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  40.    <div id="projectbrief">A multi core friendly Game Physics Engine</div>
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  108.   <div class="headertitle"><div class="title">ScaleHelpers.h</div></div>
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  110. <div class="contents">
    111. 

  111. <a href="_scale_helpers_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="_physics_settings_8h.html">Jolt/Physics/PhysicsSettings.h</a>&gt;</span></div>
    118. 

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

  119. <div class="line"><a id="l00009" name="l00009"></a><span class="lineno">    9</span><a class="code hl_define" href="_core_8h.html#ad14098b68b8c44ea6112601031268405">JPH_NAMESPACE_BEGIN</a></div>
    120. 

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

  121. <div class="foldopen" id="foldopen00012" data-start="{" data-end="}">
    122. 

  122. <div class="line"><a id="l00012" name="l00012"></a><span class="lineno"><a class="line" href="namespace_scale_helpers.html">   12</a></span><span class="keyword">namespace </span><a class="code hl_namespace" href="namespace_scale_helpers.html">ScaleHelpers</a></div>
    123. 

  123. <div class="line"><a id="l00013" name="l00013"></a><span class="lineno">   13</span>{</div>
    124. 

  124. <div class="line"><a id="l00015" name="l00015"></a><span class="lineno">   15</span>    <span class="keyword">static</span> <span class="keyword">constexpr</span> <span class="keywordtype">float</span>  cMinScale = 1.0e-6f;</div>
    125. 

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

  126. <div class="line"><a id="l00018" name="l00018"></a><span class="lineno">   18</span>    <span class="keyword">static</span> <span class="keyword">constexpr</span> <span class="keywordtype">float</span>  cScaleToleranceSq = 1.0e-8f;</div>
    127. 

  127. <div class="line"><a id="l00019" name="l00019"></a><span class="lineno">   19</span> </div>
    128. 

  128. <div class="line"><a id="l00021" name="l00021"></a><span class="lineno"><a class="line" href="namespace_scale_helpers.html#abf3b185a98bea874b96fa82a0db2d7e2">   21</a></span>    <span class="keyword">inline</span> <span class="keywordtype">bool</span>             <a class="code hl_function" href="namespace_scale_helpers.html#abf3b185a98bea874b96fa82a0db2d7e2">IsNotScaled</a>(<a class="code hl_class" href="class_vec3.html">Vec3Arg</a> inScale)                                    { <span class="keywordflow">return</span> inScale.<a class="code hl_function" href="class_vec3.html#a0b134a58f09912cb5cac913313487fad">IsClose</a>(<a class="code hl_function" href="class_vec3.html#a6bc0731860c69d4e3151981d2dc24e93">Vec3::sOne</a>(), cScaleToleranceSq); }</div>
    129. 

  129. <div class="line"><a id="l00022" name="l00022"></a><span class="lineno">   22</span> </div>
    130. 

  130. <div class="line"><a id="l00024" name="l00024"></a><span class="lineno"><a class="line" href="namespace_scale_helpers.html#a8ff2f9310527acbb4b02a00150fe02fe">   24</a></span>    <span class="keyword">inline</span> <span class="keywordtype">bool</span>             <a class="code hl_function" href="namespace_scale_helpers.html#a8ff2f9310527acbb4b02a00150fe02fe">IsUniformScale</a>(<a class="code hl_class" href="class_vec3.html">Vec3Arg</a> inScale)                                 { <span class="keywordflow">return</span> inScale.<a class="code hl_function" href="class_vec3.html#afd477997c0834bd3080156e730ced38d">Swizzle</a>&lt;<a class="code hl_enumvalue" href="_swizzle_8h.html#abc5c98fcc1211af2b80116dd6e0a035dafd291953004304db41e7893449a2ff08">SWIZZLE_Y</a>, <a class="code hl_enumvalue" href="_swizzle_8h.html#abc5c98fcc1211af2b80116dd6e0a035da193cb4a0d68ee0b032d86ae28008aa63">SWIZZLE_Z</a>, <a class="code hl_enumvalue" href="_swizzle_8h.html#abc5c98fcc1211af2b80116dd6e0a035daa27e48fb4ae47daab960f563f660dfea">SWIZZLE_X</a>&gt;().IsClose(inScale, cScaleToleranceSq); }</div>
    131. 

  131. <div class="line"><a id="l00025" name="l00025"></a><span class="lineno">   25</span> </div>
    132. 

  132. <div class="line"><a id="l00027" name="l00027"></a><span class="lineno"><a class="line" href="namespace_scale_helpers.html#ab4d95f2ecd59a1a77263a3be465fd34e">   27</a></span>    <span class="keyword">inline</span> <span class="keywordtype">bool</span>             <a class="code hl_function" href="namespace_scale_helpers.html#ab4d95f2ecd59a1a77263a3be465fd34e">IsUniformScaleXZ</a>(<a class="code hl_class" href="class_vec3.html">Vec3Arg</a> inScale)                               { <span class="keywordflow">return</span> inScale.<a class="code hl_function" href="class_vec3.html#afd477997c0834bd3080156e730ced38d">Swizzle</a>&lt;<a class="code hl_enumvalue" href="_swizzle_8h.html#abc5c98fcc1211af2b80116dd6e0a035da193cb4a0d68ee0b032d86ae28008aa63">SWIZZLE_Z</a>, <a class="code hl_enumvalue" href="_swizzle_8h.html#abc5c98fcc1211af2b80116dd6e0a035dafd291953004304db41e7893449a2ff08">SWIZZLE_Y</a>, <a class="code hl_enumvalue" href="_swizzle_8h.html#abc5c98fcc1211af2b80116dd6e0a035daa27e48fb4ae47daab960f563f660dfea">SWIZZLE_X</a>&gt;().IsClose(inScale, ScaleHelpers::cScaleToleranceSq); }</div>
    133. 

