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

  111. <a href="_six_d_o_f_constraint_8h.html">Go to the documentation of this file.</a><div class="fragment"><div class="line"><a id="l00001" name="l00001"></a><span class="lineno">    1</span><span class="comment">// Jolt Physics Library (https://github.com/jrouwe/JoltPhysics)</span></div>
    112. 

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

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

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

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

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

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

  118. <div class="line"><a id="l00008" name="l00008"></a><span class="lineno">    8</span><span class="preprocessor">#include &lt;<a class="code" href="_motor_settings_8h.html">Jolt/Physics/Constraints/MotorSettings.h</a>&gt;</span></div>
    119. 

  119. <div class="line"><a id="l00009" name="l00009"></a><span class="lineno">    9</span><span class="preprocessor">#include &lt;<a class="code" href="_point_constraint_part_8h.html">Jolt/Physics/Constraints/ConstraintPart/PointConstraintPart.h</a>&gt;</span></div>
    120. 

  120. <div class="line"><a id="l00010" name="l00010"></a><span class="lineno">   10</span><span class="preprocessor">#include &lt;<a class="code" href="_axis_constraint_part_8h.html">Jolt/Physics/Constraints/ConstraintPart/AxisConstraintPart.h</a>&gt;</span></div>
    121. 

  121. <div class="line"><a id="l00011" name="l00011"></a><span class="lineno">   11</span><span class="preprocessor">#include &lt;<a class="code" href="_angle_constraint_part_8h.html">Jolt/Physics/Constraints/ConstraintPart/AngleConstraintPart.h</a>&gt;</span></div>
    122. 

  122. <div class="line"><a id="l00012" name="l00012"></a><span class="lineno">   12</span><span class="preprocessor">#include &lt;<a class="code" href="_rotation_euler_constraint_part_8h.html">Jolt/Physics/Constraints/ConstraintPart/RotationEulerConstraintPart.h</a>&gt;</span></div>
    123. 

  123. <div class="line"><a id="l00013" name="l00013"></a><span class="lineno">   13</span><span class="preprocessor">#include &lt;<a class="code" href="_swing_twist_constraint_part_8h.html">Jolt/Physics/Constraints/ConstraintPart/SwingTwistConstraintPart.h</a>&gt;</span></div>
    124. 

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

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

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

  127. <div class="foldopen" id="foldopen00018" data-start="{" data-end="};">
    128. 

  128. <div class="line"><a id="l00018" name="l00018"></a><span class="lineno"><a class="line" href="class_six_d_o_f_constraint_settings.html">   18</a></span><span class="keyword">class </span><a class="code hl_define" href="_core_8h.html#a2712a9b0f778ab9d1aa5118b4e8e6bd8">JPH_EXPORT</a> <a class="code hl_class" href="class_six_d_o_f_constraint_settings.html">SixDOFConstraintSettings</a> final : <span class="keyword">public</span> <a class="code hl_class" href="class_two_body_constraint_settings.html">TwoBodyConstraintSettings</a></div>
    129. 

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

  130. <div class="line"><a id="l00020" name="l00020"></a><span class="lineno">   20</span>    <a class="code hl_define" href="_serializable_object_8h.html#ad80cbee2b256f570ee204534dec05da4">JPH_DECLARE_SERIALIZABLE_VIRTUAL</a>(<a class="code hl_define" href="_core_8h.html#a2712a9b0f778ab9d1aa5118b4e8e6bd8">JPH_EXPORT</a>, <a class="code hl_class" href="class_six_d_o_f_constraint_settings.html">SixDOFConstraintSettings</a>)</div>
    131. 

  131. <div class="line"><a id="l00021" name="l00021"></a><span class="lineno">   21</span> </div>
    132. 

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

  133. <div class="foldopen" id="foldopen00024" data-start="{" data-end="};">
    134. 

  134. <div class="line"><a id="l00024" name="l00024"></a><span class="lineno"><a class="line" href="class_six_d_o_f_constraint_settings.html#ad5d80ef30a4a99d4876b244e55fc10cd">   24</a></span>    <span class="keyword">enum</span> <a class="code hl_enumeration" href="class_six_d_o_f_constraint_settings.html#ad5d80ef30a4a99d4876b244e55fc10cd">EAxis</a></div>
    135. 

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

  136. <div class="line"><a id="l00026" name="l00026"></a><span class="lineno"><a class="line" href="class_six_d_o_f_constraint_settings.html#ad5d80ef30a4a99d4876b244e55fc10cdaaa3c8b3e737aa478570057e143c88036">   26</a></span>        <a class="code hl_enumvalue" href="class_six_d_o_f_constraint_settings.html#ad5d80ef30a4a99d4876b244e55fc10cdaaa3c8b3e737aa478570057e143c88036">TranslationX</a>,</div>
    137. 

  137. <div class="line"><a id="l00027" name="l00027"></a><span class="lineno"><a class="line" href="class_six_d_o_f_constraint_settings.html#ad5d80ef30a4a99d4876b244e55fc10cda3473af06b46b9425a1df5eebef6aeb4d">   27</a></span>        <a class="code hl_enumvalue" href="class_six_d_o_f_constraint_settings.html#ad5d80ef30a4a99d4876b244e55fc10cda3473af06b46b9425a1df5eebef6aeb4d">TranslationY</a>,</div>
    138. 

  138. <div class="line"><a id="l00028" name="l00028"></a><span class="lineno"><a class="line" href="class_six_d_o_f_constraint_settings.html#ad5d80ef30a4a99d4876b244e55fc10cda439ec6cb6451b42d32733372922adda7">   28</a></span>        <a class="code hl_enumvalue" href="class_six_d_o_f_constraint_settings.html#ad5d80ef30a4a99d4876b244e55fc10cda439ec6cb6451b42d32733372922adda7">TranslationZ</a>,</div>
    139. 

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

  140. <div class="line"><a id="l00030" name="l00030"></a><span class="lineno"><a class="line" href="class_six_d_o_f_constraint_settings.html#ad5d80ef30a4a99d4876b244e55fc10cda3bb18dfab58908c6fe0a34212574e804">   30</a></span>        <a class="code hl_enumvalue" href="class_six_d_o_f_constraint_settings.html#ad5d80ef30a4a99d4876b244e55fc10cda3bb18dfab58908c6fe0a34212574e804">RotationX</a>,</div>
    141. 

  141. <div class="line"><a id="l00031" name="l00031"></a><span class="lineno"><a class="line" href="class_six_d_o_f_constraint_settings.html#ad5d80ef30a4a99d4876b244e55fc10cdab473d487df9caec2fc6c2f2e5c7f0a40">   31</a></span>        <a class="code hl_enumvalue" href="class_six_d_o_f_constraint_settings.html#ad5d80ef30a4a99d4876b244e55fc10cdab473d487df9caec2fc6c2f2e5c7f0a40">RotationY</a>,</div>
    142. 

  142. <div class="line"><a id="l00032" name="l00032"></a><span class="lineno"><a class="line" href="class_six_d_o_f_constraint_settings.html#ad5d80ef30a4a99d4876b244e55fc10cdaf83d5f4c529f5ff08c44a4a229536c7e">   32</a></span>        <a class="code hl_enumvalue" href="class_six_d_o_f_constraint_settings.html#ad5d80ef30a4a99d4876b244e55fc10cdaf83d5f4c529f5ff08c44a4a229536c7e">RotationZ</a>,</div>
    143. 

  143. <div class="line"><a id="l00033" name="l00033"></a><span class="lineno">   33</span> </div>
    144. 

  144. <div class="line"><a id="l00034" name="l00034"></a><span class="lineno"><a class="line" href="class_six_d_o_f_constraint_settings.html#ad5d80ef30a4a99d4876b244e55fc10cdabf8fb5a75f02a8ed4c0d14cb3e9f41d2">   34</a></span>        <a class="code hl_enumvalue" href="class_six_d_o_f_constraint_settings.html#ad5d80ef30a4a99d4876b244e55fc10cdabf8fb5a75f02a8ed4c0d14cb3e9f41d2">Num</a>,</div>
    145. 

  145. <div class="line"><a id="l00035" name="l00035"></a><span class="lineno"><a class="line" href="class_six_d_o_f_constraint_settings.html#ad5d80ef30a4a99d4876b244e55fc10cda8dce276a8243615282b784869418ba66">   35</a></span>        NumTranslation = <a class="code hl_enumvalue" href="_allowed_d_o_fs_8h.html#a47bc570d6b4f457c417078ebab07d913a7eac98e7f2c74960a4aa9a2a92a8874d">TranslationZ</a> + 1,</div>
    146. 

  146. <div class="line"><a id="l00036" name="l00036"></a><span class="lineno">   36</span>    };</div>
    147. 

  147. </div>
    148. 

  148. <div class="line"><a id="l00037" name="l00037"></a><span class="lineno">   37</span> </div>
    149. 

  149. <div class="line"><a id="l00038" name="l00038"></a><span class="lineno">   38</span>    <span class="comment">// See: ConstraintSettings::SaveBinaryState</span></div>
    150. 

  150. <div class="line"><a id="l00039" name="l00039"></a><span class="lineno">   39</span>    <span class="keyword">virtual</span> <span class="keywordtype">void</span>                <a class="code hl_function" href="class_constraint_settings.html#a3123d8d5dc6b127c2d19c95f6fe23a74">SaveBinaryState</a>(<a class="code hl_class" href="class_stream_out.html">StreamOut</a> &amp;inStream) <span class="keyword">const override</span>;</div>
    151. 

  151. <div class="line"><a id="l00040" name="l00040"></a><span class="lineno">   40</span> </div>
    152. 

  152. <div class="line"><a id="l00042" name="l00042"></a><span class="lineno">   42</span>    <span class="keyword">virtual</span> <a class="code hl_class" href="class_two_body_constraint.html">TwoBodyConstraint</a> * <a class="code hl_function" href="class_two_body_constraint_settings.html#a42e353e736b0254b02008b050a28f55b">Create</a>(<a class="code hl_class" href="class_body.html">Body</a> &amp;inBody1, <a class="code hl_class" href="class_body.html">Body</a> &amp;inBody2) <span class="keyword">const override</span>;</div>
    153. 

  153. <div class="line"><a id="l00043" name="l00043"></a><span class="lineno">   43</span> </div>
    154. 

  154. <div class="line"><a id="l00045" name="l00045"></a><span class="lineno"><a class="line" href="class_six_d_o_f_constraint_settings.html#a6cf826e6c54d7f54f704c8579d586001">   45</a></span>    <a class="code hl_enumeration" href="_constraint_8h.html#a5951578637c20f8aad819c13ad09b1be">EConstraintSpace</a>            mSpace = <a class="code hl_enumvalue" href="_constraint_8h.html#a5951578637c20f8aad819c13ad09b1bea43c5bd4a88c440bd0862f954e4faa177">EConstraintSpace::WorldSpace</a>;</div>
    155. 

  155. <div class="line"><a id="l00046" name="l00046"></a><span class="lineno">   46</span> </div>
    156. 

  156. <div class="line"><a id="l00048" name="l00048"></a><span class="lineno"><a class="line" href="class_six_d_o_f_constraint_settings.html#abf8617babef063477401b6a88b4df02d">   48</a></span>    <a class="code hl_class" href="class_vec3.html">RVec3</a>                       mPosition1 = <a class="code hl_function" href="class_vec3.html#ad03c52ab27761bc1e64e33c47632ba51">RVec3::sZero</a>();</div>
    157. 

  157. <div class="line"><a id="l00049" name="l00049"></a><span class="lineno"><a class="line" href="class_six_d_o_f_constraint_settings.html#afb4725190d803a84af4626aeaf371063">   49</a></span>    <a class="code hl_class" href="class_vec3.html">Vec3</a>                        mAxisX1 = <a class="code hl_function" href="class_vec3.html#a142cc5c79f08229eb11532c26f1a1e90">Vec3::sAxisX</a>();</div>
    158. 

  158. <div class="line"><a id="l00050" name="l00050"></a><span class="lineno"><a class="line" href="class_six_d_o_f_constraint_settings.html#a5a0b4ba44def5ca8a0935b6d3856b2ce">   50</a></span>    <a class="code hl_class" href="class_vec3.html">Vec3</a>                        mAxisY1 = <a class="code hl_function" href="class_vec3.html#a2819718744feddb0bc150c6ccc26fad1">Vec3::sAxisY</a>();</div>
    159. 

  159. <div class="line"><a id="l00051" name="l00051"></a><span class="lineno">   51</span> </div>
    160. 

  160. <div class="line"><a id="l00053" name="l00053"></a><span class="lineno"><a class="line" href="class_six_d_o_f_constraint_settings.html#a6718d1e32b2c5933a3d1775ce564bee8">   53</a></span>    <a class="code hl_class" href="class_vec3.html">RVec3</a>                       mPosition2 = <a class="code hl_function" href="class_vec3.html#ad03c52ab27761bc1e64e33c47632ba51">RVec3::sZero</a>();</div>
    161. 

  161. <div class="line"><a id="l00054" name="l00054"></a><span class="lineno"><a class="line" href="class_six_d_o_f_constraint_settings.html#ad96be46141ae5232d5a0b1d941fa28cd">   54</a></span>    <a class="code hl_class" href="class_vec3.html">Vec3</a>                        mAxisX2 = <a class="code hl_function" href="class_vec3.html#a142cc5c79f08229eb11532c26f1a1e90">Vec3::sAxisX</a>();</div>
    162. 

  162. <div class="line"><a id="l00055" name="l00055"></a><span class="lineno"><a class="line" href="class_six_d_o_f_constraint_settings.html#a373e56a53fca7a5ccfc88dbf79a0080f">   55</a></span>    <a class="code hl_class" href="class_vec3.html">Vec3</a>                        mAxisY2 = <a class="code hl_function" href="class_vec3.html#a2819718744feddb0bc150c6ccc26fad1">Vec3::sAxisY</a>();</div>
    163. 

  163. <div class="line"><a id="l00056" name="l00056"></a><span class="lineno">   56</span> </div>
    164. 

  164. <div class="line"><a id="l00060" name="l00060"></a><span class="lineno"><a class="line" href="class_six_d_o_f_constraint_settings.html#a94fa871604ea96b8db52fe4a099029f8">   60</a></span>    <span class="keywordtype">float</span>                       mMaxFriction[EAxis::Num] = { 0, 0, 0, 0, 0, 0 };</div>
    165. 

