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JoltPhysics
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  <div class="headertitle"><div class="title">SwingTwistConstraint.h</div></div>
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<a href="_swing_twist_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>
<div class="line"><a id="l00002" name="l00002"></a><span class="lineno">    2</span><span class="comment">// SPDX-FileCopyrightText: 2021 Jorrit Rouwe</span></div>
<div class="line"><a id="l00003" name="l00003"></a><span class="lineno">    3</span><span class="comment">// SPDX-License-Identifier: MIT</span></div>
<div class="line"><a id="l00004" name="l00004"></a><span class="lineno">    4</span> </div>
<div class="line"><a id="l00005" name="l00005"></a><span class="lineno">    5</span><span class="preprocessor">#pragma once</span></div>
<div class="line"><a id="l00006" name="l00006"></a><span class="lineno">    6</span> </div>
<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>
<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>
<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>
<div class="line"><a id="l00010" name="l00010"></a><span class="lineno">   10</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>
<div class="line"><a id="l00011" name="l00011"></a><span class="lineno">   11</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>
<div class="line"><a id="l00012" name="l00012"></a><span class="lineno">   12</span> </div>
<div class="line"><a id="l00013" name="l00013"></a><span class="lineno">   13</span><a class="code hl_define" href="_core_8h.html#ad14098b68b8c44ea6112601031268405">JPH_NAMESPACE_BEGIN</a></div>
<div class="line"><a id="l00014" name="l00014"></a><span class="lineno">   14</span> </div>
<div class="foldopen" id="foldopen00020" data-start="{" data-end="};">
<div class="line"><a id="l00020" name="l00020"></a><span class="lineno"><a class="line" href="class_swing_twist_constraint_settings.html">   20</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_swing_twist_constraint_settings.html">SwingTwistConstraintSettings</a> final : <span class="keyword">public</span> <a class="code hl_class" href="class_two_body_constraint_settings.html">TwoBodyConstraintSettings</a></div>
<div class="line"><a id="l00021" name="l00021"></a><span class="lineno">   21</span>{</div>
<div class="line"><a id="l00022" name="l00022"></a><span class="lineno">   22</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_swing_twist_constraint_settings.html">SwingTwistConstraintSettings</a>)</div>
<div class="line"><a id="l00023" name="l00023"></a><span class="lineno">   23</span> </div>
<div class="line"><a id="l00024" name="l00024"></a><span class="lineno">   24</span><span class="keyword">public</span>:</div>
<div class="line"><a id="l00025" name="l00025"></a><span class="lineno">   25</span>    <span class="comment">// See: ConstraintSettings::SaveBinaryState</span></div>
<div class="line"><a id="l00026" name="l00026"></a><span class="lineno">   26</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>
<div class="line"><a id="l00027" name="l00027"></a><span class="lineno">   27</span> </div>
<div class="line"><a id="l00029" name="l00029"></a><span class="lineno">   29</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>
<div class="line"><a id="l00030" name="l00030"></a><span class="lineno">   30</span> </div>
<div class="line"><a id="l00032" name="l00032"></a><span class="lineno"><a class="line" href="class_swing_twist_constraint_settings.html#a72b4b2d4679bb816c48947ef24f3153e">   32</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>
<div class="line"><a id="l00033" name="l00033"></a><span class="lineno">   33</span> </div>
<div class="line"><a id="l00035" name="l00035"></a><span class="lineno"><a class="line" href="class_swing_twist_constraint_settings.html#a30793a078b7be1fa138f53ad1c57ca50">   35</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>
<div class="line"><a id="l00036" name="l00036"></a><span class="lineno"><a class="line" href="class_swing_twist_constraint_settings.html#af7e277bd57e8b30ad5e61a440f55c923">   36</a></span>    <a class="code hl_class" href="class_vec3.html">Vec3</a>                        mTwistAxis1 = <a class="code hl_function" href="class_vec3.html#a142cc5c79f08229eb11532c26f1a1e90">Vec3::sAxisX</a>();</div>
<div class="line"><a id="l00037" name="l00037"></a><span class="lineno"><a class="line" href="class_swing_twist_constraint_settings.html#a2c556242704fb54589332cc3b29871b8">   37</a></span>    <a class="code hl_class" href="class_vec3.html">Vec3</a>                        mPlaneAxis1 = <a class="code hl_function" href="class_vec3.html#a2819718744feddb0bc150c6ccc26fad1">Vec3::sAxisY</a>();</div>