  133. <div class="line"><a id="l00028" name="l00028"></a><span class="lineno">   28</span> </div>
    134. 

  134. <div class="line"><a id="l00030" name="l00030"></a><span class="lineno"><a class="line" href="namespace_scale_helpers.html#a3c182e760f2d4a5b0985b20d50b0c870">   30</a></span>    <span class="keyword">inline</span> <span class="keywordtype">float</span>            <a class="code hl_function" href="namespace_scale_helpers.html#a3c182e760f2d4a5b0985b20d50b0c870">ScaleConvexRadius</a>(<span class="keywordtype">float</span> inConvexRadius, <a class="code hl_class" href="class_vec3.html">Vec3Arg</a> inScale)        { <span class="keywordflow">return</span> min(inConvexRadius * inScale.<a class="code hl_function" href="class_vec3.html#a60c863c1cdad322a1af54e77a4af8f02">Abs</a>().<a class="code hl_function" href="class_vec3.html#a3b5c2f1c893d46d390428ef8c487cc7d">ReduceMin</a>(), <a class="code hl_variable" href="_physics_settings_8h.html#aeef9aad6ecef0a70378bbe649f08720e">cDefaultConvexRadius</a>); }</div>
    135. 

  135. <div class="line"><a id="l00031" name="l00031"></a><span class="lineno">   31</span> </div>
    136. 

  136. <div class="line"><a id="l00033" name="l00033"></a><span class="lineno"><a class="line" href="namespace_scale_helpers.html#a968d814e04071d431f79a2ba4e9d4da1">   33</a></span>    <span class="keyword">inline</span> <span class="keywordtype">bool</span>             <a class="code hl_function" href="namespace_scale_helpers.html#a968d814e04071d431f79a2ba4e9d4da1">IsInsideOut</a>(<a class="code hl_class" href="class_vec3.html">Vec3Arg</a> inScale)                                    { <span class="keywordflow">return</span> (<a class="code hl_function" href="_math_8h.html#a59413d7cb307df1856ec71deb3cc1a5b">CountBits</a>(<a class="code hl_function" href="class_vec3.html#ad376453f8dddd6653c2ead9c02951c48">Vec3::sLess</a>(inScale, <a class="code hl_function" href="class_vec3.html#ad03c52ab27761bc1e64e33c47632ba51">Vec3::sZero</a>()).GetTrues() &amp; 0x7) &amp; 1) != 0; }</div>
    137. 

  137. <div class="line"><a id="l00034" name="l00034"></a><span class="lineno">   34</span> </div>
    138. 

  138. <div class="line"><a id="l00036" name="l00036"></a><span class="lineno"><a class="line" href="namespace_scale_helpers.html#a3f452edeafb5aeb1ea965c1a2b1d9912">   36</a></span>    <span class="keyword">inline</span> <span class="keywordtype">bool</span>             <a class="code hl_function" href="namespace_scale_helpers.html#a3f452edeafb5aeb1ea965c1a2b1d9912">IsZeroScale</a>(<a class="code hl_class" href="class_vec3.html">Vec3Arg</a> inScale)                                    { <span class="keywordflow">return</span> <a class="code hl_function" href="class_vec3.html#ad376453f8dddd6653c2ead9c02951c48">Vec3::sLess</a>(inScale.<a class="code hl_function" href="class_vec3.html#a60c863c1cdad322a1af54e77a4af8f02">Abs</a>(), <a class="code hl_function" href="class_vec3.html#ad6be51ce14811d6c196784d20cb39b98">Vec3::sReplicate</a>(cMinScale)).<a class="code hl_function" href="class_u_vec4.html#a57a26ddd10bb99e07e68096eb10d1244">TestAnyXYZTrue</a>(); }</div>
    139. 

  139. <div class="line"><a id="l00037" name="l00037"></a><span class="lineno">   37</span> </div>
    140. 

  140. <div class="line"><a id="l00039" name="l00039"></a><span class="lineno"><a class="line" href="namespace_scale_helpers.html#a7445e71cd125deb818c71e867ea9275e">   39</a></span>    <span class="keyword">inline</span> <a class="code hl_class" href="class_vec3.html">Vec3</a>             <a class="code hl_function" href="namespace_scale_helpers.html#a7445e71cd125deb818c71e867ea9275e">MakeNonZeroScale</a>(<a class="code hl_class" href="class_vec3.html">Vec3Arg</a> inScale)                               { <span class="keywordflow">return</span> inScale.<a class="code hl_function" href="class_vec3.html#aecf767007e342e11f109b83a09449c7f">GetSign</a>() * <a class="code hl_function" href="class_vec3.html#a0d01523ff685cea4e0c5173fac13fc61">Vec3::sMax</a>(inScale.<a class="code hl_function" href="class_vec3.html#a60c863c1cdad322a1af54e77a4af8f02">Abs</a>(), <a class="code hl_function" href="class_vec3.html#ad6be51ce14811d6c196784d20cb39b98">Vec3::sReplicate</a>(cMinScale)); }</div>
    141. 

  141. <div class="line"><a id="l00040" name="l00040"></a><span class="lineno">   40</span> </div>
    142. 

  142. <div class="line"><a id="l00042" name="l00042"></a><span class="lineno"><a class="line" href="namespace_scale_helpers.html#a1eeb857fb92f13a5ddd9dac662146b96">   42</a></span>    <span class="keyword">inline</span> <a class="code hl_class" href="class_vec3.html">Vec3</a>             <a class="code hl_function" href="namespace_scale_helpers.html#a1eeb857fb92f13a5ddd9dac662146b96">MakeUniformScale</a>(<a class="code hl_class" href="class_vec3.html">Vec3Arg</a> inScale)                               { <span class="keywordflow">return</span> <a class="code hl_function" href="class_vec3.html#ad6be51ce14811d6c196784d20cb39b98">Vec3::sReplicate</a>((inScale.<a class="code hl_function" href="class_vec3.html#a284e29f161ae7709a934f402bd2a848c">GetX</a>() + inScale.<a class="code hl_function" href="class_vec3.html#aac08ebd63b9ab4fa089a5ed3224a8679">GetY</a>() + inScale.<a class="code hl_function" href="class_vec3.html#aeca36d050a7c2b41d3ac0438874d8c60">GetZ</a>()) / 3.0f); }</div>
    143. 