  165. <div class="line"><a id="l00061" name="l00061"></a><span class="lineno">   61</span> </div>
    166. 

  166. <div class="line"><a id="l00063" name="l00063"></a><span class="lineno"><a class="line" href="class_six_d_o_f_constraint_settings.html#a9d539e9b7ea81892b587426c4dd77d1d">   63</a></span>    <a class="code hl_enumeration" href="_swing_twist_constraint_part_8h.html#add9e89df628b33308461ef46e1b796b6">ESwingType</a>                  mSwingType = <a class="code hl_enumvalue" href="_swing_twist_constraint_part_8h.html#add9e89df628b33308461ef46e1b796b6acd2c8bc6e5f1ea17c918ccaf89660104">ESwingType::Cone</a>;</div>
    167. 

  167. <div class="line"><a id="l00064" name="l00064"></a><span class="lineno">   64</span> </div>
    168. 

  168. <div class="line"><a id="l00078" name="l00078"></a><span class="lineno"><a class="line" href="class_six_d_o_f_constraint_settings.html#a647d4f74164c943a3a57cd7e2de765d0">   78</a></span>    <span class="keywordtype">float</span>                       mLimitMin[EAxis::Num] = { -FLT_MAX, -FLT_MAX, -FLT_MAX, -FLT_MAX, -FLT_MAX, -FLT_MAX };</div>
    169. 

  169. <div class="line"><a id="l00079" name="l00079"></a><span class="lineno"><a class="line" href="class_six_d_o_f_constraint_settings.html#a9921157d87173da02847e55fd49d21f0">   79</a></span>    <span class="keywordtype">float</span>                       mLimitMax[EAxis::Num] = { FLT_MAX, FLT_MAX, FLT_MAX, FLT_MAX, FLT_MAX, FLT_MAX };</div>
    170. 

  170. <div class="line"><a id="l00080" name="l00080"></a><span class="lineno">   80</span> </div>
    171. 

  171. <div class="line"><a id="l00083" name="l00083"></a><span class="lineno"><a class="line" href="class_six_d_o_f_constraint_settings.html#a43f8dc31c115124722b98689fce631f7">   83</a></span>    <a class="code hl_class" href="class_spring_settings.html">SpringSettings</a>              mLimitsSpringSettings[EAxis::NumTranslation];</div>
    172. 

  172. <div class="line"><a id="l00084" name="l00084"></a><span class="lineno">   84</span> </div>
    173. 

  173. <div class="line"><a id="l00086" name="l00086"></a><span class="lineno"><a class="line" href="class_six_d_o_f_constraint_settings.html#ad5cff2e8b147d7697aa317df476dcddf">   86</a></span>    <span class="keywordtype">void</span>                        <a class="code hl_function" href="class_six_d_o_f_constraint_settings.html#ad5cff2e8b147d7697aa317df476dcddf">MakeFreeAxis</a>(<a class="code hl_enumeration" href="class_six_d_o_f_constraint_settings.html#ad5d80ef30a4a99d4876b244e55fc10cd">EAxis</a> inAxis)                                  { mLimitMin[inAxis] = -FLT_MAX; mLimitMax[inAxis] = FLT_MAX; }</div>
    174. 

  174. <div class="line"><a id="l00087" name="l00087"></a><span class="lineno"><a class="line" href="class_six_d_o_f_constraint_settings.html#afd2fee3c13a064451e982eb6f375f71c">   87</a></span>    <span class="keywordtype">bool</span>                        <a class="code hl_function" href="class_six_d_o_f_constraint_settings.html#afd2fee3c13a064451e982eb6f375f71c">IsFreeAxis</a>(<a class="code hl_enumeration" href="class_six_d_o_f_constraint_settings.html#ad5d80ef30a4a99d4876b244e55fc10cd">EAxis</a> inAxis)<span class="keyword"> const                              </span>{ <span class="keywordflow">return</span> mLimitMin[inAxis] == -FLT_MAX &amp;&amp; mLimitMax[inAxis] == FLT_MAX; }</div>
    175. 

  175. <div class="line"><a id="l00088" name="l00088"></a><span class="lineno">   88</span> </div>
    176. 

  176. <div class="line"><a id="l00090" name="l00090"></a><span class="lineno"><a class="line" href="class_six_d_o_f_constraint_settings.html#ad7888719516a85b67a8fc957c9158144">   90</a></span>    <span class="keywordtype">void</span>                        <a class="code hl_function" href="class_six_d_o_f_constraint_settings.html#ad7888719516a85b67a8fc957c9158144">MakeFixedAxis</a>(<a class="code hl_enumeration" href="class_six_d_o_f_constraint_settings.html#ad5d80ef30a4a99d4876b244e55fc10cd">EAxis</a> inAxis)                                 { mLimitMin[inAxis] = FLT_MAX; mLimitMax[inAxis] = -FLT_MAX; }</div>
    177. 

  177. <div class="line"><a id="l00091" name="l00091"></a><span class="lineno"><a class="line" href="class_six_d_o_f_constraint_settings.html#a8b211ad9cdf8dee7b453b10f2f747a89">   91</a></span>    <span class="keywordtype">bool</span>                        <a class="code hl_function" href="class_six_d_o_f_constraint_settings.html#a8b211ad9cdf8dee7b453b10f2f747a89">IsFixedAxis</a>(<a class="code hl_enumeration" href="class_six_d_o_f_constraint_settings.html#ad5d80ef30a4a99d4876b244e55fc10cd">EAxis</a> inAxis)<span class="keyword"> const                             </span>{ <span class="keywordflow">return</span> mLimitMin[inAxis] &gt;= mLimitMax[inAxis]; }</div>
    178. 

  178. <div class="line"><a id="l00092" name="l00092"></a><span class="lineno">   92</span> </div>
    179. 

  179. <div class="line"><a id="l00094" name="l00094"></a><span class="lineno"><a class="line" href="class_six_d_o_f_constraint_settings.html#ad707d50d3c830f44ea2f10e3215a6789">   94</a></span>    <span class="keywordtype">void</span>                        <a class="code hl_function" href="class_six_d_o_f_constraint_settings.html#ad707d50d3c830f44ea2f10e3215a6789">SetLimitedAxis</a>(<a class="code hl_enumeration" href="class_six_d_o_f_constraint_settings.html#ad5d80ef30a4a99d4876b244e55fc10cd">EAxis</a> inAxis, <span class="keywordtype">float</span> inMin, <span class="keywordtype">float</span> inMax)      { mLimitMin[inAxis] = inMin; mLimitMax[inAxis] = inMax; }</div>
    180. 

  180. <div class="line"><a id="l00095" name="l00095"></a><span class="lineno">   95</span> </div>
    181. 

  181. <div class="line"><a id="l00097" name="l00097"></a><span class="lineno"><a class="line" href="class_six_d_o_f_constraint_settings.html#aa78bf1257750bc3d33b7fc7352d2d07a">   97</a></span>    <a class="code hl_class" href="class_motor_settings.html">MotorSettings</a>               mMotorSettings[EAxis::Num];</div>
    182. 

  182. <div class="line"><a id="l00098" name="l00098"></a><span class="lineno">   98</span> </div>
    183. 

  183. <div class="line"><a id="l00099" name="l00099"></a><span class="lineno">   99</span><span class="keyword">protected</span>:</div>
    184. 

  184. <div class="line"><a id="l00100" name="l00100"></a><span class="lineno">  100</span>    <span class="comment">// See: ConstraintSettings::RestoreBinaryState</span></div>
    185. 

  185. <div class="line"><a id="l00101" name="l00101"></a><span class="lineno">  101</span>    <span class="keyword">virtual</span> <span class="keywordtype">void</span>                <a class="code hl_function" href="class_constraint_settings.html#a71f815e6f2e1bd3e0c8be210936b0e79">RestoreBinaryState</a>(<a class="code hl_class" href="class_stream_in.html">StreamIn</a> &amp;inStream) <span class="keyword">override</span>;</div>
    186. 

  186. <div class="line"><a id="l00102" name="l00102"></a><span class="lineno">  102</span>};</div>
    187. 

  187. </div>
    188. 

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

  189. <div class="foldopen" id="foldopen00105" data-start="{" data-end="};">
    190. 

  190. <div class="line"><a id="l00105" name="l00105"></a><span class="lineno"><a class="line" href="class_six_d_o_f_constraint.html">  105</a></span><span class="keyword">class </span><a class="code hl_define" href="_core_8h.html#a2712a9b0f778ab9d1aa5118b4e8e6bd8">JPH_EXPORT</a> <a class="code hl_class" href="class_six_d_o_f_constraint.html">SixDOFConstraint</a> final : <span class="keyword">public</span> <a class="code hl_class" href="class_two_body_constraint.html">TwoBodyConstraint</a></div>
    191. 

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

  192. <div class="line"><a id="l00107" name="l00107"></a><span class="lineno">  107</span><span class="keyword">public</span>:</div>
    193. 

  193. <div class="line"><a id="l00108" name="l00108"></a><span class="lineno">  108</span>    <a class="code hl_define" href="_memory_8h.html#a91074fb218fe28954a0938c099ddd9e0">JPH_OVERRIDE_NEW_DELETE</a></div>
    194. 

  194. <div class="line"><a id="l00109" name="l00109"></a><span class="lineno">  109</span> </div>
    195. 

  195. <div class="line"><a id="l00111" name="l00111"></a><span class="lineno"><a class="line" href="class_six_d_o_f_constraint.html#a6ae2f17a4c67f08fb49cacab7ec0d501">  111</a></span>    <span class="keyword">using </span><a class="code hl_enumeration" href="class_six_d_o_f_constraint_settings.html#ad5d80ef30a4a99d4876b244e55fc10cd">EAxis</a> = <a class="code hl_enumeration" href="class_six_d_o_f_constraint_settings.html#ad5d80ef30a4a99d4876b244e55fc10cd">SixDOFConstraintSettings::EAxis</a>;</div>
    196. 

  196. <div class="line"><a id="l00112" name="l00112"></a><span class="lineno">  112</span> </div>
    197. 

  197. <div class="line"><a id="l00114" name="l00114"></a><span class="lineno">  114</span>                                <a class="code hl_class" href="class_six_d_o_f_constraint.html">SixDOFConstraint</a>(<a class="code hl_class" href="class_body.html">Body</a> &amp;inBody1, <a class="code hl_class" href="class_body.html">Body</a> &amp;inBody2, <span class="keyword">const</span> <a class="code hl_class" href="class_six_d_o_f_constraint_settings.html">SixDOFConstraintSettings</a> &amp;inSettings);</div>
    198. 

  198. <div class="line"><a id="l00115" name="l00115"></a><span class="lineno">  115</span> </div>
    199. 

  199. <div class="line"><a id="l00117" name="l00117"></a><span class="lineno"><a class="line" href="class_six_d_o_f_constraint.html#ae13f824a4eddf95835fdeffe61c7ffba">  117</a></span>    <span class="keyword">virtual</span> <a class="code hl_enumeration" href="_constraint_8h.html#adfc8350888df0c3a51714b7f372baf2d">EConstraintSubType</a>  <a class="code hl_function" href="class_six_d_o_f_constraint.html#ae13f824a4eddf95835fdeffe61c7ffba">GetSubType</a>()<span class="keyword"> const override                                 </span>{ <span class="keywordflow">return</span> <a class="code hl_enumvalue" href="_constraint_8h.html#adfc8350888df0c3a51714b7f372baf2dac3d163397733dea0f5563f2b7b3fa4a2">EConstraintSubType::SixDOF</a>; }</div>
    200. 

  200. <div class="line"><a id="l00118" name="l00118"></a><span class="lineno">  118</span>    <span class="keyword">virtual</span> <span class="keywordtype">void</span>                NotifyShapeChanged(<span class="keyword">const</span> <a class="code hl_class" href="class_body_i_d.html">BodyID</a> &amp;inBodyID, <a class="code hl_class" href="class_vec3.html">Vec3Arg</a> inDeltaCOM) <span class="keyword">override</span>;</div>
    201. 

  201. <div class="line"><a id="l00119" name="l00119"></a><span class="lineno">  119</span>    <span class="keyword">virtual</span> <span class="keywordtype">void</span>                SetupVelocityConstraint(<span class="keywordtype">float</span> inDeltaTime) <span class="keyword">override</span>;</div>
    202. 

  202. <div class="line"><a id="l00120" name="l00120"></a><span class="lineno">  120</span>    <span class="keyword">virtual</span> <span class="keywordtype">void</span>                ResetWarmStart() <span class="keyword">override</span>;</div>
    203. 

  203. <div class="line"><a id="l00121" name="l00121"></a><span class="lineno">  121</span>    <span class="keyword">virtual</span> <span class="keywordtype">void</span>                WarmStartVelocityConstraint(<span class="keywordtype">float</span> inWarmStartImpulseRatio) <span class="keyword">override</span>;</div>
    204. 

  204. <div class="line"><a id="l00122" name="l00122"></a><span class="lineno">  122</span>    <span class="keyword">virtual</span> <span class="keywordtype">bool</span>                SolveVelocityConstraint(<span class="keywordtype">float</span> inDeltaTime) <span class="keyword">override</span>;</div>
    205. 

  205. <div class="line"><a id="l00123" name="l00123"></a><span class="lineno">  123</span>    <span class="keyword">virtual</span> <span class="keywordtype">bool</span>                SolvePositionConstraint(<span class="keywordtype">float</span> inDeltaTime, <span class="keywordtype">float</span> inBaumgarte) <span class="keyword">override</span>;</div>
    206. 

  206. <div class="line"><a id="l00124" name="l00124"></a><span class="lineno">  124</span><span class="preprocessor">#ifdef JPH_DEBUG_RENDERER</span></div>
    207. 

  207. <div class="line"><a id="l00125" name="l00125"></a><span class="lineno">  125</span>    <span class="keyword">virtual</span> <span class="keywordtype">void</span>                DrawConstraint(<a class="code hl_class" href="class_debug_renderer.html">DebugRenderer</a> *inRenderer) <span class="keyword">const override</span>;</div>
    208. 

  208. <div class="line"><a id="l00126" name="l00126"></a><span class="lineno">  126</span>    <span class="keyword">virtual</span> <span class="keywordtype">void</span>                DrawConstraintLimits(<a class="code hl_class" href="class_debug_renderer.html">DebugRenderer</a> *inRenderer) <span class="keyword">const override</span>;</div>
    209. 