<div class="line"><a id="l00038" name="l00038"></a><span class="lineno">   38</span> </div>
<div class="line"><a id="l00040" name="l00040"></a><span class="lineno"><a class="line" href="class_swing_twist_constraint_settings.html#a0f7ae7835e07b547eae7141543f3bbd5">   40</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>
<div class="line"><a id="l00041" name="l00041"></a><span class="lineno"><a class="line" href="class_swing_twist_constraint_settings.html#ad43e13d0d38989e96d77efb2cef48e5c">   41</a></span>    <a class="code hl_class" href="class_vec3.html">Vec3</a>                        mTwistAxis2 = <a class="code hl_function" href="class_vec3.html#a142cc5c79f08229eb11532c26f1a1e90">Vec3::sAxisX</a>();</div>
<div class="line"><a id="l00042" name="l00042"></a><span class="lineno"><a class="line" href="class_swing_twist_constraint_settings.html#aa8a67f8a151ed609558127f83c3ddd6a">   42</a></span>    <a class="code hl_class" href="class_vec3.html">Vec3</a>                        mPlaneAxis2 = <a class="code hl_function" href="class_vec3.html#a2819718744feddb0bc150c6ccc26fad1">Vec3::sAxisY</a>();</div>
<div class="line"><a id="l00043" name="l00043"></a><span class="lineno">   43</span> </div>
<div class="line"><a id="l00045" name="l00045"></a><span class="lineno"><a class="line" href="class_swing_twist_constraint_settings.html#a56b16117463f015b513fd91666efe623">   45</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>
<div class="line"><a id="l00046" name="l00046"></a><span class="lineno">   46</span> </div>
<div class="line"><a id="l00048" name="l00048"></a><span class="lineno"><a class="line" href="class_swing_twist_constraint_settings.html#a4f47f4487992a1af9da193d784a9a677">   48</a></span>    <span class="keywordtype">float</span>                       mNormalHalfConeAngle = 0.0f;                                </div>
<div class="line"><a id="l00049" name="l00049"></a><span class="lineno"><a class="line" href="class_swing_twist_constraint_settings.html#acebb8bf87ee7e68a0614432fcfc13197">   49</a></span>    <span class="keywordtype">float</span>                       mPlaneHalfConeAngle = 0.0f;                                 </div>
<div class="line"><a id="l00050" name="l00050"></a><span class="lineno">   50</span> </div>
<div class="line"><a id="l00052" name="l00052"></a><span class="lineno"><a class="line" href="class_swing_twist_constraint_settings.html#a12cd470644a292469f6d548e81554152">   52</a></span>    <span class="keywordtype">float</span>                       mTwistMinAngle = 0.0f;                                      </div>
<div class="line"><a id="l00053" name="l00053"></a><span class="lineno"><a class="line" href="class_swing_twist_constraint_settings.html#a839558fbacc1371853779f96720bbb9a">   53</a></span>    <span class="keywordtype">float</span>                       mTwistMaxAngle = 0.0f;                                      </div>
<div class="line"><a id="l00054" name="l00054"></a><span class="lineno">   54</span> </div>
<div class="line"><a id="l00056" name="l00056"></a><span class="lineno"><a class="line" href="class_swing_twist_constraint_settings.html#af34435581700a68140347036aa5bb64d">   56</a></span>    <span class="keywordtype">float</span>                       mMaxFrictionTorque = 0.0f;                                  </div>
<div class="line"><a id="l00057" name="l00057"></a><span class="lineno">   57</span> </div>
<div class="line"><a id="l00059" name="l00059"></a><span class="lineno"><a class="line" href="class_swing_twist_constraint_settings.html#a3e07516a7bee2dd0552197bb46663289">   59</a></span>    <a class="code hl_class" href="class_motor_settings.html">MotorSettings</a>               <a class="code hl_variable" href="class_swing_twist_constraint_settings.html#a3e07516a7bee2dd0552197bb46663289">mSwingMotorSettings</a>;</div>
<div class="line"><a id="l00060" name="l00060"></a><span class="lineno"><a class="line" href="class_swing_twist_constraint_settings.html#a72373f006ab5f1785c363bc03db5f5c0">   60</a></span>    <a class="code hl_class" href="class_motor_settings.html">MotorSettings</a>               <a class="code hl_variable" href="class_swing_twist_constraint_settings.html#a72373f006ab5f1785c363bc03db5f5c0">mTwistMotorSettings</a>;</div>
<div class="line"><a id="l00061" name="l00061"></a><span class="lineno">   61</span> </div>
<div class="line"><a id="l00062" name="l00062"></a><span class="lineno">   62</span><span class="keyword">protected</span>:</div>
