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

  111. <a href="_rotation_quat_constraint_part_8h.html">Go to the documentation of this file.</a><div class="fragment"><div class="line"><a id="l00001" name="l00001"></a><span class="lineno">    1</span><span class="comment">// Jolt Physics Library (https://github.com/jrouwe/JoltPhysics)</span></div>
    112. 

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

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

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

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

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

  117. <div class="line"><a id="l00007" name="l00007"></a><span class="lineno">    7</span><span class="preprocessor">#include &lt;<a class="code" href="_body_8h.html">Jolt/Physics/Body/Body.h</a>&gt;</span></div>
    118. 

  118. <div class="line"><a id="l00008" name="l00008"></a><span class="lineno">    8</span><span class="preprocessor">#include &lt;<a class="code" href="_state_recorder_8h.html">Jolt/Physics/StateRecorder.h</a>&gt;</span></div>
    119. 

  119. <div class="line"><a id="l00009" name="l00009"></a><span class="lineno">    9</span> </div>
    120. 

  120. <div class="line"><a id="l00010" name="l00010"></a><span class="lineno">   10</span><a class="code hl_define" href="_core_8h.html#ad14098b68b8c44ea6112601031268405">JPH_NAMESPACE_BEGIN</a></div>
    121. 

  121. <div class="line"><a id="l00011" name="l00011"></a><span class="lineno">   11</span> </div>
    122. 

  122. <div class="foldopen" id="foldopen00086" data-start="{" data-end="};">
    123. 

  123. <div class="line"><a id="l00086" name="l00086"></a><span class="lineno"><a class="line" href="class_rotation_quat_constraint_part.html">   86</a></span><span class="keyword">class </span><a class="code hl_class" href="class_rotation_quat_constraint_part.html">RotationQuatConstraintPart</a></div>
    124. 

  124. <div class="line"><a id="l00087" name="l00087"></a><span class="lineno">   87</span>{</div>
    125. 

  125. <div class="line"><a id="l00088" name="l00088"></a><span class="lineno">   88</span><span class="keyword">private</span>:</div>
    126. 

  126. <div class="line"><a id="l00090" name="l00090"></a><span class="lineno">   90</span>    JPH_INLINE <span class="keywordtype">bool</span>             ApplyVelocityStep(<a class="code hl_class" href="class_body.html">Body</a> &amp;ioBody1, <a class="code hl_class" href="class_body.html">Body</a> &amp;ioBody2, <a class="code hl_class" href="class_vec3.html">Vec3Arg</a> inLambda)<span class="keyword"> const</span></div>
    127. 

  127. <div class="line"><a id="l00091" name="l00091"></a><span class="lineno">   91</span><span class="keyword">    </span>{</div>
    128. 

  128. <div class="line"><a id="l00092" name="l00092"></a><span class="lineno">   92</span>        <span class="comment">// Apply impulse if delta is not zero</span></div>
    129. 

  129. <div class="line"><a id="l00093" name="l00093"></a><span class="lineno">   93</span>        <span class="keywordflow">if</span> (inLambda != <a class="code hl_function" href="class_vec3.html#ad03c52ab27761bc1e64e33c47632ba51">Vec3::sZero</a>())</div>
    130. 

  130. <div class="line"><a id="l00094" name="l00094"></a><span class="lineno">   94</span>        {</div>
    131. 

  131. <div class="line"><a id="l00095" name="l00095"></a><span class="lineno">   95</span>            <span class="comment">// Calculate velocity change due to constraint</span></div>
    132. 

  132. <div class="line"><a id="l00096" name="l00096"></a><span class="lineno">   96</span>            <span class="comment">//</span></div>
    133. 

  133. <div class="line"><a id="l00097" name="l00097"></a><span class="lineno">   97</span>            <span class="comment">// Impulse:</span></div>
    134. 

  134. <div class="line"><a id="l00098" name="l00098"></a><span class="lineno">   98</span>            <span class="comment">// P = J^T lambda</span></div>
    135. 

  135. <div class="line"><a id="l00099" name="l00099"></a><span class="lineno">   99</span>            <span class="comment">//</span></div>
    136. 

  136. <div class="line"><a id="l00100" name="l00100"></a><span class="lineno">  100</span>            <span class="comment">// Euler velocity integration:</span></div>
    137. 

  137. <div class="line"><a id="l00101" name="l00101"></a><span class="lineno">  101</span>            <span class="comment">// v&#39; = v + M^-1 P</span></div>
    138. 

  138. <div class="line"><a id="l00102" name="l00102"></a><span class="lineno">  102</span>            <span class="keywordflow">if</span> (ioBody1.<a class="code hl_function" href="class_body.html#a1b21c30907c8c9ce30c176a054057bef">IsDynamic</a>())</div>
    139. 

  139. <div class="line"><a id="l00103" name="l00103"></a><span class="lineno">  103</span>                ioBody1.<a class="code hl_function" href="class_body.html#a0d39987255227c4221fcea66cb1fc041">GetMotionProperties</a>()-&gt;<a class="code hl_function" href="class_motion_properties.html#a98672fc0c6884643944e570e1d78ac07">SubAngularVelocityStep</a>(mInvI1_JPT.<a class="code hl_function" href="class_mat44.html#ab599aaeab3e4b832f7f4097816650b14">Multiply3x3</a>(inLambda));</div>
    140. 

  140. <div class="line"><a id="l00104" name="l00104"></a><span class="lineno">  104</span>            <span class="keywordflow">if</span> (ioBody2.<a class="code hl_function" href="class_body.html#a1b21c30907c8c9ce30c176a054057bef">IsDynamic</a>())</div>
    141. 

  141. <div class="line"><a id="l00105" name="l00105"></a><span class="lineno">  105</span>                ioBody2.<a class="code hl_function" href="class_body.html#a0d39987255227c4221fcea66cb1fc041">GetMotionProperties</a>()-&gt;<a class="code hl_function" href="class_motion_properties.html#afb12aa823a651145b46b271570a7af59">AddAngularVelocityStep</a>(mInvI2_JPT.<a class="code hl_function" href="class_mat44.html#ab599aaeab3e4b832f7f4097816650b14">Multiply3x3</a>(inLambda));</div>
    142. 

  142. <div class="line"><a id="l00106" name="l00106"></a><span class="lineno">  106</span>            <span class="keywordflow">return</span> <span class="keyword">true</span>;</div>
    143. 

  143. <div class="line"><a id="l00107" name="l00107"></a><span class="lineno">  107</span>        }</div>
    144. 

  144. <div class="line"><a id="l00108" name="l00108"></a><span class="lineno">  108</span> </div>
    145. 

  145. <div class="line"><a id="l00109" name="l00109"></a><span class="lineno">  109</span>        <span class="keywordflow">return</span> <span class="keyword">false</span>;</div>
    146. 