  143. <div class="line"><a id="l00043" name="l00043"></a><span class="lineno">   43</span> </div>
    144. 

  144. <div class="line"><a id="l00045" name="l00045"></a><span class="lineno"><a class="line" href="namespace_scale_helpers.html#a18833eca6231a55b302eaa70c81b5162">   45</a></span>    <span class="keyword">inline</span> <a class="code hl_class" href="class_vec3.html">Vec3</a>             <a class="code hl_function" href="namespace_scale_helpers.html#a18833eca6231a55b302eaa70c81b5162">MakeUniformScaleXZ</a>(<a class="code hl_class" href="class_vec3.html">Vec3Arg</a> inScale)                             { <span class="keywordflow">return</span> 0.5f * (inScale + inScale.<a class="code hl_function" href="class_vec3.html#afd477997c0834bd3080156e730ced38d">Swizzle</a>&lt;<a class="code hl_enumvalue" href="_swizzle_8h.html#abc5c98fcc1211af2b80116dd6e0a035da193cb4a0d68ee0b032d86ae28008aa63">SWIZZLE_Z</a>, <a class="code hl_enumvalue" href="_swizzle_8h.html#abc5c98fcc1211af2b80116dd6e0a035dafd291953004304db41e7893449a2ff08">SWIZZLE_Y</a>, <a class="code hl_enumvalue" href="_swizzle_8h.html#abc5c98fcc1211af2b80116dd6e0a035daa27e48fb4ae47daab960f563f660dfea">SWIZZLE_X</a>&gt;()); }</div>
    145. 

  145. <div class="line"><a id="l00046" name="l00046"></a><span class="lineno">   46</span> </div>
    146. 

  146. <div class="foldopen" id="foldopen00051" data-start="{" data-end="}">
    147. 

  147. <div class="line"><a id="l00051" name="l00051"></a><span class="lineno"><a class="line" href="namespace_scale_helpers.html#a024fa9a3c672218ce6b7aaa97d953ae1">   51</a></span>    <span class="keyword">inline</span> <span class="keywordtype">bool</span>             <a class="code hl_function" href="namespace_scale_helpers.html#a024fa9a3c672218ce6b7aaa97d953ae1">CanScaleBeRotated</a>(<a class="code hl_class" href="class_quat.html">QuatArg</a> inRotation, <a class="code hl_class" href="class_vec3.html">Vec3Arg</a> inScale)</div>
    148. 

  148. <div class="line"><a id="l00052" name="l00052"></a><span class="lineno">   52</span>    {</div>
    149. 

  149. <div class="line"><a id="l00053" name="l00053"></a><span class="lineno">   53</span>        <span class="comment">// inScale is a scale in local space of the shape, so the transform for the shape (ignoring translation) is: T = Mat44::sScale(inScale) * mRotation.</span></div>
    150. 

  150. <div class="line"><a id="l00054" name="l00054"></a><span class="lineno">   54</span>        <span class="comment">// when we pass the scale to the child it needs to be local to the child, so we want T = mRotation * Mat44::sScale(ChildScale).</span></div>
    151. 

  151. <div class="line"><a id="l00055" name="l00055"></a><span class="lineno">   55</span>        <span class="comment">// Solving for ChildScale: ChildScale = mRotation^-1 * Mat44::sScale(inScale) * mRotation = mRotation^T * Mat44::sScale(inScale) * mRotation</span></div>
    152. 

  152. <div class="line"><a id="l00056" name="l00056"></a><span class="lineno">   56</span>        <span class="comment">// If any of the off diagonal elements are non-zero, it means the scale / rotation is not compatible.</span></div>
    153. 

  153. <div class="line"><a id="l00057" name="l00057"></a><span class="lineno">   57</span>        <a class="code hl_class" href="class_mat44.html">Mat44</a> r = <a class="code hl_function" href="class_mat44.html#ac3109f2d950061c0b4de57e76a132634">Mat44::sRotation</a>(inRotation);</div>
    154. 

  154. <div class="line"><a id="l00058" name="l00058"></a><span class="lineno">   58</span>        <a class="code hl_class" href="class_mat44.html">Mat44</a> child_scale = r.<a class="code hl_function" href="class_mat44.html#a1c302e1f10c6c5a233aed4a540e0f598">Multiply3x3LeftTransposed</a>(r.<a class="code hl_function" href="class_mat44.html#a6503ccd1384b6681d191c327961fbb6d">PostScaled</a>(inScale));</div>
    155. 

  155. <div class="line"><a id="l00059" name="l00059"></a><span class="lineno">   59</span> </div>
    156. 

  156. <div class="line"><a id="l00060" name="l00060"></a><span class="lineno">   60</span>        <span class="comment">// Get the columns, but zero the diagonal</span></div>
    157. 

  157. <div class="line"><a id="l00061" name="l00061"></a><span class="lineno">   61</span>        <a class="code hl_class" href="class_vec4.html">Vec4</a> zero = <a class="code hl_function" href="class_vec4.html#ab3d9624594386baa4ebd8c1d340ce924">Vec4::sZero</a>();</div>
    158. 