<div class="line"><a id="l00063" name="l00063"></a><span class="lineno">   63</span>    <span class="comment">// See: ConstraintSettings::RestoreBinaryState</span></div>
<div class="line"><a id="l00064" name="l00064"></a><span class="lineno">   64</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>
<div class="line"><a id="l00065" name="l00065"></a><span class="lineno">   65</span>};</div>
</div>
<div class="line"><a id="l00066" name="l00066"></a><span class="lineno">   66</span> </div>
<div class="foldopen" id="foldopen00070" data-start="{" data-end="};">
<div class="line"><a id="l00070" name="l00070"></a><span class="lineno"><a class="line" href="class_swing_twist_constraint.html">   70</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_swing_twist_constraint.html">SwingTwistConstraint</a> final : <span class="keyword">public</span> <a class="code hl_class" href="class_two_body_constraint.html">TwoBodyConstraint</a></div>
<div class="line"><a id="l00071" name="l00071"></a><span class="lineno">   71</span>{</div>
<div class="line"><a id="l00072" name="l00072"></a><span class="lineno">   72</span><span class="keyword">public</span>:</div>
<div class="line"><a id="l00073" name="l00073"></a><span class="lineno">   73</span>    <a class="code hl_define" href="_memory_8h.html#a91074fb218fe28954a0938c099ddd9e0">JPH_OVERRIDE_NEW_DELETE</a></div>
<div class="line"><a id="l00074" name="l00074"></a><span class="lineno">   74</span> </div>
<div class="line"><a id="l00076" name="l00076"></a><span class="lineno">   76</span>                                <a class="code hl_class" href="class_swing_twist_constraint.html">SwingTwistConstraint</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_swing_twist_constraint_settings.html">SwingTwistConstraintSettings</a> &amp;inSettings);</div>
<div class="line"><a id="l00077" name="l00077"></a><span class="lineno">   77</span> </div>
<div class="line"><a id="l00079" name="l00079"></a><span class="lineno"><a class="line" href="class_swing_twist_constraint.html#a259cdffe333947fb29e1455619b81dd5">   79</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_swing_twist_constraint.html#a259cdffe333947fb29e1455619b81dd5">GetSubType</a>()<span class="keyword"> const override                                 </span>{ <span class="keywordflow">return</span> <a class="code hl_enumvalue" href="_constraint_8h.html#adfc8350888df0c3a51714b7f372baf2da45c50d709bcdfc9e1733315ce452aeb2">EConstraintSubType::SwingTwist</a>; }</div>
<div class="line"><a id="l00080" name="l00080"></a><span class="lineno">   80</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>
<div class="line"><a id="l00081" name="l00081"></a><span class="lineno">   81</span>    <span class="keyword">virtual</span> <span class="keywordtype">void</span>                SetupVelocityConstraint(<span class="keywordtype">float</span> inDeltaTime) <span class="keyword">override</span>;</div>
<div class="line"><a id="l00082" name="l00082"></a><span class="lineno">   82</span>    <span class="keyword">virtual</span> <span class="keywordtype">void</span>                ResetWarmStart() <span class="keyword">override</span>;</div>
<div class="line"><a id="l00083" name="l00083"></a><span class="lineno">   83</span>    <span class="keyword">virtual</span> <span class="keywordtype">void</span>                WarmStartVelocityConstraint(<span class="keywordtype">float</span> inWarmStartImpulseRatio) <span class="keyword">override</span>;</div>
<div class="line"><a id="l00084" name="l00084"></a><span class="lineno">   84</span>    <span class="keyword">virtual</span> <span class="keywordtype">bool</span>                SolveVelocityConstraint(<span class="keywordtype">float</span> inDeltaTime) <span class="keyword">override</span>;</div>
<div class="line"><a id="l00085" name="l00085"></a><span class="lineno">   85</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>
<div class="line"><a id="l00086" name="l00086"></a><span class="lineno">   86</span><span class="preprocessor">#ifdef JPH_DEBUG_RENDERER</span></div>
<div class="line"><a id="l00087" name="l00087"></a><span class="lineno">   87</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>
<div class="line"><a id="l00088" name="l00088"></a><span class="lineno">   88</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>
<div class="line"><a id="l00089" name="l00089"></a><span class="lineno">   89</span><span class="preprocessor">#endif </span><span class="comment">// JPH_DEBUG_RENDERER</span></div>
<div class="line"><a id="l00090" name="l00090"></a><span class="lineno">   90</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>