  146. <div class="line"><a id="l00110" name="l00110"></a><span class="lineno">  110</span>    }</div>
    147. 

  147. <div class="line"><a id="l00111" name="l00111"></a><span class="lineno">  111</span> </div>
    148. 

  148. <div class="line"><a id="l00112" name="l00112"></a><span class="lineno">  112</span><span class="keyword">public</span>:</div>
    149. 

  149. <div class="foldopen" id="foldopen00114" data-start="{" data-end="}">
    150. 

  150. <div class="line"><a id="l00114" name="l00114"></a><span class="lineno"><a class="line" href="class_rotation_quat_constraint_part.html#a8ab9f2a8f10bdbbe8000f7af5f0b7b5b">  114</a></span>    <span class="keyword">static</span> <a class="code hl_class" href="class_quat.html">Quat</a>                 <a class="code hl_function" href="class_rotation_quat_constraint_part.html#a8ab9f2a8f10bdbbe8000f7af5f0b7b5b">sGetInvInitialOrientation</a>(<span class="keyword">const</span> <a class="code hl_class" href="class_body.html">Body</a> &amp;inBody1, <span class="keyword">const</span> <a class="code hl_class" href="class_body.html">Body</a> &amp;inBody2)</div>
    151. 

  151. <div class="line"><a id="l00115" name="l00115"></a><span class="lineno">  115</span>    {</div>
    152. 

  152. <div class="line"><a id="l00116" name="l00116"></a><span class="lineno">  116</span>        <span class="comment">// q20 = q10 r0</span></div>
    153. 

  153. <div class="line"><a id="l00117" name="l00117"></a><span class="lineno">  117</span>        <span class="comment">// &lt;=&gt; r0 = q10^-1 q20</span></div>
    154. 

  154. <div class="line"><a id="l00118" name="l00118"></a><span class="lineno">  118</span>        <span class="comment">// &lt;=&gt; r0^-1 = q20^-1 q10</span></div>
    155. 

  155. <div class="line"><a id="l00119" name="l00119"></a><span class="lineno">  119</span>        <span class="comment">//</span></div>
    156. 

  156. <div class="line"><a id="l00120" name="l00120"></a><span class="lineno">  120</span>        <span class="comment">// where:</span></div>
    157. 

  157. <div class="line"><a id="l00121" name="l00121"></a><span class="lineno">  121</span>        <span class="comment">//</span></div>
    158. 

  158. <div class="line"><a id="l00122" name="l00122"></a><span class="lineno">  122</span>        <span class="comment">// q20 = initial orientation of body 2</span></div>
    159. 

  159. <div class="line"><a id="l00123" name="l00123"></a><span class="lineno">  123</span>        <span class="comment">// q10 = initial orientation of body 1</span></div>
    160. 

  160. <div class="line"><a id="l00124" name="l00124"></a><span class="lineno">  124</span>        <span class="comment">// r0 = initial rotation from body 1 to body 2</span></div>
    161. 

  161. <div class="line"><a id="l00125" name="l00125"></a><span class="lineno">  125</span>        <span class="keywordflow">return</span> inBody2.<a class="code hl_function" href="class_body.html#aaee24bfb5e32e756f50113b9d1f45a2c">GetRotation</a>().<a class="code hl_function" href="class_quat.html#ac69dfd8cdf79a19b8c3f385125ff5ddc">Conjugated</a>() * inBody1.<a class="code hl_function" href="class_body.html#aaee24bfb5e32e756f50113b9d1f45a2c">GetRotation</a>();</div>
    162. 

  162. <div class="line"><a id="l00126" name="l00126"></a><span class="lineno">  126</span>    }</div>
    163. 

  163. </div>
    164. 

  164. <div class="line"><a id="l00127" name="l00127"></a><span class="lineno">  127</span> </div>
    165. 

  165. <div class="foldopen" id="foldopen00129" data-start="{" data-end="}">
    166. 

  166. <div class="line"><a id="l00129" name="l00129"></a><span class="lineno"><a class="line" href="class_rotation_quat_constraint_part.html#a0c752c045f216b2d9c0570faf3f71c44">  129</a></span>    <span class="keyword">inline</span> <span class="keywordtype">void</span>                 <a class="code hl_function" href="class_rotation_quat_constraint_part.html#a0c752c045f216b2d9c0570faf3f71c44">CalculateConstraintProperties</a>(<span class="keyword">const</span> <a class="code hl_class" href="class_body.html">Body</a> &amp;inBody1, <a class="code hl_class" href="class_mat44.html">Mat44Arg</a> inRotation1, <span class="keyword">const</span> <a class="code hl_class" href="class_body.html">Body</a> &amp;inBody2, <a class="code hl_class" href="class_mat44.html">Mat44Arg</a> inRotation2, <a class="code hl_class" href="class_quat.html">QuatArg</a> inInvInitialOrientation)</div>
    167. 

  167. <div class="line"><a id="l00130" name="l00130"></a><span class="lineno">  130</span>    {</div>
    168. 

  168. <div class="line"><a id="l00131" name="l00131"></a><span class="lineno">  131</span>        <span class="comment">// Calculate: JP = 1/2 A ML(q1^*) MR(q2 r0^*) A^T</span></div>
    169. 

  169. <div class="line"><a id="l00132" name="l00132"></a><span class="lineno">  132</span>        <a class="code hl_class" href="class_mat44.html">Mat44</a> jp = (<a class="code hl_function" href="class_mat44.html#adca3adc84118200afa5f4203164d241f">Mat44::sQuatLeftMultiply</a>(0.5f * inBody1.<a class="code hl_function" href="class_body.html#aaee24bfb5e32e756f50113b9d1f45a2c">GetRotation</a>().<a class="code hl_function" href="class_quat.html#ac69dfd8cdf79a19b8c3f385125ff5ddc">Conjugated</a>()) * <a class="code hl_function" href="class_mat44.html#a2b688da0262b9096bfac9ddfa2c27e52">Mat44::sQuatRightMultiply</a>(inBody2.<a class="code hl_function" href="class_body.html#aaee24bfb5e32e756f50113b9d1f45a2c">GetRotation</a>() * inInvInitialOrientation)).GetRotationSafe();</div>
    170. 

  170. <div class="line"><a id="l00133" name="l00133"></a><span class="lineno">  133</span> </div>
    171. 

  171. <div class="line"><a id="l00134" name="l00134"></a><span class="lineno">  134</span>        <span class="comment">// Calculate properties used during constraint solving</span></div>
    172. 