  158. <div class="line"><a id="l00062" name="l00062"></a><span class="lineno">   62</span>        <a class="code hl_class" href="class_vec4.html">Vec4</a> c0 = <a class="code hl_function" href="class_vec4.html#aea48c2f435bcc4ddbc79bfb5ddf04c6b">Vec4::sSelect</a>(child_scale.<a class="code hl_function" href="class_mat44.html#a97c469ed78611039f85415381a67f312">GetColumn4</a>(0), zero, <a class="code hl_class" href="class_u_vec4.html">UVec4</a>(0xffffffff, 0, 0, 0)).<a class="code hl_function" href="class_vec4.html#a321bcfc691705ad313b11822c8b13332">Abs</a>();</div>
    159. 

  159. <div class="line"><a id="l00063" name="l00063"></a><span class="lineno">   63</span>        <a class="code hl_class" href="class_vec4.html">Vec4</a> c1 = <a class="code hl_function" href="class_vec4.html#aea48c2f435bcc4ddbc79bfb5ddf04c6b">Vec4::sSelect</a>(child_scale.<a class="code hl_function" href="class_mat44.html#a97c469ed78611039f85415381a67f312">GetColumn4</a>(1), zero, <a class="code hl_class" href="class_u_vec4.html">UVec4</a>(0, 0xffffffff, 0, 0)).<a class="code hl_function" href="class_vec4.html#a321bcfc691705ad313b11822c8b13332">Abs</a>();</div>
    160. 

  160. <div class="line"><a id="l00064" name="l00064"></a><span class="lineno">   64</span>        <a class="code hl_class" href="class_vec4.html">Vec4</a> c2 = <a class="code hl_function" href="class_vec4.html#aea48c2f435bcc4ddbc79bfb5ddf04c6b">Vec4::sSelect</a>(child_scale.<a class="code hl_function" href="class_mat44.html#a97c469ed78611039f85415381a67f312">GetColumn4</a>(2), zero, <a class="code hl_class" href="class_u_vec4.html">UVec4</a>(0, 0, 0xffffffff, 0)).<a class="code hl_function" href="class_vec4.html#a321bcfc691705ad313b11822c8b13332">Abs</a>();</div>
    161. 

  161. <div class="line"><a id="l00065" name="l00065"></a><span class="lineno">   65</span> </div>
    162. 

  162. <div class="line"><a id="l00066" name="l00066"></a><span class="lineno">   66</span>        <span class="comment">// Check if all elements are less than epsilon</span></div>
    163. 

  163. <div class="line"><a id="l00067" name="l00067"></a><span class="lineno">   67</span>        <a class="code hl_class" href="class_vec4.html">Vec4</a> epsilon = <a class="code hl_function" href="class_vec4.html#af18f350dd2885dc48ff7e7cbf4b8bc9d">Vec4::sReplicate</a>(1.0e-6f);</div>
    164. 

  164. <div class="line"><a id="l00068" name="l00068"></a><span class="lineno">   68</span>        <span class="keywordflow">return</span> <a class="code hl_function" href="class_u_vec4.html#a69a2126a24a31ead596e3316c1285145">UVec4::sAnd</a>(<a class="code hl_function" href="class_u_vec4.html#a69a2126a24a31ead596e3316c1285145">UVec4::sAnd</a>(<a class="code hl_function" href="class_vec4.html#a4c8600bd26d971542437d4f31258dea4">Vec4::sLess</a>(c0, epsilon), <a class="code hl_function" href="class_vec4.html#a4c8600bd26d971542437d4f31258dea4">Vec4::sLess</a>(c1, epsilon)), <a class="code hl_function" href="class_vec4.html#a4c8600bd26d971542437d4f31258dea4">Vec4::sLess</a>(c2, epsilon)).<a class="code hl_function" href="class_u_vec4.html#a48549afaeaba00fc4b45a10c50656c9f">TestAllTrue</a>();</div>
    165. 

  165. <div class="line"><a id="l00069" name="l00069"></a><span class="lineno">   69</span>    }</div>
    166. 

  166. </div>
    167. 

  167. <div class="line"><a id="l00070" name="l00070"></a><span class="lineno">   70</span> </div>
    168. 

  168. <div class="foldopen" id="foldopen00075" data-start="{" data-end="}">
    169. 

  169. <div class="line"><a id="l00075" name="l00075"></a><span class="lineno"><a class="line" href="namespace_scale_helpers.html#a317905196055a0a720d6468cbb4840b9">   75</a></span>    <span class="keyword">inline</span> <a class="code hl_class" href="class_vec3.html">Vec3</a>             <a class="code hl_function" href="namespace_scale_helpers.html#a317905196055a0a720d6468cbb4840b9">RotateScale</a>(<a class="code hl_class" href="class_quat.html">QuatArg</a> inRotation, <a class="code hl_class" href="class_vec3.html">Vec3Arg</a> inScale)</div>
    170. 

  170. <div class="line"><a id="l00076" name="l00076"></a><span class="lineno">   76</span>    {</div>
    171. 

  171. <div class="line"><a id="l00077" name="l00077"></a><span class="lineno">   77</span>        <span class="comment">// Get the diagonal of mRotation^T * Mat44::sScale(inScale) * mRotation (see comment at CanScaleBeRotated)</span></div>
    172. 

  172. <div class="line"><a id="l00078" name="l00078"></a><span class="lineno">   78</span>        <a class="code hl_class" href="class_mat44.html">Mat44</a> r = <a class="code hl_function" href="class_mat44.html#ac3109f2d950061c0b4de57e76a132634">Mat44::sRotation</a>(inRotation);</div>
    173. 

  173. <div class="line"><a id="l00079" name="l00079"></a><span class="lineno">   79</span>        <span class="keywordflow">return</span> r.<a class="code hl_function" href="class_mat44.html#a1c302e1f10c6c5a233aed4a540e0f598">Multiply3x3LeftTransposed</a>(r.<a class="code hl_function" href="class_mat44.html#a6503ccd1384b6681d191c327961fbb6d">PostScaled</a>(inScale)).<a class="code hl_function" href="class_mat44.html#a6eb3cbc676f2ce57f63bcee9d0b40171">GetDiagonal3</a>();</div>
    174. 