<div class="line"><a id="l00091" name="l00091"></a><span class="lineno">   91</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>
<div class="line"><a id="l00092" name="l00092"></a><span class="lineno">   92</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>
<div class="line"><a id="l00093" name="l00093"></a><span class="lineno">   93</span> </div>
<div class="line"><a id="l00094" name="l00094"></a><span class="lineno">   94</span>    <span class="comment">// See: TwoBodyConstraint</span></div>
<div class="line"><a id="l00095" name="l00095"></a><span class="lineno"><a class="line" href="class_swing_twist_constraint.html#ab89ec6165c3789f22964700f21695c32">   95</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_swing_twist_constraint.html#ab89ec6165c3789f22964700f21695c32">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>
<div class="line"><a id="l00096" name="l00096"></a><span class="lineno"><a class="line" href="class_swing_twist_constraint.html#a2ada7d7eadcc3f9d235cb1d8c75f3e4a">   96</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_swing_twist_constraint.html#a2ada7d7eadcc3f9d235cb1d8c75f3e4a">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>
<div class="line"><a id="l00097" name="l00097"></a><span class="lineno">   97</span> </div>
<div class="line"><a id="l00099" name="l00099"></a><span class="lineno"><a class="line" href="class_swing_twist_constraint.html#a5cf8ea24972bf6fd7c614d8e5a851b37">   99</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_swing_twist_constraint.html#a5cf8ea24972bf6fd7c614d8e5a851b37">GetLocalSpacePosition1</a>()<span class="keyword"> const                              </span>{ <span class="keywordflow">return</span> mLocalSpacePosition1; }</div>
<div class="line"><a id="l00100" name="l00100"></a><span class="lineno"><a class="line" href="class_swing_twist_constraint.html#ab2ddd5c601f20912ceeaeb2cd01cc601">  100</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_swing_twist_constraint.html#ab2ddd5c601f20912ceeaeb2cd01cc601">GetLocalSpacePosition2</a>()<span class="keyword"> const                              </span>{ <span class="keywordflow">return</span> mLocalSpacePosition2; }</div>
<div class="line"><a id="l00101" name="l00101"></a><span class="lineno"><a class="line" href="class_swing_twist_constraint.html#a4b15b5eed50bb023141968a6eb05a307">  101</a></span>    <span class="keyword">inline</span> <a class="code hl_class" href="class_quat.html">Quat</a>                 <a class="code hl_function" href="class_swing_twist_constraint.html#a4b15b5eed50bb023141968a6eb05a307">GetConstraintToBody1</a>()<span class="keyword"> const                                </span>{ <span class="keywordflow">return</span> mConstraintToBody1; }</div>
<div class="line"><a id="l00102" name="l00102"></a><span class="lineno"><a class="line" href="class_swing_twist_constraint.html#a79760736ee2bc3afecdf80dfe703fa45">  102</a></span>    <span class="keyword">inline</span> <a class="code hl_class" href="class_quat.html">Quat</a>                 <a class="code hl_function" href="class_swing_twist_constraint.html#a79760736ee2bc3afecdf80dfe703fa45">GetConstraintToBody2</a>()<span class="keyword"> const                                </span>{ <span class="keywordflow">return</span> mConstraintToBody2; }</div>
<div class="line"><a id="l00103" name="l00103"></a><span class="lineno">  103</span> </div>
<div class="line"><a id="l00105" name="l00105"></a><span class="lineno"><a class="line" href="class_swing_twist_constraint.html#a01fffaa54b35ffbe9321bd6549346b4d">  105</a></span>    <span class="keyword">inline</span> <span class="keywordtype">float</span>                <a class="code hl_function" href="class_swing_twist_constraint.html#a01fffaa54b35ffbe9321bd6549346b4d">GetNormalHalfConeAngle</a>()<span class="keyword"> const                              </span>{ <span class="keywordflow">return</span> mNormalHalfConeAngle; }</div>
<div class="line"><a id="l00106" name="l00106"></a><span class="lineno"><a class="line" href="class_swing_twist_constraint.html#a5bdb29744f4e345d3366312d3d77d85c">  106</a></span>    <span class="keyword">inline</span> <span class="keywordtype">void</span>                 <a class="code hl_function" href="class_swing_twist_constraint.html#a5bdb29744f4e345d3366312d3d77d85c">SetNormalHalfConeAngle</a>(<span class="keywordtype">float</span> inAngle)                       { mNormalHalfConeAngle = inAngle; UpdateLimits(); }</div>