  172. <div class="line"><a id="l00135" name="l00135"></a><span class="lineno">  135</span>        <a class="code hl_class" href="class_mat44.html">Mat44</a> inv_i1 = inBody1.<a class="code hl_function" href="class_body.html#a1b21c30907c8c9ce30c176a054057bef">IsDynamic</a>()? inBody1.<a class="code hl_function" href="class_body.html#a0d39987255227c4221fcea66cb1fc041">GetMotionProperties</a>()-&gt;<a class="code hl_function" href="class_motion_properties.html#ab95f2b1c9b6bd9b6082f8cee8a7e1858">GetInverseInertiaForRotation</a>(inRotation1) : <a class="code hl_function" href="class_mat44.html#a1e3a8da1cf3a631ffaf478ca3f6bb1ed">Mat44::sZero</a>();</div>
    173. 

  173. <div class="line"><a id="l00136" name="l00136"></a><span class="lineno">  136</span>        <a class="code hl_class" href="class_mat44.html">Mat44</a> inv_i2 = inBody2.<a class="code hl_function" href="class_body.html#a1b21c30907c8c9ce30c176a054057bef">IsDynamic</a>()? inBody2.<a class="code hl_function" href="class_body.html#a0d39987255227c4221fcea66cb1fc041">GetMotionProperties</a>()-&gt;<a class="code hl_function" href="class_motion_properties.html#ab95f2b1c9b6bd9b6082f8cee8a7e1858">GetInverseInertiaForRotation</a>(inRotation2) : <a class="code hl_function" href="class_mat44.html#a1e3a8da1cf3a631ffaf478ca3f6bb1ed">Mat44::sZero</a>();</div>
    174. 

  174. <div class="line"><a id="l00137" name="l00137"></a><span class="lineno">  137</span>        mInvI1_JPT = inv_i1.<a class="code hl_function" href="class_mat44.html#a595ae3cf26d9fb87761e20b6b35d3d10">Multiply3x3RightTransposed</a>(jp);</div>
    175. 

  175. <div class="line"><a id="l00138" name="l00138"></a><span class="lineno">  138</span>        mInvI2_JPT = inv_i2.<a class="code hl_function" href="class_mat44.html#a595ae3cf26d9fb87761e20b6b35d3d10">Multiply3x3RightTransposed</a>(jp);</div>
    176. 

  176. <div class="line"><a id="l00139" name="l00139"></a><span class="lineno">  139</span> </div>
    177. 

  177. <div class="line"><a id="l00140" name="l00140"></a><span class="lineno">  140</span>        <span class="comment">// Calculate effective mass: K^-1 = (J M^-1 J^T)^-1</span></div>
    178. 

  178. <div class="line"><a id="l00141" name="l00141"></a><span class="lineno">  141</span>        <span class="comment">// = (JP * I1^-1 * JP^T + JP * I2^-1 * JP^T)^-1</span></div>
    179. 

  179. <div class="line"><a id="l00142" name="l00142"></a><span class="lineno">  142</span>        <span class="comment">// = (JP * (I1^-1 + I2^-1) * JP^T)^-1</span></div>
    180. 

  180. <div class="line"><a id="l00143" name="l00143"></a><span class="lineno">  143</span>        <span class="keywordflow">if</span> (!mEffectiveMass.<a class="code hl_function" href="class_mat44.html#a814c04077820ea83f444ccc5ae48299f">SetInversed3x3</a>(jp.<a class="code hl_function" href="class_mat44.html#ab599aaeab3e4b832f7f4097816650b14">Multiply3x3</a>(inv_i1 + inv_i2).Multiply3x3RightTransposed(jp)))</div>
    181. 

  181. <div class="line"><a id="l00144" name="l00144"></a><span class="lineno">  144</span>            <a class="code hl_function" href="class_rotation_quat_constraint_part.html#a6fbaaa5c64ed9b01753780cbad3efb8b">Deactivate</a>();</div>
    182. 

  182. <div class="line"><a id="l00145" name="l00145"></a><span class="lineno">  145</span>        <span class="keywordflow">else</span></div>
    183. 

  183. <div class="line"><a id="l00146" name="l00146"></a><span class="lineno">  146</span>            mEffectiveMass_JP = mEffectiveMass.<a class="code hl_function" href="class_mat44.html#ab599aaeab3e4b832f7f4097816650b14">Multiply3x3</a>(jp);</div>
    184. 

  184. <div class="line"><a id="l00147" name="l00147"></a><span class="lineno">  147</span>    }</div>
    185. 

  185. </div>
    186. 

  186. <div class="line"><a id="l00148" name="l00148"></a><span class="lineno">  148</span> </div>
    187. 

  187. <div class="foldopen" id="foldopen00150" data-start="{" data-end="}">
    188. 

  188. <div class="line"><a id="l00150" name="l00150"></a><span class="lineno"><a class="line" href="class_rotation_quat_constraint_part.html#a6fbaaa5c64ed9b01753780cbad3efb8b">  150</a></span>    <span class="keyword">inline</span> <span class="keywordtype">void</span>                 <a class="code hl_function" href="class_rotation_quat_constraint_part.html#a6fbaaa5c64ed9b01753780cbad3efb8b">Deactivate</a>()</div>
    189. 

  189. <div class="line"><a id="l00151" name="l00151"></a><span class="lineno">  151</span>    {</div>
    190. 

  190. <div class="line"><a id="l00152" name="l00152"></a><span class="lineno">  152</span>        mEffectiveMass = <a class="code hl_function" href="class_mat44.html#a1e3a8da1cf3a631ffaf478ca3f6bb1ed">Mat44::sZero</a>();</div>
    191. 

  191. <div class="line"><a id="l00153" name="l00153"></a><span class="lineno">  153</span>        mEffectiveMass_JP = <a class="code hl_function" href="class_mat44.html#a1e3a8da1cf3a631ffaf478ca3f6bb1ed">Mat44::sZero</a>();</div>
    192. 

  192. <div class="line"><a id="l00154" name="l00154"></a><span class="lineno">  154</span>        mTotalLambda = <a class="code hl_function" href="class_vec3.html#ad03c52ab27761bc1e64e33c47632ba51">Vec3::sZero</a>();</div>
    193. 

  193. <div class="line"><a id="l00155" name="l00155"></a><span class="lineno">  155</span>    }</div>
    194. 

  194. </div>
    195. 

  195. <div class="line"><a id="l00156" name="l00156"></a><span class="lineno">  156</span> </div>
    196. 

  196. <div class="foldopen" id="foldopen00158" data-start="{" data-end="}">
    197. 

  197. <div class="line"><a id="l00158" name="l00158"></a><span class="lineno"><a class="line" href="class_rotation_quat_constraint_part.html#ab38b8a217a4dc990ed58e9dc7210e2fc">  158</a></span>    <span class="keyword">inline</span> <span class="keywordtype">bool</span>                 <a class="code hl_function" href="class_rotation_quat_constraint_part.html#ab38b8a217a4dc990ed58e9dc7210e2fc">IsActive</a>()<span class="keyword"> const</span></div>
    198. 