  174. <div class="line"><a id="l00080" name="l00080"></a><span class="lineno">   80</span>    }</div>
    175. 

  175. </div>
    176. 

  176. <div class="line"><a id="l00081" name="l00081"></a><span class="lineno">   81</span>}</div>
    177. 

  177. </div>
    178. 

  178. <div class="line"><a id="l00082" name="l00082"></a><span class="lineno">   82</span> </div>
    179. 

  179. <div class="line"><a id="l00083" name="l00083"></a><span class="lineno">   83</span><a class="code hl_define" href="_core_8h.html#a73da8725998b00321a9db341202d650d">JPH_NAMESPACE_END</a></div>
    180. 

  180. <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>
    181. 

  181. <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>
    182. 

  182. <div class="ttc" id="a_math_8h_html_a59413d7cb307df1856ec71deb3cc1a5b"><div class="ttname"><a href="_math_8h.html#a59413d7cb307df1856ec71deb3cc1a5b">CountBits</a></div><div class="ttdeci">uint CountBits(uint32 inValue)</div><div class="ttdoc">Count the number of 1 bits in a value.</div><div class="ttdef"><b>Definition</b> Math.h:164</div></div>
    183. 

  183. <div class="ttc" id="a_physics_settings_8h_html"><div class="ttname"><a href="_physics_settings_8h.html">PhysicsSettings.h</a></div></div>
    184. 

  184. <div class="ttc" id="a_physics_settings_8h_html_aeef9aad6ecef0a70378bbe649f08720e"><div class="ttname"><a href="_physics_settings_8h.html#aeef9aad6ecef0a70378bbe649f08720e">cDefaultConvexRadius</a></div><div class="ttdeci">constexpr float cDefaultConvexRadius</div><div class="ttdoc">How much padding to add around objects.</div><div class="ttdef"><b>Definition</b> PhysicsSettings.h:16</div></div>
    185. 

  185. <div class="ttc" id="a_swizzle_8h_html_abc5c98fcc1211af2b80116dd6e0a035da193cb4a0d68ee0b032d86ae28008aa63"><div class="ttname"><a href="_swizzle_8h.html#abc5c98fcc1211af2b80116dd6e0a035da193cb4a0d68ee0b032d86ae28008aa63">SWIZZLE_Z</a></div><div class="ttdeci">@ SWIZZLE_Z</div><div class="ttdoc">Use the Z component.</div><div class="ttdef"><b>Definition</b> Swizzle.h:14</div></div>
    186. 

  186. <div class="ttc" id="a_swizzle_8h_html_abc5c98fcc1211af2b80116dd6e0a035daa27e48fb4ae47daab960f563f660dfea"><div class="ttname"><a href="_swizzle_8h.html#abc5c98fcc1211af2b80116dd6e0a035daa27e48fb4ae47daab960f563f660dfea">SWIZZLE_X</a></div><div class="ttdeci">@ SWIZZLE_X</div><div class="ttdoc">Use the X component.</div><div class="ttdef"><b>Definition</b> Swizzle.h:12</div></div>
    187. 

  187. <div class="ttc" id="a_swizzle_8h_html_abc5c98fcc1211af2b80116dd6e0a035dafd291953004304db41e7893449a2ff08"><div class="ttname"><a href="_swizzle_8h.html#abc5c98fcc1211af2b80116dd6e0a035dafd291953004304db41e7893449a2ff08">SWIZZLE_Y</a></div><div class="ttdeci">@ SWIZZLE_Y</div><div class="ttdoc">Use the Y component.</div><div class="ttdef"><b>Definition</b> Swizzle.h:13</div></div>
    188. 

  188. <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>
    189. 

  189. <div class="ttc" id="aclass_mat44_html_a1c302e1f10c6c5a233aed4a540e0f598"><div class="ttname"><a href="class_mat44.html#a1c302e1f10c6c5a233aed4a540e0f598">Mat44::Multiply3x3LeftTransposed</a></div><div class="ttdeci">JPH_INLINE Mat44 Multiply3x3LeftTransposed(Mat44Arg inM) const</div><div class="ttdoc">Multiply transpose of 3x3 matrix by 3x3 matrix ( )</div><div class="ttdef"><b>Definition</b> Mat44.inl:383</div></div>
    190. 

  190. <div class="ttc" id="aclass_mat44_html_a6503ccd1384b6681d191c327961fbb6d"><div class="ttname"><a href="class_mat44.html#a6503ccd1384b6681d191c327961fbb6d">Mat44::PostScaled</a></div><div class="ttdeci">JPH_INLINE Mat44 PostScaled(Vec3Arg inScale) const</div><div class="ttdoc">Scale a matrix: result = Mat44::sScale(inScale) * this.</div><div class="ttdef"><b>Definition</b> Mat44.inl:913</div></div>
    191. 

  191. <div class="ttc" id="aclass_mat44_html_a6eb3cbc676f2ce57f63bcee9d0b40171"><div class="ttname"><a href="class_mat44.html#a6eb3cbc676f2ce57f63bcee9d0b40171">Mat44::GetDiagonal3</a></div><div class="ttdeci">JPH_INLINE Vec3 GetDiagonal3() const</div><div class="ttdef"><b>Definition</b> Mat44.h:154</div></div>
    192. 

  192. <div class="ttc" id="aclass_mat44_html_a97c469ed78611039f85415381a67f312"><div class="ttname"><a href="class_mat44.html#a97c469ed78611039f85415381a67f312">Mat44::GetColumn4</a></div><div class="ttdeci">JPH_INLINE Vec4 GetColumn4(uint inCol) const</div><div class="ttdef"><b>Definition</b> Mat44.h:160</div></div>
    193. 