<div class="line"><a id="l00107" name="l00107"></a><span class="lineno"><a class="line" href="class_swing_twist_constraint.html#a6529b62b9a91f1f1093116a789f1d5ca">  107</a></span>    <span class="keyword">inline</span> <span class="keywordtype">float</span>                <a class="code hl_function" href="class_swing_twist_constraint.html#a6529b62b9a91f1f1093116a789f1d5ca">GetPlaneHalfConeAngle</a>()<span class="keyword"> const                               </span>{ <span class="keywordflow">return</span> mPlaneHalfConeAngle; }</div>
<div class="line"><a id="l00108" name="l00108"></a><span class="lineno"><a class="line" href="class_swing_twist_constraint.html#a00fb39bbe9a4ea59b363c2d60ca959ff">  108</a></span>    <span class="keyword">inline</span> <span class="keywordtype">void</span>                 <a class="code hl_function" href="class_swing_twist_constraint.html#a00fb39bbe9a4ea59b363c2d60ca959ff">SetPlaneHalfConeAngle</a>(<span class="keywordtype">float</span> inAngle)                        { mPlaneHalfConeAngle = inAngle; UpdateLimits(); }</div>
<div class="line"><a id="l00109" name="l00109"></a><span class="lineno"><a class="line" href="class_swing_twist_constraint.html#ae2220254397365c2d99a026cdfeb5243">  109</a></span>    <span class="keyword">inline</span> <span class="keywordtype">float</span>                <a class="code hl_function" href="class_swing_twist_constraint.html#ae2220254397365c2d99a026cdfeb5243">GetTwistMinAngle</a>()<span class="keyword"> const                                    </span>{ <span class="keywordflow">return</span> mTwistMinAngle; }</div>
<div class="line"><a id="l00110" name="l00110"></a><span class="lineno"><a class="line" href="class_swing_twist_constraint.html#a0276be01794b613f1e961227e774fb98">  110</a></span>    <span class="keyword">inline</span> <span class="keywordtype">void</span>                 <a class="code hl_function" href="class_swing_twist_constraint.html#a0276be01794b613f1e961227e774fb98">SetTwistMinAngle</a>(<span class="keywordtype">float</span> inAngle)                             { mTwistMinAngle = inAngle; UpdateLimits(); }</div>
<div class="line"><a id="l00111" name="l00111"></a><span class="lineno"><a class="line" href="class_swing_twist_constraint.html#a167f8f552fae981543530a4bd225b763">  111</a></span>    <span class="keyword">inline</span> <span class="keywordtype">float</span>                <a class="code hl_function" href="class_swing_twist_constraint.html#a167f8f552fae981543530a4bd225b763">GetTwistMaxAngle</a>()<span class="keyword"> const                                    </span>{ <span class="keywordflow">return</span> mTwistMaxAngle; }</div>
<div class="line"><a id="l00112" name="l00112"></a><span class="lineno"><a class="line" href="class_swing_twist_constraint.html#a505202f615a1842d430a4caff34b7a7d">  112</a></span>    <span class="keyword">inline</span> <span class="keywordtype">void</span>                 <a class="code hl_function" href="class_swing_twist_constraint.html#a505202f615a1842d430a4caff34b7a7d">SetTwistMaxAngle</a>(<span class="keywordtype">float</span> inAngle)                             { mTwistMaxAngle = inAngle; UpdateLimits(); }</div>
<div class="line"><a id="l00113" name="l00113"></a><span class="lineno">  113</span> </div>
<div class="line"><a id="l00115" name="l00115"></a><span class="lineno"><a class="line" href="class_swing_twist_constraint.html#a62867e2044909678e7eb8ae1a60fc30e">  115</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_swing_twist_constraint.html#a62867e2044909678e7eb8ae1a60fc30e">GetSwingMotorSettings</a>()<span class="keyword"> const                               </span>{ <span class="keywordflow">return</span> mSwingMotorSettings; }</div>
<div class="line"><a id="l00116" name="l00116"></a><span class="lineno"><a class="line" href="class_swing_twist_constraint.html#adc142775611a925dfdc755c0fa35bdbc">  116</a></span>    <a class="code hl_class" href="class_motor_settings.html">MotorSettings</a> &amp;             <a class="code hl_function" href="class_swing_twist_constraint.html#adc142775611a925dfdc755c0fa35bdbc">GetSwingMotorSettings</a>()                                     { <span class="keywordflow">return</span> mSwingMotorSettings; }</div>
<div class="line"><a id="l00117" name="l00117"></a><span class="lineno"><a class="line" href="class_swing_twist_constraint.html#ae63b6cda1826e0b1aa6b6960780e92e3">  117</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_swing_twist_constraint.html#ae63b6cda1826e0b1aa6b6960780e92e3">GetTwistMotorSettings</a>()<span class="keyword"> const                               </span>{ <span class="keywordflow">return</span> mTwistMotorSettings; }</div>