  198. <div class="line"><a id="l00159" name="l00159"></a><span class="lineno">  159</span><span class="keyword">    </span>{</div>
    199. 

  199. <div class="line"><a id="l00160" name="l00160"></a><span class="lineno">  160</span>        <span class="keywordflow">return</span> mEffectiveMass(3, 3) != 0.0f;</div>
    200. 

  200. <div class="line"><a id="l00161" name="l00161"></a><span class="lineno">  161</span>    }</div>
    201. 

  201. </div>
    202. 

  202. <div class="line"><a id="l00162" name="l00162"></a><span class="lineno">  162</span> </div>
    203. 

  203. <div class="foldopen" id="foldopen00164" data-start="{" data-end="}">
    204. 

  204. <div class="line"><a id="l00164" name="l00164"></a><span class="lineno"><a class="line" href="class_rotation_quat_constraint_part.html#a05fa3097154059e8d7814370182a7aa5">  164</a></span>    <span class="keyword">inline</span> <span class="keywordtype">void</span>                 <a class="code hl_function" href="class_rotation_quat_constraint_part.html#a05fa3097154059e8d7814370182a7aa5">WarmStart</a>(<a class="code hl_class" href="class_body.html">Body</a> &amp;ioBody1, <a class="code hl_class" href="class_body.html">Body</a> &amp;ioBody2, <span class="keywordtype">float</span> inWarmStartImpulseRatio)</div>
    205. 

  205. <div class="line"><a id="l00165" name="l00165"></a><span class="lineno">  165</span>    {</div>
    206. 

  206. <div class="line"><a id="l00166" name="l00166"></a><span class="lineno">  166</span>        mTotalLambda *= inWarmStartImpulseRatio;</div>
    207. 

  207. <div class="line"><a id="l00167" name="l00167"></a><span class="lineno">  167</span>        ApplyVelocityStep(ioBody1, ioBody2, mTotalLambda);</div>
    208. 

  208. <div class="line"><a id="l00168" name="l00168"></a><span class="lineno">  168</span>    }</div>
    209. 

  209. </div>
    210. 

  210. <div class="line"><a id="l00169" name="l00169"></a><span class="lineno">  169</span> </div>
    211. 

  211. <div class="foldopen" id="foldopen00171" data-start="{" data-end="}">
    212. 

  212. <div class="line"><a id="l00171" name="l00171"></a><span class="lineno"><a class="line" href="class_rotation_quat_constraint_part.html#ad464b428f6994ee02ac203b29c561324">  171</a></span>    <span class="keyword">inline</span> <span class="keywordtype">bool</span>                 <a class="code hl_function" href="class_rotation_quat_constraint_part.html#ad464b428f6994ee02ac203b29c561324">SolveVelocityConstraint</a>(<a class="code hl_class" href="class_body.html">Body</a> &amp;ioBody1, <a class="code hl_class" href="class_body.html">Body</a> &amp;ioBody2)</div>
    213. 

  213. <div class="line"><a id="l00172" name="l00172"></a><span class="lineno">  172</span>    {</div>
    214. 

  214. <div class="line"><a id="l00173" name="l00173"></a><span class="lineno">  173</span>        <span class="comment">// Calculate lagrange multiplier:</span></div>
    215. 

  215. <div class="line"><a id="l00174" name="l00174"></a><span class="lineno">  174</span>        <span class="comment">//</span></div>
    216. 

  216. <div class="line"><a id="l00175" name="l00175"></a><span class="lineno">  175</span>        <span class="comment">// lambda = -K^-1 (J v + b)</span></div>
    217. 

  217. <div class="line"><a id="l00176" name="l00176"></a><span class="lineno">  176</span>        <a class="code hl_class" href="class_vec3.html">Vec3</a> lambda = mEffectiveMass_JP.<a class="code hl_function" href="class_mat44.html#ab599aaeab3e4b832f7f4097816650b14">Multiply3x3</a>(ioBody1.<a class="code hl_function" href="class_body.html#adb1bb49db094ac2ef7c4951d07ba8417">GetAngularVelocity</a>() - ioBody2.<a class="code hl_function" href="class_body.html#adb1bb49db094ac2ef7c4951d07ba8417">GetAngularVelocity</a>());</div>
    218. 

  218. <div class="line"><a id="l00177" name="l00177"></a><span class="lineno">  177</span>        mTotalLambda += lambda;</div>
    219. 

  219. <div class="line"><a id="l00178" name="l00178"></a><span class="lineno">  178</span>        <span class="keywordflow">return</span> ApplyVelocityStep(ioBody1, ioBody2, lambda);</div>
    220. 

  220. <div class="line"><a id="l00179" name="l00179"></a><span class="lineno">  179</span>    }</div>
    221. 

  221. </div>
    222. 

  222. <div class="line"><a id="l00180" name="l00180"></a><span class="lineno">  180</span> </div>
    223. 

  223. <div class="foldopen" id="foldopen00182" data-start="{" data-end="}">
    224. 

  224. <div class="line"><a id="l00182" name="l00182"></a><span class="lineno"><a class="line" href="class_rotation_quat_constraint_part.html#a598d2320bf1b6d19985a183d06183f13">  182</a></span>    <span class="keyword">inline</span> <span class="keywordtype">bool</span>                 <a class="code hl_function" href="class_rotation_quat_constraint_part.html#a598d2320bf1b6d19985a183d06183f13">SolvePositionConstraint</a>(<a class="code hl_class" href="class_body.html">Body</a> &amp;ioBody1, <a class="code hl_class" href="class_body.html">Body</a> &amp;ioBody2, <a class="code hl_class" href="class_quat.html">QuatArg</a> inInvInitialOrientation, <span class="keywordtype">float</span> inBaumgarte)<span class="keyword"> const</span></div>
    225. 

  225. <div class="line"><a id="l00183" name="l00183"></a><span class="lineno">  183</span><span class="keyword">    </span>{</div>
    226. 

  226. <div class="line"><a id="l00184" name="l00184"></a><span class="lineno">  184</span>        <span class="comment">// Calculate constraint equation</span></div>
    227. 

  227. <div class="line"><a id="l00185" name="l00185"></a><span class="lineno">  185</span>        <a class="code hl_class" href="class_vec3.html">Vec3</a> c = (ioBody1.<a class="code hl_function" href="class_body.html#aaee24bfb5e32e756f50113b9d1f45a2c">GetRotation</a>().Conjugated() * ioBody2.<a class="code hl_function" href="class_body.html#aaee24bfb5e32e756f50113b9d1f45a2c">GetRotation</a>() * inInvInitialOrientation).GetXYZ();</div>
    228. 

  228. <div class="line"><a id="l00186" name="l00186"></a><span class="lineno">  186</span>        <span class="keywordflow">if</span> (c != <a class="code hl_function" href="class_vec3.html#ad03c52ab27761bc1e64e33c47632ba51">Vec3::sZero</a>())</div>
    229. 