  193. <div class="ttc" id="aclass_mat44_html_ac3109f2d950061c0b4de57e76a132634"><div class="ttname"><a href="class_mat44.html#ac3109f2d950061c0b4de57e76a132634">Mat44::sRotation</a></div><div class="ttdeci">static JPH_INLINE Mat44 sRotation(Vec3Arg inAxis, float inAngle)</div><div class="ttdoc">Rotate around arbitrary axis.</div><div class="ttdef"><b>Definition</b> Mat44.inl:139</div></div>
    194. 

  194. <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>
    195. 

  195. <div class="ttc" id="aclass_u_vec4_html"><div class="ttname"><a href="class_u_vec4.html">UVec4</a></div><div class="ttdef"><b>Definition</b> UVec4.h:12</div></div>
    196. 

  196. <div class="ttc" id="aclass_u_vec4_html_a48549afaeaba00fc4b45a10c50656c9f"><div class="ttname"><a href="class_u_vec4.html#a48549afaeaba00fc4b45a10c50656c9f">UVec4::TestAllTrue</a></div><div class="ttdeci">JPH_INLINE bool TestAllTrue() const</div><div class="ttdoc">Test if all components are true (true is when highest bit of component is set)</div><div class="ttdef"><b>Definition</b> UVec4.inl:463</div></div>
    197. 

  197. <div class="ttc" id="aclass_u_vec4_html_a57a26ddd10bb99e07e68096eb10d1244"><div class="ttname"><a href="class_u_vec4.html#a57a26ddd10bb99e07e68096eb10d1244">UVec4::TestAnyXYZTrue</a></div><div class="ttdeci">JPH_INLINE bool TestAnyXYZTrue() const</div><div class="ttdoc">Test if any of X, Y or Z components are true (true is when highest bit of component is set)</div><div class="ttdef"><b>Definition</b> UVec4.inl:458</div></div>
    198. 

  198. <div class="ttc" id="aclass_u_vec4_html_a69a2126a24a31ead596e3316c1285145"><div class="ttname"><a href="class_u_vec4.html#a69a2126a24a31ead596e3316c1285145">UVec4::sAnd</a></div><div class="ttdeci">static JPH_INLINE UVec4 sAnd(UVec4Arg inV1, UVec4Arg inV2)</div><div class="ttdoc">Logical and (component wise)</div><div class="ttdef"><b>Definition</b> UVec4.inl:202</div></div>
    199. 

  199. <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>
    200. 

  200. <div class="ttc" id="aclass_vec3_html_a0b134a58f09912cb5cac913313487fad"><div class="ttname"><a href="class_vec3.html#a0b134a58f09912cb5cac913313487fad">Vec3::IsClose</a></div><div class="ttdeci">JPH_INLINE bool IsClose(Vec3Arg inV2, float inMaxDistSq=1.0e-12f) const</div><div class="ttdoc">Test if two vectors are close.</div><div class="ttdef"><b>Definition</b> Vec3.inl:347</div></div>
    201. 

  201. <div class="ttc" id="aclass_vec3_html_a0d01523ff685cea4e0c5173fac13fc61"><div class="ttname"><a href="class_vec3.html#a0d01523ff685cea4e0c5173fac13fc61">Vec3::sMax</a></div><div class="ttdeci">static JPH_INLINE Vec3 sMax(Vec3Arg inV1, Vec3Arg inV2)</div><div class="ttdoc">Return the maximum of each of the components.</div><div class="ttdef"><b>Definition</b> Vec3.inl:160</div></div>
    202. 

  202. <div class="ttc" id="aclass_vec3_html_a284e29f161ae7709a934f402bd2a848c"><div class="ttname"><a href="class_vec3.html#a284e29f161ae7709a934f402bd2a848c">Vec3::GetX</a></div><div class="ttdeci">JPH_INLINE float GetX() const</div><div class="ttdoc">Get individual components.</div><div class="ttdef"><b>Definition</b> Vec3.h:127</div></div>
    203. 

  203. <div class="ttc" id="aclass_vec3_html_a3b5c2f1c893d46d390428ef8c487cc7d"><div class="ttname"><a href="class_vec3.html#a3b5c2f1c893d46d390428ef8c487cc7d">Vec3::ReduceMin</a></div><div class="ttdeci">JPH_INLINE float ReduceMin() const</div><div class="ttdoc">Get the minimum of X, Y and Z.</div><div class="ttdef"><b>Definition</b> Vec3.inl:813</div></div>
    204. 

  204. <div class="ttc" id="aclass_vec3_html_a60c863c1cdad322a1af54e77a4af8f02"><div class="ttname"><a href="class_vec3.html#a60c863c1cdad322a1af54e77a4af8f02">Vec3::Abs</a></div><div class="ttdeci">JPH_INLINE Vec3 Abs() const</div><div class="ttdoc">Return the absolute value of each of the components.</div><div class="ttdef"><b>Definition</b> Vec3.inl:577</div></div>
    205. 

  205. <div class="ttc" id="aclass_vec3_html_a6bc0731860c69d4e3151981d2dc24e93"><div class="ttname"><a href="class_vec3.html#a6bc0731860c69d4e3151981d2dc24e93">Vec3::sOne</a></div><div class="ttdeci">static JPH_INLINE Vec3 sOne()</div><div class="ttdoc">Vector with all ones.</div><div class="ttdef"><b>Definition</b> Vec3.inl:125</div></div>
    206. 

  206. <div class="ttc" id="aclass_vec3_html_aac08ebd63b9ab4fa089a5ed3224a8679"><div class="ttname"><a href="class_vec3.html#aac08ebd63b9ab4fa089a5ed3224a8679">Vec3::GetY</a></div><div class="ttdeci">JPH_INLINE float GetY() const</div><div class="ttdef"><b>Definition</b> Vec3.h:128</div></div>
    207. 

  207. <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>
    208. 