  209. <div class="line"><a id="l00127" name="l00127"></a><span class="lineno">  127</span><span class="preprocessor">#endif </span><span class="comment">// JPH_DEBUG_RENDERER</span></div>
    210. 

  210. <div class="line"><a id="l00128" name="l00128"></a><span class="lineno">  128</span>    <span class="keyword">virtual</span> <span class="keywordtype">void</span>                SaveState(<a class="code hl_class" href="class_state_recorder.html">StateRecorder</a> &amp;inStream) <span class="keyword">const override</span>;</div>
    211. 

  211. <div class="line"><a id="l00129" name="l00129"></a><span class="lineno">  129</span>    <span class="keyword">virtual</span> <span class="keywordtype">void</span>                RestoreState(<a class="code hl_class" href="class_state_recorder.html">StateRecorder</a> &amp;inStream) <span class="keyword">override</span>;</div>
    212. 

  212. <div class="line"><a id="l00130" name="l00130"></a><span class="lineno">  130</span>    <span class="keyword">virtual</span> <a class="code hl_class" href="class_ref.html">Ref&lt;ConstraintSettings&gt;</a> GetConstraintSettings() <span class="keyword">const override</span>;</div>
    213. 

  213. <div class="line"><a id="l00131" name="l00131"></a><span class="lineno">  131</span> </div>
    214. 

  214. <div class="line"><a id="l00132" name="l00132"></a><span class="lineno">  132</span>    <span class="comment">// See: TwoBodyConstraint</span></div>
    215. 

  215. <div class="line"><a id="l00133" name="l00133"></a><span class="lineno"><a class="line" href="class_six_d_o_f_constraint.html#a93b7ceef3c7017e4a1a0bc53e29c93d8">  133</a></span>    <span class="keyword">virtual</span> <a class="code hl_class" href="class_mat44.html">Mat44</a>               <a class="code hl_function" href="class_six_d_o_f_constraint.html#a93b7ceef3c7017e4a1a0bc53e29c93d8">GetConstraintToBody1Matrix</a>()<span class="keyword"> const override                 </span>{ <span class="keywordflow">return</span> <a class="code hl_function" href="class_mat44.html#aba5427f45393b40263d52ec614cfa985">Mat44::sRotationTranslation</a>(mConstraintToBody1, mLocalSpacePosition1); }</div>
    216. 

  216. <div class="line"><a id="l00134" name="l00134"></a><span class="lineno"><a class="line" href="class_six_d_o_f_constraint.html#a92d86c092002bec9d22d529f8616aa29">  134</a></span>    <span class="keyword">virtual</span> <a class="code hl_class" href="class_mat44.html">Mat44</a>               <a class="code hl_function" href="class_six_d_o_f_constraint.html#a92d86c092002bec9d22d529f8616aa29">GetConstraintToBody2Matrix</a>()<span class="keyword"> const override                 </span>{ <span class="keywordflow">return</span> <a class="code hl_function" href="class_mat44.html#aba5427f45393b40263d52ec614cfa985">Mat44::sRotationTranslation</a>(mConstraintToBody2, mLocalSpacePosition2); }</div>
    217. 

  217. <div class="line"><a id="l00135" name="l00135"></a><span class="lineno">  135</span> </div>
    218. 

  218. <div class="line"><a id="l00137" name="l00137"></a><span class="lineno">  137</span>    <span class="keywordtype">void</span>                        SetTranslationLimits(<a class="code hl_class" href="class_vec3.html">Vec3Arg</a> inLimitMin, <a class="code hl_class" href="class_vec3.html">Vec3Arg</a> inLimitMax);</div>
    219. 

  219. <div class="line"><a id="l00138" name="l00138"></a><span class="lineno">  138</span> </div>
    220. 

  220. <div class="line"><a id="l00140" name="l00140"></a><span class="lineno">  140</span>    <span class="keywordtype">void</span>                        SetRotationLimits(<a class="code hl_class" href="class_vec3.html">Vec3Arg</a> inLimitMin, <a class="code hl_class" href="class_vec3.html">Vec3Arg</a> inLimitMax);</div>
    221. 

  221. <div class="line"><a id="l00141" name="l00141"></a><span class="lineno">  141</span> </div>
    222. 

  222. <div class="line"><a id="l00143" name="l00143"></a><span class="lineno"><a class="line" href="class_six_d_o_f_constraint.html#a19166b2e56147da794b2651896007294">  143</a></span>    <span class="keywordtype">float</span>                       <a class="code hl_function" href="class_six_d_o_f_constraint.html#a19166b2e56147da794b2651896007294">GetLimitsMin</a>(<a class="code hl_enumeration" href="class_six_d_o_f_constraint_settings.html#ad5d80ef30a4a99d4876b244e55fc10cd">EAxis</a> inAxis)<span class="keyword"> const                            </span>{ <span class="keywordflow">return</span> mLimitMin[inAxis]; }</div>
    223. 

  223. <div class="line"><a id="l00144" name="l00144"></a><span class="lineno"><a class="line" href="class_six_d_o_f_constraint.html#a78e19363677045ac960e57d0deb166e6">  144</a></span>    <span class="keywordtype">float</span>                       <a class="code hl_function" href="class_six_d_o_f_constraint.html#a78e19363677045ac960e57d0deb166e6">GetLimitsMax</a>(<a class="code hl_enumeration" href="class_six_d_o_f_constraint_settings.html#ad5d80ef30a4a99d4876b244e55fc10cd">EAxis</a> inAxis)<span class="keyword"> const                            </span>{ <span class="keywordflow">return</span> mLimitMax[inAxis]; }</div>
    224. 

  224. <div class="line"><a id="l00145" name="l00145"></a><span class="lineno"><a class="line" href="class_six_d_o_f_constraint.html#adca299a0d75c785bb120d381cdb1e6ee">  145</a></span>    <a class="code hl_class" href="class_vec3.html">Vec3</a>                        <a class="code hl_function" href="class_six_d_o_f_constraint.html#adca299a0d75c785bb120d381cdb1e6ee">GetTranslationLimitsMin</a>()<span class="keyword"> const                             </span>{ <span class="keywordflow">return</span> <a class="code hl_function" href="class_vec3.html#aea30fe731618ffa249ecdcba2c66ab4e">Vec3::sLoadFloat3Unsafe</a>(*<span class="keyword">reinterpret_cast&lt;</span><span class="keyword">const </span><a class="code hl_class" href="class_float3.html">Float3</a> *<span class="keyword">&gt;</span>(&amp;mLimitMin[EAxis::TranslationX])); }</div>
    225. 

  225. <div class="line"><a id="l00146" name="l00146"></a><span class="lineno"><a class="line" href="class_six_d_o_f_constraint.html#a9dc7e49353c01c96388125cc6510bb92">  146</a></span>    <a class="code hl_class" href="class_vec3.html">Vec3</a>                        <a class="code hl_function" href="class_six_d_o_f_constraint.html#a9dc7e49353c01c96388125cc6510bb92">GetTranslationLimitsMax</a>()<span class="keyword"> const                             </span>{ <span class="keywordflow">return</span> <a class="code hl_function" href="class_vec3.html#aea30fe731618ffa249ecdcba2c66ab4e">Vec3::sLoadFloat3Unsafe</a>(*<span class="keyword">reinterpret_cast&lt;</span><span class="keyword">const </span><a class="code hl_class" href="class_float3.html">Float3</a> *<span class="keyword">&gt;</span>(&amp;mLimitMax[EAxis::TranslationX])); }</div>
    226. 

  226. <div class="line"><a id="l00147" name="l00147"></a><span class="lineno"><a class="line" href="class_six_d_o_f_constraint.html#ae130846346f47a470d08e7e916955bf6">  147</a></span>    <a class="code hl_class" href="class_vec3.html">Vec3</a>                        <a class="code hl_function" href="class_six_d_o_f_constraint.html#ae130846346f47a470d08e7e916955bf6">GetRotationLimitsMin</a>()<span class="keyword"> const                                </span>{ <span class="keywordflow">return</span> <a class="code hl_function" href="class_vec3.html#aea30fe731618ffa249ecdcba2c66ab4e">Vec3::sLoadFloat3Unsafe</a>(*<span class="keyword">reinterpret_cast&lt;</span><span class="keyword">const </span><a class="code hl_class" href="class_float3.html">Float3</a> *<span class="keyword">&gt;</span>(&amp;mLimitMin[EAxis::RotationX])); }</div>
    227. 

  227. <div class="line"><a id="l00148" name="l00148"></a><span class="lineno"><a class="line" href="class_six_d_o_f_constraint.html#a9d5cd3757370c1c95a19828cfe8ed7ce">  148</a></span>    <a class="code hl_class" href="class_vec3.html">Vec3</a>                        <a class="code hl_function" href="class_six_d_o_f_constraint.html#a9d5cd3757370c1c95a19828cfe8ed7ce">GetRotationLimitsMax</a>()<span class="keyword"> const                                </span>{ <span class="keywordflow">return</span> <a class="code hl_function" href="class_vec3.html#aea30fe731618ffa249ecdcba2c66ab4e">Vec3::sLoadFloat3Unsafe</a>(*<span class="keyword">reinterpret_cast&lt;</span><span class="keyword">const </span><a class="code hl_class" href="class_float3.html">Float3</a> *<span class="keyword">&gt;</span>(&amp;mLimitMax[EAxis::RotationX])); }</div>
    228. 

  228. <div class="line"><a id="l00149" name="l00149"></a><span class="lineno">  149</span> </div>
    229. 

  229. <div class="line"><a id="l00151" name="l00151"></a><span class="lineno"><a class="line" href="class_six_d_o_f_constraint.html#a9388c6c3c237389fa77aec2862fba244">  151</a></span>    <span class="keyword">inline</span> <span class="keywordtype">bool</span>                 <a class="code hl_function" href="class_six_d_o_f_constraint.html#a9388c6c3c237389fa77aec2862fba244">IsFixedAxis</a>(<a class="code hl_enumeration" href="class_six_d_o_f_constraint_settings.html#ad5d80ef30a4a99d4876b244e55fc10cd">EAxis</a> inAxis)<span class="keyword"> const                             </span>{ <span class="keywordflow">return</span> (mFixedAxis &amp; (1 &lt;&lt; inAxis)) != 0; }</div>
    230. 

  230. <div class="line"><a id="l00152" name="l00152"></a><span class="lineno"><a class="line" href="class_six_d_o_f_constraint.html#aaa234472e01794bfa881cf59d0c5d6be">  152</a></span>    <span class="keyword">inline</span> <span class="keywordtype">bool</span>                 <a class="code hl_function" href="class_six_d_o_f_constraint.html#aaa234472e01794bfa881cf59d0c5d6be">IsFreeAxis</a>(<a class="code hl_enumeration" href="class_six_d_o_f_constraint_settings.html#ad5d80ef30a4a99d4876b244e55fc10cd">EAxis</a> inAxis)<span class="keyword"> const                              </span>{ <span class="keywordflow">return</span> (mFreeAxis &amp; (1 &lt;&lt; inAxis)) != 0; }</div>
    231. 

  231. <div class="line"><a id="l00153" name="l00153"></a><span class="lineno">  153</span> </div>
    232. 

  232. <div class="line"><a id="l00155" name="l00155"></a><span class="lineno"><a class="line" href="class_six_d_o_f_constraint.html#a70687b51cd67ed48ec11975e8799fcc5">  155</a></span>    <span class="keyword">const</span> <a class="code hl_class" href="class_spring_settings.html">SpringSettings</a> &amp;      <a class="code hl_function" href="class_six_d_o_f_constraint.html#a70687b51cd67ed48ec11975e8799fcc5">GetLimitsSpringSettings</a>(<a class="code hl_enumeration" href="class_six_d_o_f_constraint_settings.html#ad5d80ef30a4a99d4876b244e55fc10cd">EAxis</a> inAxis)<span class="keyword"> const                 </span>{ <a class="code hl_define" href="_issue_reporting_8h.html#aaf6b1df827e11b7ca5f6f8778bd8f8cd">JPH_ASSERT</a>(inAxis &lt; EAxis::NumTranslation); <span class="keywordflow">return</span> mLimitsSpringSettings[inAxis]; }</div>
    233. 

  233. <div class="line"><a id="l00156" name="l00156"></a><span class="lineno"><a class="line" href="class_six_d_o_f_constraint.html#a0a7933aafb327871eb4a45e2a2c79fc0">  156</a></span>    <span class="keywordtype">void</span>                        <a class="code hl_function" href="class_six_d_o_f_constraint.html#a0a7933aafb327871eb4a45e2a2c79fc0">SetLimitsSpringSettings</a>(<a class="code hl_enumeration" href="class_six_d_o_f_constraint_settings.html#ad5d80ef30a4a99d4876b244e55fc10cd">EAxis</a> inAxis, <span class="keyword">const</span> <a class="code hl_class" href="class_spring_settings.html">SpringSettings</a>&amp; inLimitsSpringSettings) { <a class="code hl_define" href="_issue_reporting_8h.html#aaf6b1df827e11b7ca5f6f8778bd8f8cd">JPH_ASSERT</a>(inAxis &lt; EAxis::NumTranslation); mLimitsSpringSettings[inAxis] = inLimitsSpringSettings; CacheHasSpringLimits(); }</div>
    234. 

  234. <div class="line"><a id="l00157" name="l00157"></a><span class="lineno">  157</span> </div>
    235. 

  235. <div class="line"><a id="l00159" name="l00159"></a><span class="lineno">  159</span>    <span class="keywordtype">void</span>                        SetMaxFriction(EAxis inAxis, <span class="keywordtype">float</span> inFriction);</div>
    236. 

  236. <div class="line"><a id="l00160" name="l00160"></a><span class="lineno"><a class="line" href="class_six_d_o_f_constraint.html#a874ef6ddc1368b003ba0eb2808adf17c">  160</a></span>    <span class="keywordtype">float</span>                       <a class="code hl_function" href="class_six_d_o_f_constraint.html#a874ef6ddc1368b003ba0eb2808adf17c">GetMaxFriction</a>(<a class="code hl_enumeration" href="class_six_d_o_f_constraint_settings.html#ad5d80ef30a4a99d4876b244e55fc10cd">EAxis</a> inAxis)<span class="keyword"> const                          </span>{ <span class="keywordflow">return</span> mMaxFriction[inAxis]; }</div>
    237. 