<div class="line"><a id="l00118" name="l00118"></a><span class="lineno"><a class="line" href="class_swing_twist_constraint.html#aec236c29d446311925a62f2004ae6974">  118</a></span>    <a class="code hl_class" href="class_motor_settings.html">MotorSettings</a> &amp;             <a class="code hl_function" href="class_swing_twist_constraint.html#aec236c29d446311925a62f2004ae6974">GetTwistMotorSettings</a>()                                     { <span class="keywordflow">return</span> mTwistMotorSettings; }</div>
<div class="line"><a id="l00119" name="l00119"></a><span class="lineno">  119</span> </div>
<div class="line"><a id="l00121" name="l00121"></a><span class="lineno"><a class="line" href="class_swing_twist_constraint.html#abf0d635feedfe665fa4f7a6e566bf168">  121</a></span>    <span class="keywordtype">void</span>                        <a class="code hl_function" href="class_swing_twist_constraint.html#abf0d635feedfe665fa4f7a6e566bf168">SetMaxFrictionTorque</a>(<span class="keywordtype">float</span> inFrictionTorque)                { mMaxFrictionTorque = inFrictionTorque; }</div>
<div class="line"><a id="l00122" name="l00122"></a><span class="lineno"><a class="line" href="class_swing_twist_constraint.html#a663ea09e2e7019d0d43fec36cd3b89f1">  122</a></span>    <span class="keywordtype">float</span>                       <a class="code hl_function" href="class_swing_twist_constraint.html#a663ea09e2e7019d0d43fec36cd3b89f1">GetMaxFrictionTorque</a>()<span class="keyword"> const                                </span>{ <span class="keywordflow">return</span> mMaxFrictionTorque; }</div>
<div class="line"><a id="l00123" name="l00123"></a><span class="lineno">  123</span> </div>
<div class="line"><a id="l00125" name="l00125"></a><span class="lineno">  125</span> </div>
<div class="line"><a id="l00127" name="l00127"></a><span class="lineno">  127</span>    <span class="keywordtype">void</span>                        SetSwingMotorState(<a class="code hl_enumeration" href="_motor_settings_8h.html#a691a2387946263d993fa8e1c9488bc2b">EMotorState</a> inState);</div>
<div class="line"><a id="l00128" name="l00128"></a><span class="lineno"><a class="line" href="class_swing_twist_constraint.html#aff96015babd85fab3b262eee70a2a283">  128</a></span>    <a class="code hl_enumeration" href="_motor_settings_8h.html#a691a2387946263d993fa8e1c9488bc2b">EMotorState</a>                 <a class="code hl_function" href="class_swing_twist_constraint.html#aff96015babd85fab3b262eee70a2a283">GetSwingMotorState</a>()<span class="keyword"> const                                  </span>{ <span class="keywordflow">return</span> mSwingMotorState; }</div>
<div class="line"><a id="l00129" name="l00129"></a><span class="lineno">  129</span>    <span class="keywordtype">void</span>                        SetTwistMotorState(<a class="code hl_enumeration" href="_motor_settings_8h.html#a691a2387946263d993fa8e1c9488bc2b">EMotorState</a> inState);</div>
<div class="line"><a id="l00130" name="l00130"></a><span class="lineno"><a class="line" href="class_swing_twist_constraint.html#a44ce1ccf1c4d95f88bb6ab2571035196">  130</a></span>    <a class="code hl_enumeration" href="_motor_settings_8h.html#a691a2387946263d993fa8e1c9488bc2b">EMotorState</a>                 <a class="code hl_function" href="class_swing_twist_constraint.html#a44ce1ccf1c4d95f88bb6ab2571035196">GetTwistMotorState</a>()<span class="keyword"> const                                  </span>{ <span class="keywordflow">return</span> mTwistMotorState; }</div>
<div class="line"><a id="l00131" name="l00131"></a><span class="lineno">  131</span> </div>
<div class="line"><a id="l00133" name="l00133"></a><span class="lineno"><a class="line" href="class_swing_twist_constraint.html#a352f4276b652ae5f31ec8ce7b63a321f">  133</a></span>    <span class="keywordtype">void</span>                        <a class="code hl_function" href="class_swing_twist_constraint.html#a352f4276b652ae5f31ec8ce7b63a321f">SetTargetAngularVelocityCS</a>(<a class="code hl_class" href="class_vec3.html">Vec3Arg</a> inAngularVelocity)       { mTargetAngularVelocity = inAngularVelocity; }</div>
<div class="line"><a id="l00134" name="l00134"></a><span class="lineno"><a class="line" href="class_swing_twist_constraint.html#a7ba465390161d081cbfa4f6d313308e5">  134</a></span>    <a class="code hl_class" href="class_vec3.html">Vec3</a>                        <a class="code hl_function" href="class_swing_twist_constraint.html#a7ba465390161d081cbfa4f6d313308e5">GetTargetAngularVelocityCS</a>()<span class="keyword"> const                          </span>{ <span class="keywordflow">return</span> mTargetAngularVelocity; }</div>
<div class="line"><a id="l00135" name="l00135"></a><span class="lineno">  135</span> </div>