  208. <div class="ttc" id="aclass_vec3_html_ad376453f8dddd6653c2ead9c02951c48"><div class="ttname"><a href="class_vec3.html#ad376453f8dddd6653c2ead9c02951c48">Vec3::sLess</a></div><div class="ttdeci">static JPH_INLINE UVec4 sLess(Vec3Arg inV1, Vec3Arg inV2)</div><div class="ttdoc">Less than (component wise)</div><div class="ttdef"><b>Definition</b> Vec3.inl:193</div></div>
    209. 

  209. <div class="ttc" id="aclass_vec3_html_ad6be51ce14811d6c196784d20cb39b98"><div class="ttname"><a href="class_vec3.html#ad6be51ce14811d6c196784d20cb39b98">Vec3::sReplicate</a></div><div class="ttdeci">static JPH_INLINE Vec3 sReplicate(float inV)</div><div class="ttdoc">Replicate inV across all components.</div><div class="ttdef"><b>Definition</b> Vec3.inl:114</div></div>
    210. 

  210. <div class="ttc" id="aclass_vec3_html_aeca36d050a7c2b41d3ac0438874d8c60"><div class="ttname"><a href="class_vec3.html#aeca36d050a7c2b41d3ac0438874d8c60">Vec3::GetZ</a></div><div class="ttdeci">JPH_INLINE float GetZ() const</div><div class="ttdef"><b>Definition</b> Vec3.h:129</div></div>
    211. 

  211. <div class="ttc" id="aclass_vec3_html_aecf767007e342e11f109b83a09449c7f"><div class="ttname"><a href="class_vec3.html#aecf767007e342e11f109b83a09449c7f">Vec3::GetSign</a></div><div class="ttdeci">JPH_INLINE Vec3 GetSign() const</div><div class="ttdoc">Get vector that contains the sign of each element (returns 1.0f if positive, -1.0f if negative)</div><div class="ttdef"><b>Definition</b> Vec3.inl:841</div></div>
    212. 

  212. <div class="ttc" id="aclass_vec3_html_afd477997c0834bd3080156e730ced38d"><div class="ttname"><a href="class_vec3.html#afd477997c0834bd3080156e730ced38d">Vec3::Swizzle</a></div><div class="ttdeci">JPH_INLINE Vec3 Swizzle() const</div><div class="ttdoc">Swizzle the elements in inV.</div></div>
    213. 

  213. <div class="ttc" id="aclass_vec4_html"><div class="ttname"><a href="class_vec4.html">Vec4</a></div><div class="ttdef"><b>Definition</b> Vec4.h:14</div></div>
    214. 

  214. <div class="ttc" id="aclass_vec4_html_a321bcfc691705ad313b11822c8b13332"><div class="ttname"><a href="class_vec4.html#a321bcfc691705ad313b11822c8b13332">Vec4::Abs</a></div><div class="ttdeci">JPH_INLINE Vec4 Abs() const</div><div class="ttdoc">Return the absolute value of each of the components.</div><div class="ttdef"><b>Definition</b> Vec4.inl:681</div></div>
    215. 

  215. <div class="ttc" id="aclass_vec4_html_a4c8600bd26d971542437d4f31258dea4"><div class="ttname"><a href="class_vec4.html#a4c8600bd26d971542437d4f31258dea4">Vec4::sLess</a></div><div class="ttdeci">static JPH_INLINE UVec4 sLess(Vec4Arg inV1, Vec4Arg inV2)</div><div class="ttdoc">Less than (component wise)</div><div class="ttdef"><b>Definition</b> Vec4.inl:190</div></div>
    216. 

  216. <div class="ttc" id="aclass_vec4_html_ab3d9624594386baa4ebd8c1d340ce924"><div class="ttname"><a href="class_vec4.html#ab3d9624594386baa4ebd8c1d340ce924">Vec4::sZero</a></div><div class="ttdeci">static JPH_INLINE Vec4 sZero()</div><div class="ttdoc">Vector with all zeros.</div><div class="ttdef"><b>Definition</b> Vec4.inl:63</div></div>
    217. 

  217. <div class="ttc" id="aclass_vec4_html_aea48c2f435bcc4ddbc79bfb5ddf04c6b"><div class="ttname"><a href="class_vec4.html#aea48c2f435bcc4ddbc79bfb5ddf04c6b">Vec4::sSelect</a></div><div class="ttdeci">static JPH_INLINE Vec4 sSelect(Vec4Arg inNotSet, Vec4Arg inSet, UVec4Arg inControl)</div><div class="ttdoc">Component wise select, returns inNotSet when highest bit of inControl = 0 and inSet when highest bit ...</div><div class="ttdef"><b>Definition</b> Vec4.inl:264</div></div>
    218. 

  218. <div class="ttc" id="aclass_vec4_html_af18f350dd2885dc48ff7e7cbf4b8bc9d"><div class="ttname"><a href="class_vec4.html#af18f350dd2885dc48ff7e7cbf4b8bc9d">Vec4::sReplicate</a></div><div class="ttdeci">static JPH_INLINE Vec4 sReplicate(float inV)</div><div class="ttdoc">Replicate inV across all components.</div><div class="ttdef"><b>Definition</b> Vec4.inl:74</div></div>
    219. 

  219. <div class="ttc" id="anamespace_scale_helpers_html"><div class="ttname"><a href="namespace_scale_helpers.html">ScaleHelpers</a></div><div class="ttdoc">Helper functions to get properties of a scaling vector.</div><div class="ttdef"><b>Definition</b> ScaleHelpers.h:13</div></div>
    220. 

  220. <div class="ttc" id="anamespace_scale_helpers_html_a024fa9a3c672218ce6b7aaa97d953ae1"><div class="ttname"><a href="namespace_scale_helpers.html#a024fa9a3c672218ce6b7aaa97d953ae1">ScaleHelpers::CanScaleBeRotated</a></div><div class="ttdeci">bool CanScaleBeRotated(QuatArg inRotation, Vec3Arg inScale)</div><div class="ttdef"><b>Definition</b> ScaleHelpers.h:51</div></div>
    221. 