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

  238. <div class="line"><a id="l00163" name="l00163"></a><span class="lineno">  163</span>    <a class="code hl_class" href="class_quat.html">Quat</a>                        GetRotationInConstraintSpace() <span class="keyword">const</span>;</div>
    239. 

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

  240. <div class="line"><a id="l00166" name="l00166"></a><span class="lineno"><a class="line" href="class_six_d_o_f_constraint.html#a3e4372d1567140760e6cf46710108675">  166</a></span>    <a class="code hl_class" href="class_motor_settings.html">MotorSettings</a> &amp;             <a class="code hl_function" href="class_six_d_o_f_constraint.html#a3e4372d1567140760e6cf46710108675">GetMotorSettings</a>(<a class="code hl_enumeration" href="class_six_d_o_f_constraint_settings.html#ad5d80ef30a4a99d4876b244e55fc10cd">EAxis</a> inAxis)                              { <span class="keywordflow">return</span> mMotorSettings[inAxis]; }</div>
    241. 

  241. <div class="line"><a id="l00167" name="l00167"></a><span class="lineno"><a class="line" href="class_six_d_o_f_constraint.html#a12db08dc07d7ae6cf63acdb8e17547b7">  167</a></span>    <span class="keyword">const</span> <a class="code hl_class" href="class_motor_settings.html">MotorSettings</a> &amp;       <a class="code hl_function" href="class_six_d_o_f_constraint.html#a12db08dc07d7ae6cf63acdb8e17547b7">GetMotorSettings</a>(<a class="code hl_enumeration" href="class_six_d_o_f_constraint_settings.html#ad5d80ef30a4a99d4876b244e55fc10cd">EAxis</a> inAxis)<span class="keyword"> const                        </span>{ <span class="keywordflow">return</span> mMotorSettings[inAxis]; }</div>
    242. 

  242. <div class="line"><a id="l00168" name="l00168"></a><span class="lineno">  168</span> </div>
    243. 

  243. <div class="line"><a id="l00172" name="l00172"></a><span class="lineno">  172</span>    <span class="keywordtype">void</span>                        SetMotorState(EAxis inAxis, <a class="code hl_enumeration" href="_motor_settings_8h.html#a691a2387946263d993fa8e1c9488bc2b">EMotorState</a> inState);</div>
    244. 

  244. <div class="line"><a id="l00173" name="l00173"></a><span class="lineno"><a class="line" href="class_six_d_o_f_constraint.html#adcda93c3a6ca21bf6ed39b264a020f38">  173</a></span>    <a class="code hl_enumeration" href="_motor_settings_8h.html#a691a2387946263d993fa8e1c9488bc2b">EMotorState</a>                 <a class="code hl_function" href="class_six_d_o_f_constraint.html#adcda93c3a6ca21bf6ed39b264a020f38">GetMotorState</a>(<a class="code hl_enumeration" href="class_six_d_o_f_constraint_settings.html#ad5d80ef30a4a99d4876b244e55fc10cd">EAxis</a> inAxis)<span class="keyword"> const                           </span>{ <span class="keywordflow">return</span> mMotorState[inAxis]; }</div>
    245. 

  245. <div class="line"><a id="l00174" name="l00174"></a><span class="lineno">  174</span> </div>
    246. 

  246. <div class="line"><a id="l00176" name="l00176"></a><span class="lineno"><a class="line" href="class_six_d_o_f_constraint.html#adea943442830716a4e865fe336910729">  176</a></span>    <a class="code hl_class" href="class_vec3.html">Vec3</a>                        <a class="code hl_function" href="class_six_d_o_f_constraint.html#adea943442830716a4e865fe336910729">GetTargetVelocityCS</a>()<span class="keyword"> const                                 </span>{ <span class="keywordflow">return</span> mTargetVelocity; }</div>
    247. 

  247. <div class="line"><a id="l00177" name="l00177"></a><span class="lineno"><a class="line" href="class_six_d_o_f_constraint.html#aa4fc743e2d8bbbe4eabcda4a0062d758">  177</a></span>    <span class="keywordtype">void</span>                        <a class="code hl_function" href="class_six_d_o_f_constraint.html#aa4fc743e2d8bbbe4eabcda4a0062d758">SetTargetVelocityCS</a>(<a class="code hl_class" href="class_vec3.html">Vec3Arg</a> inVelocity)                     { mTargetVelocity = inVelocity; }</div>
    248. 

  248. <div class="line"><a id="l00178" name="l00178"></a><span class="lineno">  178</span> </div>
    249. 

  249. <div class="line"><a id="l00180" name="l00180"></a><span class="lineno"><a class="line" href="class_six_d_o_f_constraint.html#a51543e5bc341f2812c0498eeb11ec8a2">  180</a></span>    <span class="keywordtype">void</span>                        <a class="code hl_function" href="class_six_d_o_f_constraint.html#a51543e5bc341f2812c0498eeb11ec8a2">SetTargetAngularVelocityCS</a>(<a class="code hl_class" href="class_vec3.html">Vec3Arg</a> inAngularVelocity)       { mTargetAngularVelocity = inAngularVelocity; }</div>
    250. 

  250. <div class="line"><a id="l00181" name="l00181"></a><span class="lineno"><a class="line" href="class_six_d_o_f_constraint.html#aa8906a979a8a5bfcb1887997849d3f0c">  181</a></span>    <a class="code hl_class" href="class_vec3.html">Vec3</a>                        <a class="code hl_function" href="class_six_d_o_f_constraint.html#aa8906a979a8a5bfcb1887997849d3f0c">GetTargetAngularVelocityCS</a>()<span class="keyword"> const                          </span>{ <span class="keywordflow">return</span> mTargetAngularVelocity; }</div>
    251. 

  251. <div class="line"><a id="l00182" name="l00182"></a><span class="lineno">  182</span> </div>
    252. 

  252. <div class="line"><a id="l00184" name="l00184"></a><span class="lineno"><a class="line" href="class_six_d_o_f_constraint.html#a5e3a3ca4dd727cabe3fbc97a43fffc1d">  184</a></span>    <a class="code hl_class" href="class_vec3.html">Vec3</a>                        <a class="code hl_function" href="class_six_d_o_f_constraint.html#a5e3a3ca4dd727cabe3fbc97a43fffc1d">GetTargetPositionCS</a>()<span class="keyword"> const                                 </span>{ <span class="keywordflow">return</span> mTargetPosition; }</div>
    253. 

  253. <div class="line"><a id="l00185" name="l00185"></a><span class="lineno"><a class="line" href="class_six_d_o_f_constraint.html#a79b66cc0a8850f926aecbcc56dc52570">  185</a></span>    <span class="keywordtype">void</span>                        <a class="code hl_function" href="class_six_d_o_f_constraint.html#a79b66cc0a8850f926aecbcc56dc52570">SetTargetPositionCS</a>(<a class="code hl_class" href="class_vec3.html">Vec3Arg</a> inPosition)                     { mTargetPosition = inPosition; }</div>
    254. 

  254. <div class="line"><a id="l00186" name="l00186"></a><span class="lineno">  186</span> </div>
    255. 

  255. <div class="line"><a id="l00188" name="l00188"></a><span class="lineno">  188</span>    <span class="keywordtype">void</span>                        SetTargetOrientationCS(<a class="code hl_class" href="class_quat.html">QuatArg</a> inOrientation);</div>
    256. 

  256. <div class="line"><a id="l00189" name="l00189"></a><span class="lineno"><a class="line" href="class_six_d_o_f_constraint.html#ab3f325802dc065ba6fbeeea76884e0c8">  189</a></span>    <a class="code hl_class" href="class_quat.html">Quat</a>                        <a class="code hl_function" href="class_six_d_o_f_constraint.html#ab3f325802dc065ba6fbeeea76884e0c8">GetTargetOrientationCS</a>()<span class="keyword"> const                              </span>{ <span class="keywordflow">return</span> mTargetOrientation; }</div>
    257. 

  257. <div class="line"><a id="l00190" name="l00190"></a><span class="lineno">  190</span> </div>
    258. 

  258. <div class="line"><a id="l00193" name="l00193"></a><span class="lineno"><a class="line" href="class_six_d_o_f_constraint.html#a27200e904e3f52704ce99c2d3f12ad16">  193</a></span>    <span class="keywordtype">void</span>                        <a class="code hl_function" href="class_six_d_o_f_constraint.html#a27200e904e3f52704ce99c2d3f12ad16">SetTargetOrientationBS</a>(<a class="code hl_class" href="class_quat.html">QuatArg</a> inOrientation)               { SetTargetOrientationCS(mConstraintToBody1.Conjugated() * inOrientation * mConstraintToBody2); }</div>
    259. 

  259. <div class="line"><a id="l00194" name="l00194"></a><span class="lineno">  194</span> </div>
    260. 

  260. <div class="line"><a id="l00196" name="l00196"></a><span class="lineno"><a class="line" href="class_six_d_o_f_constraint.html#a01a2d0f0a38d57af09fb86f5432df79b">  196</a></span>    <span class="keyword">inline</span> <a class="code hl_class" href="class_vec3.html">Vec3</a>                 <a class="code hl_function" href="class_six_d_o_f_constraint.html#a01a2d0f0a38d57af09fb86f5432df79b">GetTotalLambdaPosition</a>()<span class="keyword"> const                              </span>{ <span class="keywordflow">return</span> IsTranslationFullyConstrained()? mPointConstraintPart.GetTotalLambda() : <a class="code hl_class" href="class_vec3.html">Vec3</a>(mTranslationConstraintPart[0].GetTotalLambda(), mTranslationConstraintPart[1].GetTotalLambda(), mTranslationConstraintPart[2].GetTotalLambda()); }</div>
    261. 

  261. <div class="line"><a id="l00197" name="l00197"></a><span class="lineno"><a class="line" href="class_six_d_o_f_constraint.html#a660cc3a7a434504917d71b2c463cef47">  197</a></span>    <span class="keyword">inline</span> <a class="code hl_class" href="class_vec3.html">Vec3</a>                 <a class="code hl_function" href="class_six_d_o_f_constraint.html#a660cc3a7a434504917d71b2c463cef47">GetTotalLambdaRotation</a>()<span class="keyword"> const                              </span>{ <span class="keywordflow">return</span> IsRotationFullyConstrained()? mRotationConstraintPart.GetTotalLambda() : <a class="code hl_class" href="class_vec3.html">Vec3</a>(mSwingTwistConstraintPart.GetTotalTwistLambda(), mSwingTwistConstraintPart.GetTotalSwingYLambda(), mSwingTwistConstraintPart.GetTotalSwingZLambda()); }</div>
    262. 

  262. <div class="line"><a id="l00198" name="l00198"></a><span class="lineno"><a class="line" href="class_six_d_o_f_constraint.html#a244e5b919415ca1feec2d707e3ad64bf">  198</a></span>    <span class="keyword">inline</span> <a class="code hl_class" href="class_vec3.html">Vec3</a>                 <a class="code hl_function" href="class_six_d_o_f_constraint.html#a244e5b919415ca1feec2d707e3ad64bf">GetTotalLambdaMotorTranslation</a>()<span class="keyword"> const                      </span>{ <span class="keywordflow">return</span> <a class="code hl_class" href="class_vec3.html">Vec3</a>(mMotorTranslationConstraintPart[0].GetTotalLambda(), mMotorTranslationConstraintPart[1].GetTotalLambda(), mMotorTranslationConstraintPart[2].GetTotalLambda()); }</div>
    263. 

  263. <div class="line"><a id="l00199" name="l00199"></a><span class="lineno"><a class="line" href="class_six_d_o_f_constraint.html#a84ad5f919ccfff953b8de5ae421425b4">  199</a></span>    <span class="keyword">inline</span> <a class="code hl_class" href="class_vec3.html">Vec3</a>                 <a class="code hl_function" href="class_six_d_o_f_constraint.html#a84ad5f919ccfff953b8de5ae421425b4">GetTotalLambdaMotorRotation</a>()<span class="keyword"> const                         </span>{ <span class="keywordflow">return</span> <a class="code hl_class" href="class_vec3.html">Vec3</a>(mMotorRotationConstraintPart[0].GetTotalLambda(), mMotorRotationConstraintPart[1].GetTotalLambda(), mMotorRotationConstraintPart[2].GetTotalLambda()); }</div>
    264. 

  264. <div class="line"><a id="l00200" name="l00200"></a><span class="lineno">  200</span> </div>
    265. 

  265. <div class="line"><a id="l00201" name="l00201"></a><span class="lineno">  201</span><span class="keyword">private</span>:</div>
    266. 

  266. <div class="line"><a id="l00202" name="l00202"></a><span class="lineno">  202</span>    <span class="comment">// Calculate properties needed for the position constraint</span></div>
    267. 

  267. <div class="line"><a id="l00203" name="l00203"></a><span class="lineno">  203</span>    <span class="keyword">inline</span> <span class="keywordtype">void</span>                 GetPositionConstraintProperties(<a class="code hl_class" href="class_vec3.html">Vec3</a> &amp;outR1PlusU, <a class="code hl_class" href="class_vec3.html">Vec3</a> &amp;outR2, <a class="code hl_class" href="class_vec3.html">Vec3</a> &amp;outU) <span class="keyword">const</span>;</div>
    268. 

  268. <div class="line"><a id="l00204" name="l00204"></a><span class="lineno">  204</span> </div>
    269. 

  269. <div class="line"><a id="l00205" name="l00205"></a><span class="lineno">  205</span>    <span class="comment">// Sanitize the translation limits</span></div>
    270. 

  270. <div class="line"><a id="l00206" name="l00206"></a><span class="lineno">  206</span>    <span class="keyword">inline</span> <span class="keywordtype">void</span>                 UpdateTranslationLimits();</div>
    271. 

  271. <div class="line"><a id="l00207" name="l00207"></a><span class="lineno">  207</span> </div>
    272. 

  272. <div class="line"><a id="l00208" name="l00208"></a><span class="lineno">  208</span>    <span class="comment">// Propagate the rotation limits to the constraint part</span></div>
    273. 

  273. <div class="line"><a id="l00209" name="l00209"></a><span class="lineno">  209</span>    <span class="keyword">inline</span> <span class="keywordtype">void</span>                 UpdateRotationLimits();</div>
    274. 

  274. <div class="line"><a id="l00210" name="l00210"></a><span class="lineno">  210</span> </div>
    275. 

  275. <div class="line"><a id="l00211" name="l00211"></a><span class="lineno">  211</span>    <span class="comment">// Update the cached state of which axis are free and which ones are fixed</span></div>
    276. 