  229. <div class="line"><a id="l00187" name="l00187"></a><span class="lineno">  187</span>        {</div>
    230. 

  230. <div class="line"><a id="l00188" name="l00188"></a><span class="lineno">  188</span>            <span class="comment">// Calculate lagrange multiplier (lambda) for Baumgarte stabilization:</span></div>
    231. 

  231. <div class="line"><a id="l00189" name="l00189"></a><span class="lineno">  189</span>            <span class="comment">//</span></div>
    232. 

  232. <div class="line"><a id="l00190" name="l00190"></a><span class="lineno">  190</span>            <span class="comment">// lambda = -K^-1 * beta / dt * C</span></div>
    233. 

  233. <div class="line"><a id="l00191" name="l00191"></a><span class="lineno">  191</span>            <span class="comment">//</span></div>
    234. 

  234. <div class="line"><a id="l00192" name="l00192"></a><span class="lineno">  192</span>            <span class="comment">// We should divide by inDeltaTime, but we should multiply by inDeltaTime in the Euler step below so they&#39;re cancelled out</span></div>
    235. 

  235. <div class="line"><a id="l00193" name="l00193"></a><span class="lineno">  193</span>            <a class="code hl_class" href="class_vec3.html">Vec3</a> lambda = -inBaumgarte * mEffectiveMass * c;</div>
    236. 

  236. <div class="line"><a id="l00194" name="l00194"></a><span class="lineno">  194</span> </div>
    237. 

  237. <div class="line"><a id="l00195" name="l00195"></a><span class="lineno">  195</span>            <span class="comment">// Directly integrate velocity change for one time step</span></div>
    238. 

  238. <div class="line"><a id="l00196" name="l00196"></a><span class="lineno">  196</span>            <span class="comment">//</span></div>
    239. 

  239. <div class="line"><a id="l00197" name="l00197"></a><span class="lineno">  197</span>            <span class="comment">// Euler velocity integration:</span></div>
    240. 

  240. <div class="line"><a id="l00198" name="l00198"></a><span class="lineno">  198</span>            <span class="comment">// dv = M^-1 P</span></div>
    241. 

  241. <div class="line"><a id="l00199" name="l00199"></a><span class="lineno">  199</span>            <span class="comment">//</span></div>
    242. 

  242. <div class="line"><a id="l00200" name="l00200"></a><span class="lineno">  200</span>            <span class="comment">// Impulse:</span></div>
    243. 

  243. <div class="line"><a id="l00201" name="l00201"></a><span class="lineno">  201</span>            <span class="comment">// P = J^T lambda</span></div>
    244. 

  244. <div class="line"><a id="l00202" name="l00202"></a><span class="lineno">  202</span>            <span class="comment">//</span></div>
    245. 

  245. <div class="line"><a id="l00203" name="l00203"></a><span class="lineno">  203</span>            <span class="comment">// Euler position integration:</span></div>
    246. 

  246. <div class="line"><a id="l00204" name="l00204"></a><span class="lineno">  204</span>            <span class="comment">// x&#39; = x + dv * dt</span></div>
    247. 

  247. <div class="line"><a id="l00205" name="l00205"></a><span class="lineno">  205</span>            <span class="comment">//</span></div>
    248. 

  248. <div class="line"><a id="l00206" name="l00206"></a><span class="lineno">  206</span>            <span class="comment">// Note we don&#39;t accumulate velocities for the stabilization. This is using the approach described in &#39;Modeling and</span></div>
    249. 

  249. <div class="line"><a id="l00207" name="l00207"></a><span class="lineno">  207</span>            <span class="comment">// Solving Constraints&#39; by Erin Catto presented at GDC 2007. On slide 78 it is suggested to split up the Baumgarte</span></div>
    250. 

  250. <div class="line"><a id="l00208" name="l00208"></a><span class="lineno">  208</span>            <span class="comment">// stabilization for positional drift so that it does not actually add to the momentum. We combine an Euler velocity</span></div>
    251. 

  251. <div class="line"><a id="l00209" name="l00209"></a><span class="lineno">  209</span>            <span class="comment">// integrate + a position integrate and then discard the velocity change.</span></div>
    252. 

  252. <div class="line"><a id="l00210" name="l00210"></a><span class="lineno">  210</span>            <span class="keywordflow">if</span> (ioBody1.<a class="code hl_function" href="class_body.html#a1b21c30907c8c9ce30c176a054057bef">IsDynamic</a>())</div>
    253. 

  253. <div class="line"><a id="l00211" name="l00211"></a><span class="lineno">  211</span>                ioBody1.<a class="code hl_function" href="class_body.html#ab0df53d82e3a8356fac91d178b30c369">SubRotationStep</a>(mInvI1_JPT.<a class="code hl_function" href="class_mat44.html#ab599aaeab3e4b832f7f4097816650b14">Multiply3x3</a>(lambda));</div>
    254. 

  254. <div class="line"><a id="l00212" name="l00212"></a><span class="lineno">  212</span>            <span class="keywordflow">if</span> (ioBody2.<a class="code hl_function" href="class_body.html#a1b21c30907c8c9ce30c176a054057bef">IsDynamic</a>())</div>
    255. 

  255. <div class="line"><a id="l00213" name="l00213"></a><span class="lineno">  213</span>                ioBody2.<a class="code hl_function" href="class_body.html#a3385650a73d75c7d9c16d13ea2d5519f">AddRotationStep</a>(mInvI2_JPT.<a class="code hl_function" href="class_mat44.html#ab599aaeab3e4b832f7f4097816650b14">Multiply3x3</a>(lambda));</div>
    256. 

  256. <div class="line"><a id="l00214" name="l00214"></a><span class="lineno">  214</span>            <span class="keywordflow">return</span> <span class="keyword">true</span>;</div>
    257. 

  257. <div class="line"><a id="l00215" name="l00215"></a><span class="lineno">  215</span>        }</div>
    258. 

  258. <div class="line"><a id="l00216" name="l00216"></a><span class="lineno">  216</span> </div>
    259. 

  259. <div class="line"><a id="l00217" name="l00217"></a><span class="lineno">  217</span>        <span class="keywordflow">return</span> <span class="keyword">false</span>;</div>
    260. 

  260. <div class="line"><a id="l00218" name="l00218"></a><span class="lineno">  218</span>    }</div>
    261. 

  261. </div>
    262. 

  262. <div class="line"><a id="l00219" name="l00219"></a><span class="lineno">  219</span> </div>
    263. 

  263. <div class="foldopen" id="foldopen00221" data-start="{" data-end="}">
    264. 

