057ec55fbce2b0a4058748"><div class="ttname"><a href="class_path_constraint_settings.html#a6069d97c30057ec55fbce2b0a4058748">PathConstraintSettings::mPath</a></div><div class="ttdeci">RefConst&lt; PathConstraintPath &gt; mPath</div><div class="ttdoc">The path that constrains the two bodies.</div><div class="ttdef"><b>Definition</b> PathConstraint.h:53</div></div>
    344. 

  344. <div class="ttc" id="aclass_path_constraint_settings_html_a634e294d5b4b5f82a40cb8c2bf2cf776"><div class="ttname"><a href="class_path_constraint_settings.html#a634e294d5b4b5f82a40cb8c2bf2cf776">PathConstraintSettings::mPositionMotorSettings</a></div><div class="ttdeci">MotorSettings mPositionMotorSettings</div><div class="ttdoc">In case the constraint is powered, this determines the motor settings along the path.</div><div class="ttdef"><b>Definition</b> PathConstraint.h:68</div></div>
    345. 

  345. <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>
    346. 

  346. <div class="ttc" id="aclass_quat_html_a73a43fe262fbbbc0b1872d238b972794"><div class="ttname"><a href="class_quat.html#a73a43fe262fbbbc0b1872d238b972794">Quat::sIdentity</a></div><div class="ttdeci">static JPH_INLINE Quat sIdentity()</div><div class="ttdef"><b>Definition</b> Quat.h:104</div></div>
    347. 

  347. <div class="ttc" id="aclass_ref_const_html"><div class="ttname"><a href="class_ref_const.html">RefConst</a></div><div class="ttdef"><b>Definition</b> Reference.h:163</div></div>
    348. 

  348. <div class="ttc" id="aclass_ref_html"><div class="ttname"><a href="class_ref.html">Ref</a></div><div class="ttdef"><b>Definition</b> Reference.h:107</div></div>
    349. 

  349. <div class="ttc" id="aclass_rotation_euler_constraint_part_html"><div class="ttname"><a href="class_rotation_euler_constraint_part.html">RotationEulerConstraintPart</a></div><div class="ttdef"><b>Definition</b> RotationEulerConstraintPart.h:36</div></div>
    350. 

  350. <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>
    351. 

  351. <div class="ttc" id="aclass_stream_in_html"><div class="ttname"><a href="class_stream_in.html">StreamIn</a></div><div class="ttdoc">Simple binary input stream.</div><div class="ttdef"><b>Definition</b> StreamIn.h:13</div></div>
    352. 

  352. <div class="ttc" id="aclass_stream_out_html"><div class="ttname"><a href="class_stream_out.html">StreamOut</a></div><div class="ttdoc">Simple binary output stream.</div><div class="ttdef"><b>Definition</b> StreamOut.h:13</div></div>
    353. 

  353. <div class="ttc" id="aclass_two_body_constraint_html"><div class="ttname"><a href="class_two_body_constraint.html">TwoBodyConstraint</a></div><div class="ttdoc">Base class for all constraints that involve 2 bodies. Body1 is usually considered the parent,...</div><div class="ttdef"><b>Definition</b> TwoBodyConstraint.h:27</div></div>
    354. 

  354. <div class="ttc" id="aclass_two_body_constraint_html_a9ec4e14ada31bf5172141c2d50663e76"><div class="ttname"><a href="class_two_body_constraint.html#a9ec4e14ada31bf5172141c2d50663e76">TwoBodyConstraint::IsActive</a></div><div class="ttdeci">virtual bool IsActive() const override</div><div class="ttdoc">Solver interface.</div><div class="ttdef"><b>Definition</b> TwoBodyConstraint.h:38</div></div>
    355. 

  355. <div class="ttc" id="aclass_two_body_constraint_settings_html"><div class="ttname"><a href="class_two_body_constraint_settings.html">TwoBodyConstraintSettings</a></div><div class="ttdoc">Base class for settings for all constraints that involve 2 bodies.</div><div class="ttdef"><b>Definition</b> TwoBodyConstraint.h:16</div></div>
    356. 

  356. <div class="ttc" id="aclass_two_body_constraint_settings_html_a42e353e736b0254b02008b050a28f55b"><div class="ttname"><a href="class_two_body_constraint_settings.html#a42e353e736b0254b02008b050a28f55b">TwoBodyConstraintSettings::Create</a></div><div class="ttdeci">virtual TwoBodyConstraint * Create(Body &amp;inBody1, Body &amp;inBody2) const =0</div></div>
    357. 

  357. <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>
    358. 

  358. <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>
    359. 

  359. <div class="ttc" id="aclass_vector_html"><div class="ttname"><a href="class_vector.html">Vector</a></div><div class="ttdoc">Templatized vector class.</div><div class="ttdef"><b>Definition</b> Vector.h:12</div></div>
    360. 

  360. </div><!-- fragment --></div><!-- contents -->
    361. 

  361. </div><!-- doc-content -->
    362. 

  362. <!-- start footer part -->
    363. 

  363. <div id="nav-path" class="navpath"><!-- id is needed for treeview function! -->
    364. 

  364.   <ul>
    365. 

  365.     <li class="navelem"><a class="el" href="dir_d99289a5d3c46cf26f14ff6c90658d9f.html">Jolt</a></li><li class="navelem"><a class="el" href="dir_a0f33af92addde396fc27b064c5eb8a9.html">Physics</a></li><li class="navelem"><a class="el" href="dir_166975991df1b4ecc6dd5a6639d45e50.html">Constraints</a></li><li class="navelem"><a class="el" href="_path_constraint_8h.html">PathConstraint.h</a></li>
    366. 

  366.     <li class="footer">Generated by <a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.12.0 </li>
    367. 

  367.   </ul>
    368. 

  368. </div>
    369. 

  369. </body>
    370. 

  370. </html>
    371.