  276. <div class="line"><a id="l00212" name="l00212"></a><span class="lineno">  212</span>    <span class="keyword">inline</span> <span class="keywordtype">void</span>                 UpdateFixedFreeAxis();</div>
    277. 

  277. <div class="line"><a id="l00213" name="l00213"></a><span class="lineno">  213</span> </div>
    278. 

  278. <div class="line"><a id="l00214" name="l00214"></a><span class="lineno">  214</span>    <span class="comment">// Cache the state of mTranslationMotorActive</span></div>
    279. 

  279. <div class="line"><a id="l00215" name="l00215"></a><span class="lineno">  215</span>    <span class="keywordtype">void</span>                        CacheTranslationMotorActive();</div>
    280. 

  280. <div class="line"><a id="l00216" name="l00216"></a><span class="lineno">  216</span> </div>
    281. 

  281. <div class="line"><a id="l00217" name="l00217"></a><span class="lineno">  217</span>    <span class="comment">// Cache the state of mRotationMotorActive</span></div>
    282. 

  282. <div class="line"><a id="l00218" name="l00218"></a><span class="lineno">  218</span>    <span class="keywordtype">void</span>                        CacheRotationMotorActive();</div>
    283. 

  283. <div class="line"><a id="l00219" name="l00219"></a><span class="lineno">  219</span> </div>
    284. 

  284. <div class="line"><a id="l00220" name="l00220"></a><span class="lineno">  220</span>    <span class="comment">// Cache the state of mRotationPositionMotorActive</span></div>
    285. 

  285. <div class="line"><a id="l00221" name="l00221"></a><span class="lineno">  221</span>    <span class="keywordtype">void</span>                        CacheRotationPositionMotorActive();</div>
    286. 

  286. <div class="line"><a id="l00222" name="l00222"></a><span class="lineno">  222</span> </div>
    287. 

  287. <div class="line"><a id="l00224" name="l00224"></a><span class="lineno">  224</span>    <span class="keywordtype">void</span>                        CacheHasSpringLimits();</div>
    288. 

  288. <div class="line"><a id="l00225" name="l00225"></a><span class="lineno">  225</span> </div>
    289. 

  289. <div class="line"><a id="l00226" name="l00226"></a><span class="lineno">  226</span>    <span class="comment">// Constraint settings helper functions</span></div>
    290. 

  290. <div class="line"><a id="l00227" name="l00227"></a><span class="lineno">  227</span>    <span class="keyword">inline</span> <span class="keywordtype">bool</span>                 IsTranslationConstrained()<span class="keyword"> const                            </span>{ <span class="keywordflow">return</span> (mFreeAxis &amp; 0b111) != 0b111; }</div>
    291. 

  291. <div class="line"><a id="l00228" name="l00228"></a><span class="lineno">  228</span>    <span class="keyword">inline</span> <span class="keywordtype">bool</span>                 IsTranslationFullyConstrained()<span class="keyword"> const                       </span>{ <span class="keywordflow">return</span> (mFixedAxis &amp; 0b111) == 0b111 &amp;&amp; !mHasSpringLimits; }</div>
    292. 

  292. <div class="line"><a id="l00229" name="l00229"></a><span class="lineno">  229</span>    <span class="keyword">inline</span> <span class="keywordtype">bool</span>                 IsRotationConstrained()<span class="keyword"> const                               </span>{ <span class="keywordflow">return</span> (mFreeAxis &amp; 0b111000) != 0b111000; }</div>
    293. 

  293. <div class="line"><a id="l00230" name="l00230"></a><span class="lineno">  230</span>    <span class="keyword">inline</span> <span class="keywordtype">bool</span>                 IsRotationFullyConstrained()<span class="keyword"> const                          </span>{ <span class="keywordflow">return</span> (mFixedAxis &amp; 0b111000) == 0b111000; }</div>
    294. 

  294. <div class="line"><a id="l00231" name="l00231"></a><span class="lineno">  231</span>    <span class="keyword">inline</span> <span class="keywordtype">bool</span>                 HasFriction(EAxis inAxis)<span class="keyword"> const                             </span>{ <span class="keywordflow">return</span> !IsFixedAxis(inAxis) &amp;&amp; mMaxFriction[inAxis] &gt; 0.0f; }</div>
    295. 

  295. <div class="line"><a id="l00232" name="l00232"></a><span class="lineno">  232</span> </div>
    296. 

  296. <div class="line"><a id="l00233" name="l00233"></a><span class="lineno">  233</span>    <span class="comment">// CONFIGURATION PROPERTIES FOLLOW</span></div>
    297. 

  297. <div class="line"><a id="l00234" name="l00234"></a><span class="lineno">  234</span> </div>
    298. 

  298. <div class="line"><a id="l00235" name="l00235"></a><span class="lineno">  235</span>    <span class="comment">// Local space constraint positions</span></div>
    299. 

  299. <div class="line"><a id="l00236" name="l00236"></a><span class="lineno">  236</span>    <a class="code hl_class" href="class_vec3.html">Vec3</a>                        mLocalSpacePosition1;</div>
    300. 

  300. <div class="line"><a id="l00237" name="l00237"></a><span class="lineno">  237</span>    <a class="code hl_class" href="class_vec3.html">Vec3</a>                        mLocalSpacePosition2;</div>
    301. 

  301. <div class="line"><a id="l00238" name="l00238"></a><span class="lineno">  238</span> </div>
    302. 

  302. <div class="line"><a id="l00239" name="l00239"></a><span class="lineno">  239</span>    <span class="comment">// Transforms from constraint space to body space</span></div>
    303. 

  303. <div class="line"><a id="l00240" name="l00240"></a><span class="lineno">  240</span>    <a class="code hl_class" href="class_quat.html">Quat</a>                        mConstraintToBody1;</div>
    304. 

  304. <div class="line"><a id="l00241" name="l00241"></a><span class="lineno">  241</span>    <a class="code hl_class" href="class_quat.html">Quat</a>                        mConstraintToBody2;</div>
    305. 

  305. <div class="line"><a id="l00242" name="l00242"></a><span class="lineno">  242</span> </div>
    306. 

  306. <div class="line"><a id="l00243" name="l00243"></a><span class="lineno">  243</span>    <span class="comment">// Limits</span></div>
    307. 

  307. <div class="line"><a id="l00244" name="l00244"></a><span class="lineno">  244</span>    <a class="code hl_typedef" href="_core_8h.html#a115946cb5fc5879545e9ccea096a6031">uint8</a>                       mFreeAxis = 0;                                              <span class="comment">// Bitmask of free axis (bit 0 = TranslationX)</span></div>
    308. 

  308. <div class="line"><a id="l00245" name="l00245"></a><span class="lineno">  245</span>    <a class="code hl_typedef" href="_core_8h.html#a115946cb5fc5879545e9ccea096a6031">uint8</a>                       mFixedAxis = 0;                                             <span class="comment">// Bitmask of fixed axis (bit 0 = TranslationX)</span></div>
    309. 

  309. <div class="line"><a id="l00246" name="l00246"></a><span class="lineno">  246</span>    <span class="keywordtype">bool</span>                        mTranslationMotorActive = <span class="keyword">false</span>;                            <span class="comment">// If any of the translational frictions / motors are active</span></div>
    310. 

  310. <div class="line"><a id="l00247" name="l00247"></a><span class="lineno">  247</span>    <span class="keywordtype">bool</span>                        mRotationMotorActive = <span class="keyword">false</span>;                               <span class="comment">// If any of the rotational frictions / motors are active</span></div>
    311. 

  311. <div class="line"><a id="l00248" name="l00248"></a><span class="lineno">  248</span>    <a class="code hl_typedef" href="_core_8h.html#a115946cb5fc5879545e9ccea096a6031">uint8</a>                       mRotationPositionMotorActive = 0;                           <span class="comment">// Bitmask of axis that have position motor active (bit 0 = RotationX)</span></div>
    312. 

  312. <div class="line"><a id="l00249" name="l00249"></a><span class="lineno">  249</span>    <span class="keywordtype">bool</span>                        mHasSpringLimits = <span class="keyword">false</span>;                                   <span class="comment">// If any of the limit springs have a non-zero frequency/stiffness</span></div>
    313. 

  313. <div class="line"><a id="l00250" name="l00250"></a><span class="lineno">  250</span>    <span class="keywordtype">float</span>                       mLimitMin[EAxis::Num];</div>
    314. 

  314. <div class="line"><a id="l00251" name="l00251"></a><span class="lineno">  251</span>    <span class="keywordtype">float</span>                       mLimitMax[EAxis::Num];</div>
    315. 

  315. <div class="line"><a id="l00252" name="l00252"></a><span class="lineno">  252</span>    <a class="code hl_class" href="class_spring_settings.html">SpringSettings</a>              mLimitsSpringSettings[EAxis::NumTranslation];</div>
    316. 

  316. <div class="line"><a id="l00253" name="l00253"></a><span class="lineno">  253</span> </div>
    317. 

  317. <div class="line"><a id="l00254" name="l00254"></a><span class="lineno">  254</span>    <span class="comment">// Motor settings for each axis</span></div>
    318. 

  318. <div class="line"><a id="l00255" name="l00255"></a><span class="lineno">  255</span>    <a class="code hl_class" href="class_motor_settings.html">MotorSettings</a>               mMotorSettings[EAxis::Num];</div>
    319. 

  319. <div class="line"><a id="l00256" name="l00256"></a><span class="lineno">  256</span> </div>
    320. 

  320. <div class="line"><a id="l00257" name="l00257"></a><span class="lineno">  257</span>    <span class="comment">// Friction settings for each axis</span></div>
    321. 

  321. <div class="line"><a id="l00258" name="l00258"></a><span class="lineno">  258</span>    <span class="keywordtype">float</span>                       mMaxFriction[EAxis::Num];</div>
    322. 

  322. <div class="line"><a id="l00259" name="l00259"></a><span class="lineno">  259</span> </div>
    323. 

  323. <div class="line"><a id="l00260" name="l00260"></a><span class="lineno">  260</span>    <span class="comment">// Motor controls</span></div>
    324. 

  324. <div class="line"><a id="l00261" name="l00261"></a><span class="lineno">  261</span>    <a class="code hl_enumeration" href="_motor_settings_8h.html#a691a2387946263d993fa8e1c9488bc2b">EMotorState</a>                 mMotorState[EAxis::Num] = { <a class="code hl_enumvalue" href="_motor_settings_8h.html#a691a2387946263d993fa8e1c9488bc2bad15305d7a4e34e02489c74a5ef542f36">EMotorState::Off</a>, <a class="code hl_enumvalue" href="_motor_settings_8h.html#a691a2387946263d993fa8e1c9488bc2bad15305d7a4e34e02489c74a5ef542f36">EMotorState::Off</a>, <a class="code hl_enumvalue" href="_motor_settings_8h.html#a691a2387946263d993fa8e1c9488bc2bad15305d7a4e34e02489c74a5ef542f36">EMotorState::Off</a>, <a class="code hl_enumvalue" href="_motor_settings_8h.html#a691a2387946263d993fa8e1c9488bc2bad15305d7a4e34e02489c74a5ef542f36">EMotorState::Off</a>, <a class="code hl_enumvalue" href="_motor_settings_8h.html#a691a2387946263d993fa8e1c9488bc2bad15305d7a4e34e02489c74a5ef542f36">EMotorState::Off</a>, <a class="code hl_enumvalue" href="_motor_settings_8h.html#a691a2387946263d993fa8e1c9488bc2bad15305d7a4e34e02489c74a5ef542f36">EMotorState::Off</a> };</div>
    325. 

  325. <div class="line"><a id="l00262" name="l00262"></a><span class="lineno">  262</span>    <a class="code hl_class" href="class_vec3.html">Vec3</a>                        mTargetVelocity = <a class="code hl_function" href="class_vec3.html#ad03c52ab27761bc1e64e33c47632ba51">Vec3::sZero</a>();</div>
    326. 

  326. <div class="line"><a id="l00263" name="l00263"></a><span class="lineno">  263</span>    <a class="code hl_class" href="class_vec3.html">Vec3</a>                        mTargetAngularVelocity = <a class="code hl_function" href="class_vec3.html#ad03c52ab27761bc1e64e33c47632ba51">Vec3::sZero</a>();</div>
    327. 

  327. <div class="line"><a id="l00264" name="l00264"></a><span class="lineno">  264</span>    <a class="code hl_class" href="class_vec3.html">Vec3</a>                        mTargetPosition = <a class="code hl_function" href="class_vec3.html#ad03c52ab27761bc1e64e33c47632ba51">Vec3::sZero</a>();</div>
    328. 

  328. <div class="line"><a id="l00265" name="l00265"></a><span class="lineno">  265</span>    <a class="code hl_class" href="class_quat.html">Quat</a>                        mTargetOrientation = <a class="code hl_function" href="class_quat.html#a73a43fe262fbbbc0b1872d238b972794">Quat::sIdentity</a>();</div>
    329. 

  329. <div class="line"><a id="l00266" name="l00266"></a><span class="lineno">  266</span> </div>
    330. 

  330. <div class="line"><a id="l00267" name="l00267"></a><span class="lineno">  267</span>    <span class="comment">// RUN TIME PROPERTIES FOLLOW</span></div>
    331. 

  331. <div class="line"><a id="l00268" name="l00268"></a><span class="lineno">  268</span> </div>
    332. 

  332. <div class="line"><a id="l00269" name="l00269"></a><span class="lineno">  269</span>    <span class="comment">// Constraint space axis in world space</span></div>
    333. 

  333. <div class="line"><a id="l00270" name="l00270"></a><span class="lineno">  270</span>    <a class="code hl_class" href="class_vec3.html">Vec3</a>                        mTranslationAxis[3];</div>
    334. 

  334. <div class="line"><a id="l00271" name="l00271"></a><span class="lineno">  271</span>    <a class="code hl_class" href="class_vec3.html">Vec3</a>                        mRotationAxis[3];</div>
    335. 

  335. <div class="line"><a id="l00272" name="l00272"></a><span class="lineno">  272</span> </div>
    336. 

  336. <div class="line"><a id="l00273" name="l00273"></a><span class="lineno">  273</span>    <span class="comment">// Translation displacement (valid when translation axis has a range limit)</span></div>
    337. 

  337. <div class="line"><a id="l00274" name="l00274"></a><span class="lineno">  274</span>    <span class="keywordtype">float</span>                       mDisplacement[3];</div>
    338. 