  264. <div class="line"><a id="l00221" name="l00221"></a><span class="lineno"><a class="line" href="class_rotation_quat_constraint_part.html#a4aaed47e0905087e32e5dc82f6c4dca5">  221</a></span>    <a class="code hl_class" href="class_vec3.html">Vec3</a>                        <a class="code hl_function" href="class_rotation_quat_constraint_part.html#a4aaed47e0905087e32e5dc82f6c4dca5">GetTotalLambda</a>()<span class="keyword"> const</span></div>
    265. 

  265. <div class="line"><a id="l00222" name="l00222"></a><span class="lineno">  222</span><span class="keyword">    </span>{</div>
    266. 

  266. <div class="line"><a id="l00223" name="l00223"></a><span class="lineno">  223</span>        <span class="keywordflow">return</span> mTotalLambda;</div>
    267. 

  267. <div class="line"><a id="l00224" name="l00224"></a><span class="lineno">  224</span>    }</div>
    268. 

  268. </div>
    269. 

  269. <div class="line"><a id="l00225" name="l00225"></a><span class="lineno">  225</span> </div>
    270. 

  270. <div class="foldopen" id="foldopen00227" data-start="{" data-end="}">
    271. 

  271. <div class="line"><a id="l00227" name="l00227"></a><span class="lineno"><a class="line" href="class_rotation_quat_constraint_part.html#a9ca6e071472fdc3e1ce31b115bfee6e4">  227</a></span>    <span class="keywordtype">void</span>                        <a class="code hl_function" href="class_rotation_quat_constraint_part.html#a9ca6e071472fdc3e1ce31b115bfee6e4">SaveState</a>(<a class="code hl_class" href="class_state_recorder.html">StateRecorder</a> &amp;inStream)<span class="keyword"> const</span></div>
    272. 

  272. <div class="line"><a id="l00228" name="l00228"></a><span class="lineno">  228</span><span class="keyword">    </span>{</div>
    273. 

  273. <div class="line"><a id="l00229" name="l00229"></a><span class="lineno">  229</span>        inStream.<a class="code hl_function" href="class_stream_out.html#a879dce6c6c6ca5e63835fe61cc745966">Write</a>(mTotalLambda);</div>
    274. 

  274. <div class="line"><a id="l00230" name="l00230"></a><span class="lineno">  230</span>    }</div>
    275. 

  275. </div>
    276. 

  276. <div class="line"><a id="l00231" name="l00231"></a><span class="lineno">  231</span> </div>
    277. 

  277. <div class="foldopen" id="foldopen00233" data-start="{" data-end="}">
    278. 

  278. <div class="line"><a id="l00233" name="l00233"></a><span class="lineno"><a class="line" href="class_rotation_quat_constraint_part.html#a95e793a001df59cd2e8ea7e92c4f6263">  233</a></span>    <span class="keywordtype">void</span>                        <a class="code hl_function" href="class_rotation_quat_constraint_part.html#a95e793a001df59cd2e8ea7e92c4f6263">RestoreState</a>(<a class="code hl_class" href="class_state_recorder.html">StateRecorder</a> &amp;inStream)</div>
    279. 

  279. <div class="line"><a id="l00234" name="l00234"></a><span class="lineno">  234</span>    {</div>
    280. 

  280. <div class="line"><a id="l00235" name="l00235"></a><span class="lineno">  235</span>        inStream.<a class="code hl_function" href="class_stream_in.html#a5ae9304c310edfc5ef1c67a95e36b1f3">Read</a>(mTotalLambda);</div>
    281. 

  281. <div class="line"><a id="l00236" name="l00236"></a><span class="lineno">  236</span>    }</div>
    282. 

  282. </div>
    283. 

  283. <div class="line"><a id="l00237" name="l00237"></a><span class="lineno">  237</span> </div>
    284. 

  284. <div class="line"><a id="l00238" name="l00238"></a><span class="lineno">  238</span><span class="keyword">private</span>:</div>
    285. 

  285. <div class="line"><a id="l00239" name="l00239"></a><span class="lineno">  239</span>    <a class="code hl_class" href="class_mat44.html">Mat44</a>                       mInvI1_JPT;</div>
    286. 

  286. <div class="line"><a id="l00240" name="l00240"></a><span class="lineno">  240</span>    <a class="code hl_class" href="class_mat44.html">Mat44</a>                       mInvI2_JPT;</div>
    287. 

  287. <div class="line"><a id="l00241" name="l00241"></a><span class="lineno">  241</span>    <a class="code hl_class" href="class_mat44.html">Mat44</a>                       mEffectiveMass;</div>
    288. 

  288. <div class="line"><a id="l00242" name="l00242"></a><span class="lineno">  242</span>    <a class="code hl_class" href="class_mat44.html">Mat44</a>                       mEffectiveMass_JP;</div>
    289. 

  289. <div class="line"><a id="l00243" name="l00243"></a><span class="lineno">  243</span>    <a class="code hl_class" href="class_vec3.html">Vec3</a>                        mTotalLambda { <a class="code hl_function" href="class_vec3.html#ad03c52ab27761bc1e64e33c47632ba51">Vec3::sZero</a>() };</div>
    290. 

  290. <div class="line"><a id="l00244" name="l00244"></a><span class="lineno">  244</span>};</div>
    291. 

  291. </div>
    292. 

  292. <div class="line"><a id="l00245" name="l00245"></a><span class="lineno">  245</span> </div>
    293. 

  293. <div class="line"><a id="l00246" name="l00246"></a><span class="lineno">  246</span><a class="code hl_define" href="_core_8h.html#a73da8725998b00321a9db341202d650d">JPH_NAMESPACE_END</a></div>
    294. 

  294. <div class="ttc" id="a_body_8h_html"><div class="ttname"><a href="_body_8h.html">Body.h</a></div></div>
    295. 

  295. <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>
    296. 

  296. <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>
    297. 

  297. <div class="ttc" id="a_state_recorder_8h_html"><div class="ttname"><a href="_state_recorder_8h.html">StateRecorder.h</a></div></div>
    298. 

  298. <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>
    299. 

  299. <div class="ttc" id="aclass_body_html_a0d39987255227c4221fcea66cb1fc041"><div class="ttname"><a href="class_body.html#a0d39987255227c4221fcea66cb1fc041">Body::GetMotionProperties</a></div><div class="ttdeci">const MotionProperties * GetMotionProperties() const</div><div class="ttdoc">Access to the motion properties.</div><div class="ttdef"><b>Definition</b> Body.h:308</div></div>
    300. 

  300. <div class="ttc" id="aclass_body_html_a1b21c30907c8c9ce30c176a054057bef"><div class="ttname"><a href="class_body.html#a1b21c30907c8c9ce30c176a054057bef">Body::IsDynamic</a></div><div class="ttdeci">bool IsDynamic() const</div><div class="ttdoc">Check if this body is dynamic, which means that it moves and forces can act on it.</div><div class="ttdef"><b>Definition</b> Body.h:67</div></div>
    301. 