  221. <div class="ttc" id="anamespace_scale_helpers_html_a18833eca6231a55b302eaa70c81b5162"><div class="ttname"><a href="namespace_scale_helpers.html#a18833eca6231a55b302eaa70c81b5162">ScaleHelpers::MakeUniformScaleXZ</a></div><div class="ttdeci">Vec3 MakeUniformScaleXZ(Vec3Arg inScale)</div><div class="ttdoc">Average the scale in XZ, used to make the scale uniform when a shape doesn't support non-uniform scal...</div><div class="ttdef"><b>Definition</b> ScaleHelpers.h:45</div></div>
    222. 

  222. <div class="ttc" id="anamespace_scale_helpers_html_a1eeb857fb92f13a5ddd9dac662146b96"><div class="ttname"><a href="namespace_scale_helpers.html#a1eeb857fb92f13a5ddd9dac662146b96">ScaleHelpers::MakeUniformScale</a></div><div class="ttdeci">Vec3 MakeUniformScale(Vec3Arg inScale)</div><div class="ttdoc">Get the average scale if inScale, used to make the scale uniform when a shape doesn't support non-uni...</div><div class="ttdef"><b>Definition</b> ScaleHelpers.h:42</div></div>
    223. 

  223. <div class="ttc" id="anamespace_scale_helpers_html_a317905196055a0a720d6468cbb4840b9"><div class="ttname"><a href="namespace_scale_helpers.html#a317905196055a0a720d6468cbb4840b9">ScaleHelpers::RotateScale</a></div><div class="ttdeci">Vec3 RotateScale(QuatArg inRotation, Vec3Arg inScale)</div><div class="ttdef"><b>Definition</b> ScaleHelpers.h:75</div></div>
    224. 

  224. <div class="ttc" id="anamespace_scale_helpers_html_a3c182e760f2d4a5b0985b20d50b0c870"><div class="ttname"><a href="namespace_scale_helpers.html#a3c182e760f2d4a5b0985b20d50b0c870">ScaleHelpers::ScaleConvexRadius</a></div><div class="ttdeci">float ScaleConvexRadius(float inConvexRadius, Vec3Arg inScale)</div><div class="ttdoc">Scale the convex radius of an object.</div><div class="ttdef"><b>Definition</b> ScaleHelpers.h:30</div></div>
    225. 

  225. <div class="ttc" id="anamespace_scale_helpers_html_a3f452edeafb5aeb1ea965c1a2b1d9912"><div class="ttname"><a href="namespace_scale_helpers.html#a3f452edeafb5aeb1ea965c1a2b1d9912">ScaleHelpers::IsZeroScale</a></div><div class="ttdeci">bool IsZeroScale(Vec3Arg inScale)</div><div class="ttdoc">Test if any of the components of the scale have a value below cMinScale.</div><div class="ttdef"><b>Definition</b> ScaleHelpers.h:36</div></div>
    226. 

  226. <div class="ttc" id="anamespace_scale_helpers_html_a7445e71cd125deb818c71e867ea9275e"><div class="ttname"><a href="namespace_scale_helpers.html#a7445e71cd125deb818c71e867ea9275e">ScaleHelpers::MakeNonZeroScale</a></div><div class="ttdeci">Vec3 MakeNonZeroScale(Vec3Arg inScale)</div><div class="ttdoc">Ensure that the scale for each component is at least cMinScale.</div><div class="ttdef"><b>Definition</b> ScaleHelpers.h:39</div></div>
    227. 

  227. <div class="ttc" id="anamespace_scale_helpers_html_a8ff2f9310527acbb4b02a00150fe02fe"><div class="ttname"><a href="namespace_scale_helpers.html#a8ff2f9310527acbb4b02a00150fe02fe">ScaleHelpers::IsUniformScale</a></div><div class="ttdeci">bool IsUniformScale(Vec3Arg inScale)</div><div class="ttdoc">Test if a scale is uniform.</div><div class="ttdef"><b>Definition</b> ScaleHelpers.h:24</div></div>
    228. 

  228. <div class="ttc" id="anamespace_scale_helpers_html_a968d814e04071d431f79a2ba4e9d4da1"><div class="ttname"><a href="namespace_scale_helpers.html#a968d814e04071d431f79a2ba4e9d4da1">ScaleHelpers::IsInsideOut</a></div><div class="ttdeci">bool IsInsideOut(Vec3Arg inScale)</div><div class="ttdoc">Test if a scale flips an object inside out (which requires flipping all normals and polygon windings)</div><div class="ttdef"><b>Definition</b> ScaleHelpers.h:33</div></div>
    229. 

  229. <div class="ttc" id="anamespace_scale_helpers_html_ab4d95f2ecd59a1a77263a3be465fd34e"><div class="ttname"><a href="namespace_scale_helpers.html#ab4d95f2ecd59a1a77263a3be465fd34e">ScaleHelpers::IsUniformScaleXZ</a></div><div class="ttdeci">bool IsUniformScaleXZ(Vec3Arg inScale)</div><div class="ttdoc">Test if a scale is uniform in XZ.</div><div class="ttdef"><b>Definition</b> ScaleHelpers.h:27</div></div>
    230. 

  230. <div class="ttc" id="anamespace_scale_helpers_html_abf3b185a98bea874b96fa82a0db2d7e2"><div class="ttname"><a href="namespace_scale_helpers.html#abf3b185a98bea874b96fa82a0db2d7e2">ScaleHelpers::IsNotScaled</a></div><div class="ttdeci">bool IsNotScaled(Vec3Arg inScale)</div><div class="ttdoc">Test if a scale is identity.</div><div class="ttdef"><b>Definition</b> ScaleHelpers.h:21</div></div>
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