  338. <div class="line"><a id="l00275" name="l00275"></a><span class="lineno">  275</span> </div>
    339. 

  339. <div class="line"><a id="l00276" name="l00276"></a><span class="lineno">  276</span>    <span class="comment">// Individual constraint parts for translation, or a combined point constraint part if all axis are fixed</span></div>
    340. 

  340. <div class="line"><a id="l00277" name="l00277"></a><span class="lineno">  277</span>    <a class="code hl_class" href="class_axis_constraint_part.html">AxisConstraintPart</a>          mTranslationConstraintPart[3];</div>
    341. 

  341. <div class="line"><a id="l00278" name="l00278"></a><span class="lineno">  278</span>    <a class="code hl_class" href="class_point_constraint_part.html">PointConstraintPart</a>         mPointConstraintPart;</div>
    342. 

  342. <div class="line"><a id="l00279" name="l00279"></a><span class="lineno">  279</span> </div>
    343. 

  343. <div class="line"><a id="l00280" name="l00280"></a><span class="lineno">  280</span>    <span class="comment">// Individual constraint parts for rotation or a combined constraint part if rotation is fixed</span></div>
    344. 

  344. <div class="line"><a id="l00281" name="l00281"></a><span class="lineno">  281</span>    <a class="code hl_class" href="class_swing_twist_constraint_part.html">SwingTwistConstraintPart</a>    mSwingTwistConstraintPart;</div>
    345. 

  345. <div class="line"><a id="l00282" name="l00282"></a><span class="lineno">  282</span>    <a class="code hl_class" href="class_rotation_euler_constraint_part.html">RotationEulerConstraintPart</a> mRotationConstraintPart;</div>
    346. 

  346. <div class="line"><a id="l00283" name="l00283"></a><span class="lineno">  283</span> </div>
    347. 

  347. <div class="line"><a id="l00284" name="l00284"></a><span class="lineno">  284</span>    <span class="comment">// Motor or friction constraints</span></div>
    348. 

  348. <div class="line"><a id="l00285" name="l00285"></a><span class="lineno">  285</span>    <a class="code hl_class" href="class_axis_constraint_part.html">AxisConstraintPart</a>          mMotorTranslationConstraintPart[3];</div>
    349. 

  349. <div class="line"><a id="l00286" name="l00286"></a><span class="lineno">  286</span>    <a class="code hl_class" href="class_angle_constraint_part.html">AngleConstraintPart</a>         mMotorRotationConstraintPart[3];</div>
    350. 

  350. <div class="line"><a id="l00287" name="l00287"></a><span class="lineno">  287</span>};</div>
    351. 

  351. </div>
    352. 

  352. <div class="line"><a id="l00288" name="l00288"></a><span class="lineno">  288</span> </div>
    353. 

  353. <div class="line"><a id="l00289" name="l00289"></a><span class="lineno">  289</span><a class="code hl_define" href="_core_8h.html#a73da8725998b00321a9db341202d650d">JPH_NAMESPACE_END</a></div>
    354. 

  354. <div class="ttc" id="a_allowed_d_o_fs_8h_html_a47bc570d6b4f457c417078ebab07d913a7eac98e7f2c74960a4aa9a2a92a8874d"><div class="ttname"><a href="_allowed_d_o_fs_8h.html#a47bc570d6b4f457c417078ebab07d913a7eac98e7f2c74960a4aa9a2a92a8874d">EAllowedDOFs::TranslationZ</a></div><div class="ttdeci">@ TranslationZ</div><div class="ttdoc">Body can move in world space Z axis.</div></div>
    355. 

  355. <div class="ttc" id="a_angle_constraint_part_8h_html"><div class="ttname"><a href="_angle_constraint_part_8h.html">AngleConstraintPart.h</a></div></div>
    356. 

  356. <div class="ttc" id="a_axis_constraint_part_8h_html"><div class="ttname"><a href="_axis_constraint_part_8h.html">AxisConstraintPart.h</a></div></div>
    357. 

  357. <div class="ttc" id="a_constraint_8h_html_a5951578637c20f8aad819c13ad09b1be"><div class="ttname"><a href="_constraint_8h.html#a5951578637c20f8aad819c13ad09b1be">EConstraintSpace</a></div><div class="ttdeci">EConstraintSpace</div><div class="ttdoc">Certain constraints support setting them up in local or world space. This governs what is used.</div><div class="ttdef"><b>Definition</b> Constraint.h:58</div></div>
    358. 

  358. <div class="ttc" id="a_constraint_8h_html_a5951578637c20f8aad819c13ad09b1bea43c5bd4a88c440bd0862f954e4faa177"><div class="ttname"><a href="_constraint_8h.html#a5951578637c20f8aad819c13ad09b1bea43c5bd4a88c440bd0862f954e4faa177">EConstraintSpace::WorldSpace</a></div><div class="ttdeci">@ WorldSpace</div><div class="ttdoc">All constraint properties are specified in world space.</div></div>
    359. 

  359. <div class="ttc" id="a_constraint_8h_html_adfc8350888df0c3a51714b7f372baf2d"><div class="ttname"><a href="_constraint_8h.html#adfc8350888df0c3a51714b7f372baf2d">EConstraintSubType</a></div><div class="ttdeci">EConstraintSubType</div><div class="ttdoc">Enum to identify constraint sub type.</div><div class="ttdef"><b>Definition</b> Constraint.h:34</div></div>
    360. 

  360. <div class="ttc" id="a_constraint_8h_html_adfc8350888df0c3a51714b7f372baf2dac3d163397733dea0f5563f2b7b3fa4a2"><div class="ttname"><a href="_constraint_8h.html#adfc8350888df0c3a51714b7f372baf2dac3d163397733dea0f5563f2b7b3fa4a2">EConstraintSubType::SixDOF</a></div><div class="ttdeci">@ SixDOF</div></div>
    361. 

  361. <div class="ttc" id="a_core_8h_html_a115946cb5fc5879545e9ccea096a6031"><div class="ttname"><a href="_core_8h.html#a115946cb5fc5879545e9ccea096a6031">uint8</a></div><div class="ttdeci">std::uint8_t uint8</div><div class="ttdef"><b>Definition</b> Core.h:501</div></div>
    362. 

  362. <div class="ttc" id="a_core_8h_html_a2712a9b0f778ab9d1aa5118b4e8e6bd8"><div class="ttname"><a href="_core_8h.html#a2712a9b0f778ab9d1aa5118b4e8e6bd8">JPH_EXPORT</a></div><div class="ttdeci">#define JPH_EXPORT</div><div class="ttdef"><b>Definition</b> Core.h:275</div></div>
    363. 

  363. <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>
    364. 

  364. <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>
    365. 

  365. <div class="ttc" id="a_issue_reporting_8h_html_aaf6b1df827e11b7ca5f6f8778bd8f8cd"><div class="ttname"><a href="_issue_reporting_8h.html#aaf6b1df827e11b7ca5f6f8778bd8f8cd">JPH_ASSERT</a></div><div class="ttdeci">#define JPH_ASSERT(...)</div><div class="ttdef"><b>Definition</b> IssueReporting.h:33</div></div>
    366. 

  366. <div class="ttc" id="a_memory_8h_html_a91074fb218fe28954a0938c099ddd9e0"><div class="ttname"><a href="_memory_8h.html#a91074fb218fe28954a0938c099ddd9e0">JPH_OVERRIDE_NEW_DELETE</a></div><div class="ttdeci">#define JPH_OVERRIDE_NEW_DELETE</div><div class="ttdoc">Macro to override the new and delete functions.</div><div class="ttdef"><b>Definition</b> Memory.h:50</div></div>
    367. 

  367. <div class="ttc" id="a_motor_settings_8h_html"><div class="ttname"><a href="_motor_settings_8h.html">MotorSettings.h</a></div></div>
    368. 

  368. <div class="ttc" id="a_motor_settings_8h_html_a691a2387946263d993fa8e1c9488bc2b"><div class="ttname"><a href="_motor_settings_8h.html#a691a2387946263d993fa8e1c9488bc2b">EMotorState</a></div><div class="ttdeci">EMotorState</div><div class="ttdef"><b>Definition</b> MotorSettings.h:17</div></div>
    369. 

  369. <div class="ttc" id="a_motor_settings_8h_html_a691a2387946263d993fa8e1c9488bc2bad15305d7a4e34e02489c74a5ef542f36"><div class="ttname"><a href="_motor_settings_8h.html#a691a2387946263d993fa8e1c9488bc2bad15305d7a4e34e02489c74a5ef542f36">EMotorState::Off</a></div><div class="ttdeci">@ Off</div><div class="ttdoc">Motor is off.</div></div>
    370. 

  370. <div class="ttc" id="a_point_constraint_part_8h_html"><div class="ttname"><a href="_point_constraint_part_8h.html">PointConstraintPart.h</a></div></div>
    371. 

  371. <div class="ttc" id="a_rotation_euler_constraint_part_8h_html"><div class="ttname"><a href="_rotation_euler_constraint_part_8h.html">RotationEulerConstraintPart.h</a></div></div>
    372. 

  372. <div class="ttc" id="a_serializable_object_8h_html_ad80cbee2b256f570ee204534dec05da4"><div class="ttname"><a href="_serializable_object_8h.html#ad80cbee2b256f570ee204534dec05da4">JPH_DECLARE_SERIALIZABLE_VIRTUAL</a></div><div class="ttdeci">#define JPH_DECLARE_SERIALIZABLE_VIRTUAL(linkage, class_name)</div><div class="ttdef"><b>Definition</b> SerializableObject.h:109</div></div>
    373. 

  373. <div class="ttc" id="a_swing_twist_constraint_part_8h_html"><div class="ttname"><a href="_swing_twist_constraint_part_8h.html">SwingTwistConstraintPart.h</a></div></div>
    374. 

  374. <div class="ttc" id="a_swing_twist_constraint_part_8h_html_add9e89df628b33308461ef46e1b796b6"><div class="ttname"><a href="_swing_twist_constraint_part_8h.html#add9e89df628b33308461ef46e1b796b6">ESwingType</a></div><div class="ttdeci">ESwingType</div><div class="ttdoc">How the swing limit behaves.</div><div class="ttdef"><b>Definition</b> SwingTwistConstraintPart.h:15</div></div>
    375. 

  375. <div class="ttc" id="a_swing_twist_constraint_part_8h_html_add9e89df628b33308461ef46e1b796b6acd2c8bc6e5f1ea17c918ccaf89660104"><div class="ttname"><a href="_swing_twist_constraint_part_8h.html#add9e89df628b33308461ef46e1b796b6acd2c8bc6e5f1ea17c918ccaf89660104">ESwingType::Cone</a></div><div class="ttdeci">@ Cone</div><div class="ttdoc">Swing is limited by a cone shape, note that this cone starts to deform for larger swing angles....</div></div>
    376. 

  376. <div class="ttc" id="a_two_body_constraint_8h_html"><div class="ttname"><a href="_two_body_constraint_8h.html">TwoBodyConstraint.h</a></div></div>
    377. 

  377. <div class="ttc" id="aclass_angle_constraint_part_html"><div class="ttname"><a href="class_angle_constraint_part.html">AngleConstraintPart</a></div><div class="ttdef"><b>Definition</b> AngleConstraintPart.h:37</div></div>
    378. 

  378. <div class="ttc" id="aclass_axis_constraint_part_html"><div class="ttname"><a href="class_axis_constraint_part.html">AxisConstraintPart</a></div><div class="ttdef"><b>Definition</b> AxisConstraintPart.h:43</div></div>
    379. 

  379. <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>
    380. 

  380. <div class="ttc" id="aclass_body_i_d_html"><div class="ttname"><a href="class_body_i_d.html">BodyID</a></div><div class="ttdoc">ID of a body. This is a way of reasoning about bodies in a multithreaded simulation while avoiding ra...</div><div class="ttdef"><b>Definition</b> BodyID.h:13</div></div>
    381. 

  381. <div class="ttc" id="aclass_constraint_settings_html_a3123d8d5dc6b127c2d19c95f6fe23a74"><div class="ttname"><a href="class_constraint_settings.html#a3123d8d5dc6b127c2d19c95f6fe23a74">ConstraintSettings::SaveBinaryState</a></div><div class="ttdeci">virtual void SaveBinaryState(StreamOut &amp;inStream) const</div><div class="ttdoc">Saves the contents of the constraint settings in binary form to inStream.</div><div class="ttdef"><b>Definition</b> Constraint.cpp:26</div></div>
    382. 

  382. <div class="ttc" id="aclass_constraint_settings_html_a71f815e6f2e1bd3e0c8be210936b0e79"><div class="ttname"><a href="class_constraint_settings.html#a71f815e6f2e1bd3e0c8be210936b0e79">ConstraintSettings::RestoreBinaryState</a></div><div class="ttdeci">virtual void RestoreBinaryState(StreamIn &amp;inStream)</div><div class="ttdoc">This function should not be called directly, it is used by sRestoreFromBinaryState.</div><div class="ttdef"><b>Definition</b> Constraint.cpp:36</div></div>
    383. 

  383. <div class="ttc" id="aclass_debug_renderer_html"><div class="ttname"><a href="class_debug_renderer.html">DebugRenderer</a></div><div class="ttdef"><b>Definition</b> DebugRenderer.h:47</div></div>
    384. 

  384. <div class="ttc" id="aclass_float3_html"><div class="ttname"><a href="class_float3.html">Float3</a></div><div class="ttdoc">Class that holds 3 floats. Used as a storage class. Convert to Vec3 for calculations.</div><div class="ttdef"><b>Definition</b> Float3.h:13</div></div>
    385. 

  385. <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>
    386. 

  386. <div class="ttc" id="aclass_mat44_html_aba5427f45393b40263d52ec614cfa985"><div class="ttname"><a href="class_mat44.html#aba5427f45393b40263d52ec614cfa985">Mat44::sRotationTranslation</a></div><div class="ttdeci">static JPH_INLINE Mat44 sRotationTranslation(QuatArg inR, Vec3Arg inT)</div><div class="ttdoc">Get matrix that rotates and translates.</div><div class="ttdef"><b>Definition</b> Mat44.inl:149</div></div>
    387. 

  387. <div class="ttc" id="aclass_motor_settings_html"><div class="ttname"><a href="class_motor_settings.html">MotorSettings</a></div><div class="ttdef"><b>Definition</b> MotorSettings.h:26</div></div>
    388. 