  301. <div class="ttc" id="aclass_body_html_a3385650a73d75c7d9c16d13ea2d5519f"><div class="ttname"><a href="class_body.html#a3385650a73d75c7d9c16d13ea2d5519f">Body::AddRotationStep</a></div><div class="ttdeci">void AddRotationStep(Vec3Arg inAngularVelocityTimesDeltaTime)</div><div class="ttdoc">Update rotation using an Euler step (used during position integrate &amp; constraint solving)</div><div class="ttdef"><b>Definition</b> Body.inl:81</div></div>
    302. 

  302. <div class="ttc" id="aclass_body_html_aaee24bfb5e32e756f50113b9d1f45a2c"><div class="ttname"><a href="class_body.html#aaee24bfb5e32e756f50113b9d1f45a2c">Body::GetRotation</a></div><div class="ttdeci">Quat GetRotation() const</div><div class="ttdoc">World space rotation of the body.</div><div class="ttdef"><b>Definition</b> Body.h:271</div></div>
    303. 

  303. <div class="ttc" id="aclass_body_html_ab0df53d82e3a8356fac91d178b30c369"><div class="ttname"><a href="class_body.html#ab0df53d82e3a8356fac91d178b30c369">Body::SubRotationStep</a></div><div class="ttdeci">void SubRotationStep(Vec3Arg inAngularVelocityTimesDeltaTime)</div><div class="ttdef"><b>Definition</b> Body.inl:100</div></div>
    304. 

  304. <div class="ttc" id="aclass_body_html_adb1bb49db094ac2ef7c4951d07ba8417"><div class="ttname"><a href="class_body.html#adb1bb49db094ac2ef7c4951d07ba8417">Body::GetAngularVelocity</a></div><div class="ttdeci">Vec3 GetAngularVelocity() const</div><div class="ttdoc">Get world space angular velocity of the center of mass (unit: rad/s)</div><div class="ttdef"><b>Definition</b> Body.h:161</div></div>
    305. 

  305. <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>
    306. 

  306. <div class="ttc" id="aclass_mat44_html_a1e3a8da1cf3a631ffaf478ca3f6bb1ed"><div class="ttname"><a href="class_mat44.html#a1e3a8da1cf3a631ffaf478ca3f6bb1ed">Mat44::sZero</a></div><div class="ttdeci">static JPH_INLINE Mat44 sZero()</div><div class="ttdoc">Zero matrix.</div><div class="ttdef"><b>Definition</b> Mat44.inl:30</div></div>
    307. 

  307. <div class="ttc" id="aclass_mat44_html_a2b688da0262b9096bfac9ddfa2c27e52"><div class="ttname"><a href="class_mat44.html#a2b688da0262b9096bfac9ddfa2c27e52">Mat44::sQuatRightMultiply</a></div><div class="ttdeci">static JPH_INLINE Mat44 sQuatRightMultiply(QuatArg inQ)</div><div class="ttdoc">Returns matrix MR so that  (where p and q are quaternions)</div><div class="ttdef"><b>Definition</b> Mat44.inl:847</div></div>
    308. 

  308. <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>
    309. 

  309. <div class="ttc" id="aclass_mat44_html_a814c04077820ea83f444ccc5ae48299f"><div class="ttname"><a href="class_mat44.html#a814c04077820ea83f444ccc5ae48299f">Mat44::SetInversed3x3</a></div><div class="ttdeci">JPH_INLINE bool SetInversed3x3(Mat44Arg inM)</div><div class="ttdoc">*this = inM.Inversed3x3(), returns false if the matrix is singular in which case *this is unchanged</div><div class="ttdef"><b>Definition</b> Mat44.inl:767</div></div>
    310. 

  310. <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>
    311. 

  311. <div class="ttc" id="aclass_mat44_html_adca3adc84118200afa5f4203164d241f"><div class="ttname"><a href="class_mat44.html#adca3adc84118200afa5f4203164d241f">Mat44::sQuatLeftMultiply</a></div><div class="ttdeci">static JPH_INLINE Mat44 sQuatLeftMultiply(QuatArg inQ)</div><div class="ttdoc">Returns matrix ML so that  (where p and q are quaternions)</div><div class="ttdef"><b>Definition</b> Mat44.inl:838</div></div>
    312. 

  312. <div class="ttc" id="aclass_motion_properties_html_a98672fc0c6884643944e570e1d78ac07"><div class="ttname"><a href="class_motion_properties.html#a98672fc0c6884643944e570e1d78ac07">MotionProperties::SubAngularVelocityStep</a></div><div class="ttdeci">void SubAngularVelocityStep(Vec3Arg inAngularVelocityChange)</div><div class="ttdef"><b>Definition</b> MotionProperties.h:220</div></div>
    313. 

  313. <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>
    314. 

  314. <div class="ttc" id="aclass_motion_properties_html_afb12aa823a651145b46b271570a7af59"><div class="ttname"><a href="class_motion_properties.html#afb12aa823a651145b46b271570a7af59">MotionProperties::AddAngularVelocityStep</a></div><div class="ttdeci">void AddAngularVelocityStep(Vec3Arg inAngularVelocityChange)</div><div class="ttdef"><b>Definition</b> MotionProperties.h:219</div></div>
    315. 

  315. <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>
    316. 

  316. <div class="ttc" id="aclass_quat_html_ac69dfd8cdf79a19b8c3f385125ff5ddc"><div class="ttname"><a href="class_quat.html#ac69dfd8cdf79a19b8c3f385125ff5ddc">Quat::Conjugated</a></div><div class="ttdeci">JPH_INLINE Quat Conjugated() const</div><div class="ttdoc">The conjugate [w, -x, -y, -z] is the same as the inverse for unit quaternions.</div><div class="ttdef"><b>Definition</b> Quat.h:182</div></div>
    317. 

  317. <div class="ttc" id="aclass_rotation_quat_constraint_part_html"><div class="ttname"><a href="class_rotation_quat_constraint_part.html">RotationQuatConstraintPart</a></div><div class="ttdef"><b>Definition</b> RotationQuatConstraintPart.h:87</div></div>
    318. 

  318. <div class="ttc" id="aclass_rotation_quat_constraint_part_html_a05fa3097154059e8d7814370182a7aa5"><div class="ttname"><a href="class_rotation_quat_constraint_part.html#a05fa3097154059e8d7814370182a7aa5">RotationQuatConstraintPart::WarmStart</a></div><div class="ttdeci">void WarmStart(Body &amp;ioBody1, Body &amp;ioBody2, float inWarmStartImpulseRatio)</div><div class="ttdoc">Must be called from the WarmStartVelocityConstraint call to apply the previous frame's impulses.</div><div class="ttdef"><b>Definition</b> RotationQuatConstraintPart.h:164</div></div>
    319. 