<div class="line"><a id="l00137" name="l00137"></a><span class="lineno">  137</span>    <span class="keywordtype">void</span>                        SetTargetOrientationCS(<a class="code hl_class" href="class_quat.html">QuatArg</a> inOrientation);</div>
<div class="line"><a id="l00138" name="l00138"></a><span class="lineno"><a class="line" href="class_swing_twist_constraint.html#ab490bdbf00a2c76b00b2d3d2afe19419">  138</a></span>    <a class="code hl_class" href="class_quat.html">Quat</a>                        <a class="code hl_function" href="class_swing_twist_constraint.html#ab490bdbf00a2c76b00b2d3d2afe19419">GetTargetOrientationCS</a>()<span class="keyword"> const                              </span>{ <span class="keywordflow">return</span> mTargetOrientation; }</div>
<div class="line"><a id="l00139" name="l00139"></a><span class="lineno">  139</span> </div>
<div class="line"><a id="l00142" name="l00142"></a><span class="lineno"><a class="line" href="class_swing_twist_constraint.html#a96e0594e40bc6d63d72241e03cdebcc0">  142</a></span>    <span class="keywordtype">void</span>                        <a class="code hl_function" href="class_swing_twist_constraint.html#a96e0594e40bc6d63d72241e03cdebcc0">SetTargetOrientationBS</a>(<a class="code hl_class" href="class_quat.html">QuatArg</a> inOrientation)               { SetTargetOrientationCS(mConstraintToBody1.Conjugated() * inOrientation * mConstraintToBody2); }</div>
<div class="line"><a id="l00143" name="l00143"></a><span class="lineno">  143</span> </div>
<div class="line"><a id="l00146" name="l00146"></a><span class="lineno">  146</span>    <a class="code hl_class" href="class_quat.html">Quat</a>                        GetRotationInConstraintSpace() <span class="keyword">const</span>;</div>
<div class="line"><a id="l00147" name="l00147"></a><span class="lineno">  147</span> </div>
<div class="line"><a id="l00149" name="l00149"></a><span class="lineno"><a class="line" href="class_swing_twist_constraint.html#a82b21f86dc816c6a989df827c04d2a7b">  149</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_swing_twist_constraint.html#a82b21f86dc816c6a989df827c04d2a7b">GetTotalLambdaPosition</a>()<span class="keyword"> const                              </span>{ <span class="keywordflow">return</span> mPointConstraintPart.GetTotalLambda(); }</div>
<div class="line"><a id="l00150" name="l00150"></a><span class="lineno"><a class="line" href="class_swing_twist_constraint.html#afc81f0c8d931210044e2a05cea0988c6">  150</a></span>    <span class="keyword">inline</span> <span class="keywordtype">float</span>                <a class="code hl_function" href="class_swing_twist_constraint.html#afc81f0c8d931210044e2a05cea0988c6">GetTotalLambdaTwist</a>()<span class="keyword"> const                                 </span>{ <span class="keywordflow">return</span> mSwingTwistConstraintPart.GetTotalTwistLambda(); }</div>
<div class="line"><a id="l00151" name="l00151"></a><span class="lineno"><a class="line" href="class_swing_twist_constraint.html#a0c2292aef09fef869c8264e0735a6f26">  151</a></span>    <span class="keyword">inline</span> <span class="keywordtype">float</span>                <a class="code hl_function" href="class_swing_twist_constraint.html#a0c2292aef09fef869c8264e0735a6f26">GetTotalLambdaSwingY</a>()<span class="keyword"> const                                </span>{ <span class="keywordflow">return</span> mSwingTwistConstraintPart.GetTotalSwingYLambda(); }</div>
<div class="line"><a id="l00152" name="l00152"></a><span class="lineno"><a class="line" href="class_swing_twist_constraint.html#a2e87742bbeac9f5b0b0ee75050326c7b">  152</a></span>    <span class="keyword">inline</span> <span class="keywordtype">float</span>                <a class="code hl_function" href="class_swing_twist_constraint.html#a2e87742bbeac9f5b0b0ee75050326c7b">GetTotalLambdaSwingZ</a>()<span class="keyword"> const                                </span>{ <span class="keywordflow">return</span> mSwingTwistConstraintPart.GetTotalSwingZLambda(); }</div>
<div class="line"><a id="l00153" name="l00153"></a><span class="lineno"><a class="line" href="class_swing_twist_constraint.html#a41ac135d5eb9c233fe50ff9fc8b3d40e">  153</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_swing_twist_constraint.html#a41ac135d5eb9c233fe50ff9fc8b3d40e">GetTotalLambdaMotor</a>()<span class="keyword"> const                                 </span>{ <span class="keywordflow">return</span> <a class="code hl_class" href="class_vec3.html">Vec3</a>(mMotorConstraintPart[0].GetTotalLambda(), mMotorConstraintPart[1].GetTotalLambda(), mMotorConstraintPart[2].GetTotalLambda()); }</div>