  388. <div class="ttc" id="aclass_point_constraint_part_html"><div class="ttname"><a href="class_point_constraint_part.html">PointConstraintPart</a></div><div class="ttdef"><b>Definition</b> PointConstraintPart.h:41</div></div>
    389. 

  389. <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>
    390. 

  390. <div class="ttc" id="aclass_quat_html_a73a43fe262fbbbc0b1872d238b972794"><div class="ttname"><a href="class_quat.html#a73a43fe262fbbbc0b1872d238b972794">Quat::sIdentity</a></div><div class="ttdeci">static JPH_INLINE Quat sIdentity()</div><div class="ttdef"><b>Definition</b> Quat.h:104</div></div>
    391. 

  391. <div class="ttc" id="aclass_ref_html"><div class="ttname"><a href="class_ref.html">Ref</a></div><div class="ttdef"><b>Definition</b> Reference.h:107</div></div>
    392. 

  392. <div class="ttc" id="aclass_rotation_euler_constraint_part_html"><div class="ttname"><a href="class_rotation_euler_constraint_part.html">RotationEulerConstraintPart</a></div><div class="ttdef"><b>Definition</b> RotationEulerConstraintPart.h:36</div></div>
    393. 

  393. <div class="ttc" id="aclass_six_d_o_f_constraint_html"><div class="ttname"><a href="class_six_d_o_f_constraint.html">SixDOFConstraint</a></div><div class="ttdoc">6 Degree Of Freedom Constraint. Allows control over each of the 6 degrees of freedom.</div><div class="ttdef"><b>Definition</b> SixDOFConstraint.h:106</div></div>
    394. 

  394. <div class="ttc" id="aclass_six_d_o_f_constraint_html_a01a2d0f0a38d57af09fb86f5432df79b"><div class="ttname"><a href="class_six_d_o_f_constraint.html#a01a2d0f0a38d57af09fb86f5432df79b">SixDOFConstraint::GetTotalLambdaPosition</a></div><div class="ttdeci">Vec3 GetTotalLambdaPosition() const</div><div class="ttdef"><b>Definition</b> SixDOFConstraint.h:196</div></div>
    395. 

  395. <div class="ttc" id="aclass_six_d_o_f_constraint_html_a0a7933aafb327871eb4a45e2a2c79fc0"><div class="ttname"><a href="class_six_d_o_f_constraint.html#a0a7933aafb327871eb4a45e2a2c79fc0">SixDOFConstraint::SetLimitsSpringSettings</a></div><div class="ttdeci">void SetLimitsSpringSettings(EAxis inAxis, const SpringSettings &amp;inLimitsSpringSettings)</div><div class="ttdef"><b>Definition</b> SixDOFConstraint.h:156</div></div>
    396. 

  396. <div class="ttc" id="aclass_six_d_o_f_constraint_html_a12db08dc07d7ae6cf63acdb8e17547b7"><div class="ttname"><a href="class_six_d_o_f_constraint.html#a12db08dc07d7ae6cf63acdb8e17547b7">SixDOFConstraint::GetMotorSettings</a></div><div class="ttdeci">const MotorSettings &amp; GetMotorSettings(EAxis inAxis) const</div><div class="ttdef"><b>Definition</b> SixDOFConstraint.h:167</div></div>
    397. 

  397. <div class="ttc" id="aclass_six_d_o_f_constraint_html_a19166b2e56147da794b2651896007294"><div class="ttname"><a href="class_six_d_o_f_constraint.html#a19166b2e56147da794b2651896007294">SixDOFConstraint::GetLimitsMin</a></div><div class="ttdeci">float GetLimitsMin(EAxis inAxis) const</div><div class="ttdoc">Get constraint Limits.</div><div class="ttdef"><b>Definition</b> SixDOFConstraint.h:143</div></div>
    398. 

  398. <div class="ttc" id="aclass_six_d_o_f_constraint_html_a244e5b919415ca1feec2d707e3ad64bf"><div class="ttname"><a href="class_six_d_o_f_constraint.html#a244e5b919415ca1feec2d707e3ad64bf">SixDOFConstraint::GetTotalLambdaMotorTranslation</a></div><div class="ttdeci">Vec3 GetTotalLambdaMotorTranslation() const</div><div class="ttdef"><b>Definition</b> SixDOFConstraint.h:198</div></div>
    399. 

  399. <div class="ttc" id="aclass_six_d_o_f_constraint_html_a27200e904e3f52704ce99c2d3f12ad16"><div class="ttname"><a href="class_six_d_o_f_constraint.html#a27200e904e3f52704ce99c2d3f12ad16">SixDOFConstraint::SetTargetOrientationBS</a></div><div class="ttdeci">void SetTargetOrientationBS(QuatArg inOrientation)</div><div class="ttdef"><b>Definition</b> SixDOFConstraint.h:193</div></div>
    400. 

  400. <div class="ttc" id="aclass_six_d_o_f_constraint_html_a3e4372d1567140760e6cf46710108675"><div class="ttname"><a href="class_six_d_o_f_constraint.html#a3e4372d1567140760e6cf46710108675">SixDOFConstraint::GetMotorSettings</a></div><div class="ttdeci">MotorSettings &amp; GetMotorSettings(EAxis inAxis)</div><div class="ttdoc">Motor settings.</div><div class="ttdef"><b>Definition</b> SixDOFConstraint.h:166</div></div>
    401. 

  401. <div class="ttc" id="aclass_six_d_o_f_constraint_html_a51543e5bc341f2812c0498eeb11ec8a2"><div class="ttname"><a href="class_six_d_o_f_constraint.html#a51543e5bc341f2812c0498eeb11ec8a2">SixDOFConstraint::SetTargetAngularVelocityCS</a></div><div class="ttdeci">void SetTargetAngularVelocityCS(Vec3Arg inAngularVelocity)</div><div class="ttdoc">Set the target angular velocity in body 2 constraint space (!)</div><div class="ttdef"><b>Definition</b> SixDOFConstraint.h:180</div></div>
    402. 

  402. <div class="ttc" id="aclass_six_d_o_f_constraint_html_a5e3a3ca4dd727cabe3fbc97a43fffc1d"><div class="ttname"><a href="class_six_d_o_f_constraint.html#a5e3a3ca4dd727cabe3fbc97a43fffc1d">SixDOFConstraint::GetTargetPositionCS</a></div><div class="ttdeci">Vec3 GetTargetPositionCS() const</div><div class="ttdoc">Set the target position in body 1 constraint space.</div><div class="ttdef"><b>Definition</b> SixDOFConstraint.h:184</div></div>
    403. 

  403. <div class="ttc" id="aclass_six_d_o_f_constraint_html_a660cc3a7a434504917d71b2c463cef47"><div class="ttname"><a href="class_six_d_o_f_constraint.html#a660cc3a7a434504917d71b2c463cef47">SixDOFConstraint::GetTotalLambdaRotation</a></div><div class="ttdeci">Vec3 GetTotalLambdaRotation() const</div><div class="ttdef"><b>Definition</b> SixDOFConstraint.h:197</div></div>
    404. 

  404. <div class="ttc" id="aclass_six_d_o_f_constraint_html_a70687b51cd67ed48ec11975e8799fcc5"><div class="ttname"><a href="class_six_d_o_f_constraint.html#a70687b51cd67ed48ec11975e8799fcc5">SixDOFConstraint::GetLimitsSpringSettings</a></div><div class="ttdeci">const SpringSettings &amp; GetLimitsSpringSettings(EAxis inAxis) const</div><div class="ttdoc">Update the limits spring settings.</div><div class="ttdef"><b>Definition</b> SixDOFConstraint.h:155</div></div>
    405. 

  405. <div class="ttc" id="aclass_six_d_o_f_constraint_html_a78e19363677045ac960e57d0deb166e6"><div class="ttname"><a href="class_six_d_o_f_constraint.html#a78e19363677045ac960e57d0deb166e6">SixDOFConstraint::GetLimitsMax</a></div><div class="ttdeci">float GetLimitsMax(EAxis inAxis) const</div><div class="ttdef"><b>Definition</b> SixDOFConstraint.h:144</div></div>
    406. 

  406. <div class="ttc" id="aclass_six_d_o_f_constraint_html_a79b66cc0a8850f926aecbcc56dc52570"><div class="ttname"><a href="class_six_d_o_f_constraint.html#a79b66cc0a8850f926aecbcc56dc52570">SixDOFConstraint::SetTargetPositionCS</a></div><div class="ttdeci">void SetTargetPositionCS(Vec3Arg inPosition)</div><div class="ttdef"><b>Definition</b> SixDOFConstraint.h:185</div></div>
    407. 

  407. <div class="ttc" id="aclass_six_d_o_f_constraint_html_a84ad5f919ccfff953b8de5ae421425b4"><div class="ttname"><a href="class_six_d_o_f_constraint.html#a84ad5f919ccfff953b8de5ae421425b4">SixDOFConstraint::GetTotalLambdaMotorRotation</a></div><div class="ttdeci">Vec3 GetTotalLambdaMotorRotation() const</div><div class="ttdef"><b>Definition</b> SixDOFConstraint.h:199</div></div>
    408. 

  408. <div class="ttc" id="aclass_six_d_o_f_constraint_html_a874ef6ddc1368b003ba0eb2808adf17c"><div class="ttname"><a href="class_six_d_o_f_constraint.html#a874ef6ddc1368b003ba0eb2808adf17c">SixDOFConstraint::GetMaxFriction</a></div><div class="ttdeci">float GetMaxFriction(EAxis inAxis) const</div><div class="ttdef"><b>Definition</b> SixDOFConstraint.h:160</div></div>
    409. 

  409. <div class="ttc" id="aclass_six_d_o_f_constraint_html_a92d86c092002bec9d22d529f8616aa29"><div class="ttname"><a href="class_six_d_o_f_constraint.html#a92d86c092002bec9d22d529f8616aa29">SixDOFConstraint::GetConstraintToBody2Matrix</a></div><div class="ttdeci">virtual Mat44 GetConstraintToBody2Matrix() const override</div><div class="ttdoc">Calculates the transform that transforms from constraint space to body 2 space. The first column of t...</div><div class="ttdef"><b>Definition</b> SixDOFConstraint.h:134</div></div>
    410. 

  410. <div class="ttc" id="aclass_six_d_o_f_constraint_html_a9388c6c3c237389fa77aec2862fba244"><div class="ttname"><a href="class_six_d_o_f_constraint.html#a9388c6c3c237389fa77aec2862fba244">SixDOFConstraint::IsFixedAxis</a></div><div class="ttdeci">bool IsFixedAxis(EAxis inAxis) const</div><div class="ttdoc">Check which axis are fixed/free.</div><div class="ttdef"><b>Definition</b> SixDOFConstraint.h:151</div></div>
    411. 

  411. <div class="ttc" id="aclass_six_d_o_f_constraint_html_a93b7ceef3c7017e4a1a0bc53e29c93d8"><div class="ttname"><a href="class_six_d_o_f_constraint.html#a93b7ceef3c7017e4a1a0bc53e29c93d8">SixDOFConstraint::GetConstraintToBody1Matrix</a></div><div class="ttdeci">virtual Mat44 GetConstraintToBody1Matrix() const override</div><div class="ttdoc">Calculates the transform that transforms from constraint space to body 1 space. The first column of t...</div><div class="ttdef"><b>Definition</b> SixDOFConstraint.h:133</div></div>
    412. 

  412. <div class="ttc" id="aclass_six_d_o_f_constraint_html_a9d5cd3757370c1c95a19828cfe8ed7ce"><div class="ttname"><a href="class_six_d_o_f_constraint.html#a9d5cd3757370c1c95a19828cfe8ed7ce">SixDOFConstraint::GetRotationLimitsMax</a></div><div class="ttdeci">Vec3 GetRotationLimitsMax() const</div><div class="ttdef"><b>Definition</b> SixDOFConstraint.h:148</div></div>
    413. 

  413. <div class="ttc" id="aclass_six_d_o_f_constraint_html_a9dc7e49353c01c96388125cc6510bb92"><div class="ttname"><a href="class_six_d_o_f_constraint.html#a9dc7e49353c01c96388125cc6510bb92">SixDOFConstraint::GetTranslationLimitsMax</a></div><div class="ttdeci">Vec3 GetTranslationLimitsMax() const</div><div class="ttdef"><b>Definition</b> SixDOFConstraint.h:146</div></div>
    414. 

  414. <div class="ttc" id="aclass_six_d_o_f_constraint_html_aa4fc743e2d8bbbe4eabcda4a0062d758"><div class="ttname"><a href="class_six_d_o_f_constraint.html#aa4fc743e2d8bbbe4eabcda4a0062d758">SixDOFConstraint::SetTargetVelocityCS</a></div><div class="ttdeci">void SetTargetVelocityCS(Vec3Arg inVelocity)</div><div class="ttdef"><b>Definition</b> SixDOFConstraint.h:177</div></div>
    415. 

  415. <div class="ttc" id="aclass_six_d_o_f_constraint_html_aa8906a979a8a5bfcb1887997849d3f0c"><div class="ttname"><a href="class_six_d_o_f_constraint.html#aa8906a979a8a5bfcb1887997849d3f0c">SixDOFConstraint::GetTargetAngularVelocityCS</a></div><div class="ttdeci">Vec3 GetTargetAngularVelocityCS() const</div><div class="ttdef"><b>Definition</b> SixDOFConstraint.h:181</div></div>
    416. 

  416. <div class="ttc" id="aclass_six_d_o_f_constraint_html_aaa234472e01794bfa881cf59d0c5d6be"><div class="ttname"><a href="class_six_d_o_f_constraint.html#aaa234472e01794bfa881cf59d0c5d6be">SixDOFConstraint::IsFreeAxis</a></div><div class="ttdeci">bool IsFreeAxis(EAxis inAxis) const</div><div class="ttdef"><b>Definition</b> SixDOFConstraint.h:152</div></div>
    417. 

  417. <div class="ttc" id="aclass_six_d_o_f_constraint_html_ab3f325802dc065ba6fbeeea76884e0c8"><div class="ttname"><a href="class_six_d_o_f_constraint.html#ab3f325802dc065ba6fbeeea76884e0c8">SixDOFConstraint::GetTargetOrientationCS</a></div><div class="ttdeci">Quat GetTargetOrientationCS() const</div><div class="ttdef"><b>Definition</b> SixDOFConstraint.h:189</div></div>
    418. 