  319. <div class="ttc" id="aclass_rotation_quat_constraint_part_html_a0c752c045f216b2d9c0570faf3f71c44"><div class="ttname"><a href="class_rotation_quat_constraint_part.html#a0c752c045f216b2d9c0570faf3f71c44">RotationQuatConstraintPart::CalculateConstraintProperties</a></div><div class="ttdeci">void CalculateConstraintProperties(const Body &amp;inBody1, Mat44Arg inRotation1, const Body &amp;inBody2, Mat44Arg inRotation2, QuatArg inInvInitialOrientation)</div><div class="ttdoc">Calculate properties used during the functions below.</div><div class="ttdef"><b>Definition</b> RotationQuatConstraintPart.h:129</div></div>
    320. 

  320. <div class="ttc" id="aclass_rotation_quat_constraint_part_html_a4aaed47e0905087e32e5dc82f6c4dca5"><div class="ttname"><a href="class_rotation_quat_constraint_part.html#a4aaed47e0905087e32e5dc82f6c4dca5">RotationQuatConstraintPart::GetTotalLambda</a></div><div class="ttdeci">Vec3 GetTotalLambda() const</div><div class="ttdoc">Return lagrange multiplier.</div><div class="ttdef"><b>Definition</b> RotationQuatConstraintPart.h:221</div></div>
    321. 

  321. <div class="ttc" id="aclass_rotation_quat_constraint_part_html_a598d2320bf1b6d19985a183d06183f13"><div class="ttname"><a href="class_rotation_quat_constraint_part.html#a598d2320bf1b6d19985a183d06183f13">RotationQuatConstraintPart::SolvePositionConstraint</a></div><div class="ttdeci">bool SolvePositionConstraint(Body &amp;ioBody1, Body &amp;ioBody2, QuatArg inInvInitialOrientation, float inBaumgarte) const</div><div class="ttdoc">Iteratively update the position constraint. Makes sure C(...) = 0.</div><div class="ttdef"><b>Definition</b> RotationQuatConstraintPart.h:182</div></div>
    322. 

  322. <div class="ttc" id="aclass_rotation_quat_constraint_part_html_a6fbaaa5c64ed9b01753780cbad3efb8b"><div class="ttname"><a href="class_rotation_quat_constraint_part.html#a6fbaaa5c64ed9b01753780cbad3efb8b">RotationQuatConstraintPart::Deactivate</a></div><div class="ttdeci">void Deactivate()</div><div class="ttdoc">Deactivate this constraint.</div><div class="ttdef"><b>Definition</b> RotationQuatConstraintPart.h:150</div></div>
    323. 

  323. <div class="ttc" id="aclass_rotation_quat_constraint_part_html_a8ab9f2a8f10bdbbe8000f7af5f0b7b5b"><div class="ttname"><a href="class_rotation_quat_constraint_part.html#a8ab9f2a8f10bdbbe8000f7af5f0b7b5b">RotationQuatConstraintPart::sGetInvInitialOrientation</a></div><div class="ttdeci">static Quat sGetInvInitialOrientation(const Body &amp;inBody1, const Body &amp;inBody2)</div><div class="ttdoc">Return inverse of initial rotation from body 1 to body 2 in body 1 space.</div><div class="ttdef"><b>Definition</b> RotationQuatConstraintPart.h:114</div></div>
    324. 

  324. <div class="ttc" id="aclass_rotation_quat_constraint_part_html_a95e793a001df59cd2e8ea7e92c4f6263"><div class="ttname"><a href="class_rotation_quat_constraint_part.html#a95e793a001df59cd2e8ea7e92c4f6263">RotationQuatConstraintPart::RestoreState</a></div><div class="ttdeci">void RestoreState(StateRecorder &amp;inStream)</div><div class="ttdoc">Restore state of this constraint part.</div><div class="ttdef"><b>Definition</b> RotationQuatConstraintPart.h:233</div></div>
    325. 

  325. <div class="ttc" id="aclass_rotation_quat_constraint_part_html_a9ca6e071472fdc3e1ce31b115bfee6e4"><div class="ttname"><a href="class_rotation_quat_constraint_part.html#a9ca6e071472fdc3e1ce31b115bfee6e4">RotationQuatConstraintPart::SaveState</a></div><div class="ttdeci">void SaveState(StateRecorder &amp;inStream) const</div><div class="ttdoc">Save state of this constraint part.</div><div class="ttdef"><b>Definition</b> RotationQuatConstraintPart.h:227</div></div>
    326. 

  326. <div class="ttc" id="aclass_rotation_quat_constraint_part_html_ab38b8a217a4dc990ed58e9dc7210e2fc"><div class="ttname"><a href="class_rotation_quat_constraint_part.html#ab38b8a217a4dc990ed58e9dc7210e2fc">RotationQuatConstraintPart::IsActive</a></div><div class="ttdeci">bool IsActive() const</div><div class="ttdoc">Check if constraint is active.</div><div class="ttdef"><b>Definition</b> RotationQuatConstraintPart.h:158</div></div>
    327. 

  327. <div class="ttc" id="aclass_rotation_quat_constraint_part_html_ad464b428f6994ee02ac203b29c561324"><div class="ttname"><a href="class_rotation_quat_constraint_part.html#ad464b428f6994ee02ac203b29c561324">RotationQuatConstraintPart::SolveVelocityConstraint</a></div><div class="ttdeci">bool SolveVelocityConstraint(Body &amp;ioBody1, Body &amp;ioBody2)</div><div class="ttdoc">Iteratively update the velocity constraint. Makes sure d/dt C(...) = 0, where C is the constraint equ...</div><div class="ttdef"><b>Definition</b> RotationQuatConstraintPart.h:171</div></div>
    328. 

  328. <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>
    329. 

  329. <div class="ttc" id="aclass_stream_in_html_a5ae9304c310edfc5ef1c67a95e36b1f3"><div class="ttname"><a href="class_stream_in.html#a5ae9304c310edfc5ef1c67a95e36b1f3">StreamIn::Read</a></div><div class="ttdeci">void Read(T &amp;outT)</div><div class="ttdoc">Read a primitive (e.g. float, int, etc.) from the binary stream.</div><div class="ttdef"><b>Definition</b> StreamIn.h:30</div></div>
    330. 

  330. <div class="ttc" id="aclass_stream_out_html_a879dce6c6c6ca5e63835fe61cc745966"><div class="ttname"><a href="class_stream_out.html#a879dce6c6c6ca5e63835fe61cc745966">StreamOut::Write</a></div><div class="ttdeci">void Write(const T &amp;inT)</div><div class="ttdoc">Write a primitive (e.g. float, int, etc.) to the binary stream.</div><div class="ttdef"><b>Definition</b> StreamOut.h:26</div></div>
    331. 

  331. <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>
    332. 

  332. <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>
    333. 

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