  418. <div class="ttc" id="aclass_six_d_o_f_constraint_html_adca299a0d75c785bb120d381cdb1e6ee"><div class="ttname"><a href="class_six_d_o_f_constraint.html#adca299a0d75c785bb120d381cdb1e6ee">SixDOFConstraint::GetTranslationLimitsMin</a></div><div class="ttdeci">Vec3 GetTranslationLimitsMin() const</div><div class="ttdef"><b>Definition</b> SixDOFConstraint.h:145</div></div>
    419. 

  419. <div class="ttc" id="aclass_six_d_o_f_constraint_html_adcda93c3a6ca21bf6ed39b264a020f38"><div class="ttname"><a href="class_six_d_o_f_constraint.html#adcda93c3a6ca21bf6ed39b264a020f38">SixDOFConstraint::GetMotorState</a></div><div class="ttdeci">EMotorState GetMotorState(EAxis inAxis) const</div><div class="ttdef"><b>Definition</b> SixDOFConstraint.h:173</div></div>
    420. 

  420. <div class="ttc" id="aclass_six_d_o_f_constraint_html_adea943442830716a4e865fe336910729"><div class="ttname"><a href="class_six_d_o_f_constraint.html#adea943442830716a4e865fe336910729">SixDOFConstraint::GetTargetVelocityCS</a></div><div class="ttdeci">Vec3 GetTargetVelocityCS() const</div><div class="ttdoc">Set the target velocity in body 1 constraint space.</div><div class="ttdef"><b>Definition</b> SixDOFConstraint.h:176</div></div>
    421. 

  421. <div class="ttc" id="aclass_six_d_o_f_constraint_html_ae130846346f47a470d08e7e916955bf6"><div class="ttname"><a href="class_six_d_o_f_constraint.html#ae130846346f47a470d08e7e916955bf6">SixDOFConstraint::GetRotationLimitsMin</a></div><div class="ttdeci">Vec3 GetRotationLimitsMin() const</div><div class="ttdef"><b>Definition</b> SixDOFConstraint.h:147</div></div>
    422. 

  422. <div class="ttc" id="aclass_six_d_o_f_constraint_html_ae13f824a4eddf95835fdeffe61c7ffba"><div class="ttname"><a href="class_six_d_o_f_constraint.html#ae13f824a4eddf95835fdeffe61c7ffba">SixDOFConstraint::GetSubType</a></div><div class="ttdeci">virtual EConstraintSubType GetSubType() const override</div><div class="ttdoc">Generic interface of a constraint.</div><div class="ttdef"><b>Definition</b> SixDOFConstraint.h:117</div></div>
    423. 

  423. <div class="ttc" id="aclass_six_d_o_f_constraint_settings_html"><div class="ttname"><a href="class_six_d_o_f_constraint_settings.html">SixDOFConstraintSettings</a></div><div class="ttdoc">6 Degree Of Freedom Constraint setup structure. Allows control over each of the 6 degrees of freedom.</div><div class="ttdef"><b>Definition</b> SixDOFConstraint.h:19</div></div>
    424. 

  424. <div class="ttc" id="aclass_six_d_o_f_constraint_settings_html_a8b211ad9cdf8dee7b453b10f2f747a89"><div class="ttname"><a href="class_six_d_o_f_constraint_settings.html#a8b211ad9cdf8dee7b453b10f2f747a89">SixDOFConstraintSettings::IsFixedAxis</a></div><div class="ttdeci">bool IsFixedAxis(EAxis inAxis) const</div><div class="ttdef"><b>Definition</b> SixDOFConstraint.h:91</div></div>
    425. 

  425. <div class="ttc" id="aclass_six_d_o_f_constraint_settings_html_ad5cff2e8b147d7697aa317df476dcddf"><div class="ttname"><a href="class_six_d_o_f_constraint_settings.html#ad5cff2e8b147d7697aa317df476dcddf">SixDOFConstraintSettings::MakeFreeAxis</a></div><div class="ttdeci">void MakeFreeAxis(EAxis inAxis)</div><div class="ttdoc">Make axis free (unconstrained)</div><div class="ttdef"><b>Definition</b> SixDOFConstraint.h:86</div></div>
    426. 

  426. <div class="ttc" id="aclass_six_d_o_f_constraint_settings_html_ad5d80ef30a4a99d4876b244e55fc10cd"><div class="ttname"><a href="class_six_d_o_f_constraint_settings.html#ad5d80ef30a4a99d4876b244e55fc10cd">SixDOFConstraintSettings::EAxis</a></div><div class="ttdeci">EAxis</div><div class="ttdoc">Constraint is split up into translation/rotation around X, Y and Z axis.</div><div class="ttdef"><b>Definition</b> SixDOFConstraint.h:25</div></div>
    427. 

  427. <div class="ttc" id="aclass_six_d_o_f_constraint_settings_html_ad5d80ef30a4a99d4876b244e55fc10cda3473af06b46b9425a1df5eebef6aeb4d"><div class="ttname"><a href="class_six_d_o_f_constraint_settings.html#ad5d80ef30a4a99d4876b244e55fc10cda3473af06b46b9425a1df5eebef6aeb4d">SixDOFConstraintSettings::TranslationY</a></div><div class="ttdeci">@ TranslationY</div><div class="ttdef"><b>Definition</b> SixDOFConstraint.h:27</div></div>
    428. 

  428. <div class="ttc" id="aclass_six_d_o_f_constraint_settings_html_ad5d80ef30a4a99d4876b244e55fc10cda3bb18dfab58908c6fe0a34212574e804"><div class="ttname"><a href="class_six_d_o_f_constraint_settings.html#ad5d80ef30a4a99d4876b244e55fc10cda3bb18dfab58908c6fe0a34212574e804">SixDOFConstraintSettings::RotationX</a></div><div class="ttdeci">@ RotationX</div><div class="ttdef"><b>Definition</b> SixDOFConstraint.h:30</div></div>
    429. 

  429. <div class="ttc" id="aclass_six_d_o_f_constraint_settings_html_ad5d80ef30a4a99d4876b244e55fc10cda439ec6cb6451b42d32733372922adda7"><div class="ttname"><a href="class_six_d_o_f_constraint_settings.html#ad5d80ef30a4a99d4876b244e55fc10cda439ec6cb6451b42d32733372922adda7">SixDOFConstraintSettings::TranslationZ</a></div><div class="ttdeci">@ TranslationZ</div><div class="ttdef"><b>Definition</b> SixDOFConstraint.h:28</div></div>
    430. 

  430. <div class="ttc" id="aclass_six_d_o_f_constraint_settings_html_ad5d80ef30a4a99d4876b244e55fc10cdaaa3c8b3e737aa478570057e143c88036"><div class="ttname"><a href="class_six_d_o_f_constraint_settings.html#ad5d80ef30a4a99d4876b244e55fc10cdaaa3c8b3e737aa478570057e143c88036">SixDOFConstraintSettings::TranslationX</a></div><div class="ttdeci">@ TranslationX</div><div class="ttdef"><b>Definition</b> SixDOFConstraint.h:26</div></div>
    431. 

  431. <div class="ttc" id="aclass_six_d_o_f_constraint_settings_html_ad5d80ef30a4a99d4876b244e55fc10cdab473d487df9caec2fc6c2f2e5c7f0a40"><div class="ttname"><a href="class_six_d_o_f_constraint_settings.html#ad5d80ef30a4a99d4876b244e55fc10cdab473d487df9caec2fc6c2f2e5c7f0a40">SixDOFConstraintSettings::RotationY</a></div><div class="ttdeci">@ RotationY</div><div class="ttdef"><b>Definition</b> SixDOFConstraint.h:31</div></div>
    432. 

  432. <div class="ttc" id="aclass_six_d_o_f_constraint_settings_html_ad5d80ef30a4a99d4876b244e55fc10cdabf8fb5a75f02a8ed4c0d14cb3e9f41d2"><div class="ttname"><a href="class_six_d_o_f_constraint_settings.html#ad5d80ef30a4a99d4876b244e55fc10cdabf8fb5a75f02a8ed4c0d14cb3e9f41d2">SixDOFConstraintSettings::Num</a></div><div class="ttdeci">@ Num</div><div class="ttdef"><b>Definition</b> SixDOFConstraint.h:34</div></div>
    433. 

  433. <div class="ttc" id="aclass_six_d_o_f_constraint_settings_html_ad5d80ef30a4a99d4876b244e55fc10cdaf83d5f4c529f5ff08c44a4a229536c7e"><div class="ttname"><a href="class_six_d_o_f_constraint_settings.html#ad5d80ef30a4a99d4876b244e55fc10cdaf83d5f4c529f5ff08c44a4a229536c7e">SixDOFConstraintSettings::RotationZ</a></div><div class="ttdeci">@ RotationZ</div><div class="ttdef"><b>Definition</b> SixDOFConstraint.h:32</div></div>
    434. 

  434. <div class="ttc" id="aclass_six_d_o_f_constraint_settings_html_ad707d50d3c830f44ea2f10e3215a6789"><div class="ttname"><a href="class_six_d_o_f_constraint_settings.html#ad707d50d3c830f44ea2f10e3215a6789">SixDOFConstraintSettings::SetLimitedAxis</a></div><div class="ttdeci">void SetLimitedAxis(EAxis inAxis, float inMin, float inMax)</div><div class="ttdoc">Set a valid range for the constraint (if inMax &lt; inMin, the axis will become fixed)</div><div class="ttdef"><b>Definition</b> SixDOFConstraint.h:94</div></div>
    435. 

  435. <div class="ttc" id="aclass_six_d_o_f_constraint_settings_html_ad7888719516a85b67a8fc957c9158144"><div class="ttname"><a href="class_six_d_o_f_constraint_settings.html#ad7888719516a85b67a8fc957c9158144">SixDOFConstraintSettings::MakeFixedAxis</a></div><div class="ttdeci">void MakeFixedAxis(EAxis inAxis)</div><div class="ttdoc">Make axis fixed (fixed at value 0)</div><div class="ttdef"><b>Definition</b> SixDOFConstraint.h:90</div></div>
    436. 

  436. <div class="ttc" id="aclass_six_d_o_f_constraint_settings_html_afd2fee3c13a064451e982eb6f375f71c"><div class="ttname"><a href="class_six_d_o_f_constraint_settings.html#afd2fee3c13a064451e982eb6f375f71c">SixDOFConstraintSettings::IsFreeAxis</a></div><div class="ttdeci">bool IsFreeAxis(EAxis inAxis) const</div><div class="ttdef"><b>Definition</b> SixDOFConstraint.h:87</div></div>
    437. 

  437. <div class="ttc" id="aclass_spring_settings_html"><div class="ttname"><a href="class_spring_settings.html">SpringSettings</a></div><div class="ttdoc">Settings for a linear or angular spring.</div><div class="ttdef"><b>Definition</b> SpringSettings.h:23</div></div>
    438. 

  438. <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>
    439. 

  439. <div class="ttc" id="aclass_stream_in_html"><div class="ttname"><a href="class_stream_in.html">StreamIn</a></div><div class="ttdoc">Simple binary input stream.</div><div class="ttdef"><b>Definition</b> StreamIn.h:13</div></div>
    440. 

  440. <div class="ttc" id="aclass_stream_out_html"><div class="ttname"><a href="class_stream_out.html">StreamOut</a></div><div class="ttdoc">Simple binary output stream.</div><div class="ttdef"><b>Definition</b> StreamOut.h:13</div></div>
    441. 

  441. <div class="ttc" id="aclass_swing_twist_constraint_part_html"><div class="ttname"><a href="class_swing_twist_constraint_part.html">SwingTwistConstraintPart</a></div><div class="ttdef"><b>Definition</b> SwingTwistConstraintPart.h:33</div></div>
    442. 

  442. <div class="ttc" id="aclass_two_body_constraint_html"><div class="ttname"><a href="class_two_body_constraint.html">TwoBodyConstraint</a></div><div class="ttdoc">Base class for all constraints that involve 2 bodies. Body1 is usually considered the parent,...</div><div class="ttdef"><b>Definition</b> TwoBodyConstraint.h:27</div></div>
    443. 

  443. <div class="ttc" id="aclass_two_body_constraint_settings_html"><div class="ttname"><a href="class_two_body_constraint_settings.html">TwoBodyConstraintSettings</a></div><div class="ttdoc">Base class for settings for all constraints that involve 2 bodies.</div><div class="ttdef"><b>Definition</b> TwoBodyConstraint.h:16</div></div>
    444. 

  444. <div class="ttc" id="aclass_two_body_constraint_settings_html_a42e353e736b0254b02008b050a28f55b"><div class="ttname"><a href="class_two_body_constraint_settings.html#a42e353e736b0254b02008b050a28f55b">TwoBodyConstraintSettings::Create</a></div><div class="ttdeci">virtual TwoBodyConstraint * Create(Body &amp;inBody1, Body &amp;inBody2) const =0</div></div>
    445. 

  445. <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>
    446. 

  446. <div class="ttc" id="aclass_vec3_html_a142cc5c79f08229eb11532c26f1a1e90"><div class="ttname"><a href="class_vec3.html#a142cc5c79f08229eb11532c26f1a1e90">Vec3::sAxisX</a></div><div class="ttdeci">static JPH_INLINE Vec3 sAxisX()</div><div class="ttdoc">Vectors with the principal axis.</div><div class="ttdef"><b>Definition</b> Vec3.h:56</div></div>
    447. 

  447. <div class="ttc" id="aclass_vec3_html_a2819718744feddb0bc150c6ccc26fad1"><div class="ttname"><a href="class_vec3.html#a2819718744feddb0bc150c6ccc26fad1">Vec3::sAxisY</a></div><div class="ttdeci">static JPH_INLINE Vec3 sAxisY()</div><div class="ttdef"><b>Definition</b> Vec3.h:57</div></div>
    448. 

  448. <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>
    449. 

  449. <div class="ttc" id="aclass_vec3_html_aea30fe731618ffa249ecdcba2c66ab4e"><div class="ttname"><a href="class_vec3.html#aea30fe731618ffa249ecdcba2c66ab4e">Vec3::sLoadFloat3Unsafe</a></div><div class="ttdeci">static JPH_INLINE Vec3 sLoadFloat3Unsafe(const Float3 &amp;inV)</div><div class="ttdoc">Load 3 floats from memory (reads 32 bits extra which it doesn't use)</div><div class="ttdef"><b>Definition</b> Vec3.inl:135</div></div>
    450. 

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