<div class="line"><a id="l00154" name="l00154"></a><span class="lineno">  154</span> </div>
<div class="line"><a id="l00155" name="l00155"></a><span class="lineno">  155</span><span class="keyword">private</span>:</div>
<div class="line"><a id="l00156" name="l00156"></a><span class="lineno">  156</span>    <span class="comment">// Update the limits in the swing twist constraint part</span></div>
<div class="line"><a id="l00157" name="l00157"></a><span class="lineno">  157</span>    <span class="keywordtype">void</span>                        UpdateLimits();</div>
<div class="line"><a id="l00158" name="l00158"></a><span class="lineno">  158</span> </div>
<div class="line"><a id="l00159" name="l00159"></a><span class="lineno">  159</span>    <span class="comment">// CONFIGURATION PROPERTIES FOLLOW</span></div>
<div class="line"><a id="l00160" name="l00160"></a><span class="lineno">  160</span> </div>
<div class="line"><a id="l00161" name="l00161"></a><span class="lineno">  161</span>    <span class="comment">// Local space constraint positions</span></div>
<div class="line"><a id="l00162" name="l00162"></a><span class="lineno">  162</span>    <a class="code hl_class" href="class_vec3.html">Vec3</a>                        mLocalSpacePosition1;</div>
<div class="line"><a id="l00163" name="l00163"></a><span class="lineno">  163</span>    <a class="code hl_class" href="class_vec3.html">Vec3</a>                        mLocalSpacePosition2;</div>
<div class="line"><a id="l00164" name="l00164"></a><span class="lineno">  164</span> </div>
<div class="line"><a id="l00165" name="l00165"></a><span class="lineno">  165</span>    <span class="comment">// Transforms from constraint space to body space</span></div>
<div class="line"><a id="l00166" name="l00166"></a><span class="lineno">  166</span>    <a class="code hl_class" href="class_quat.html">Quat</a>                        mConstraintToBody1;</div>
<div class="line"><a id="l00167" name="l00167"></a><span class="lineno">  167</span>    <a class="code hl_class" href="class_quat.html">Quat</a>                        mConstraintToBody2;</div>
<div class="line"><a id="l00168" name="l00168"></a><span class="lineno">  168</span> </div>
<div class="line"><a id="l00169" name="l00169"></a><span class="lineno">  169</span>    <span class="comment">// Limits</span></div>
<div class="line"><a id="l00170" name="l00170"></a><span class="lineno">  170</span>    <span class="keywordtype">float</span>                       mNormalHalfConeAngle;</div>
<div class="line"><a id="l00171" name="l00171"></a><span class="lineno">  171</span>    <span class="keywordtype">float</span>                       mPlaneHalfConeAngle;</div>
<div class="line"><a id="l00172" name="l00172"></a><span class="lineno">  172</span>    <span class="keywordtype">float</span>                       mTwistMinAngle;</div>
<div class="line"><a id="l00173" name="l00173"></a><span class="lineno">  173</span>    <span class="keywordtype">float</span>                       mTwistMaxAngle;</div>
<div class="line"><a id="l00174" name="l00174"></a><span class="lineno">  174</span> </div>
<div class="line"><a id="l00175" name="l00175"></a><span class="lineno">  175</span>    <span class="comment">// Friction</span></div>
<div class="line"><a id="l00176" name="l00176"></a><span class="lineno">  176</span>    <span class="keywordtype">float</span>                       mMaxFrictionTorque;</div>
<div class="line"><a id="l00177" name="l00177"></a><span class="lineno">  177</span> </div>
<div class="line"><a id="l00178" name="l00178"></a><span class="lineno">  178</span>    <span class="comment">// Motor controls</span></div>
<div class="line"><a id="l00179" name="l00179"></a><span class="lineno">  179</span>    <a class="code hl_class" href="class_motor_settings.html">MotorSettings</a>               mSwingMotorSettings;</div>
<div class="line"><a id="l00180" name="l00180"></a><span class="lineno">  180</span>    <a class="code hl_class" href="class_motor_settings.html">MotorSettings</a>               mTwistMotorSettings;</div>
<div class="line"><a id="l00181" name="l00181"></a><span class="lineno">  181</span>    <a class="code hl_enumeration" href="_motor_settings_8h.html#a691a2387946263d993fa8e1c9488bc2b">EMotorState</a>                 mSwingMotorState = <a class="code hl_enumvalue" href="_motor_settings_8h.html#a691a2387946263d993fa8e1c9488bc2bad15305d7a4e34e02489c74a5ef542f36">EMotorState::Off</a>;</div>
<div class="line"><a id="l00182" name="l00182"></a><span class="lineno">  182</span>    <a class="code hl_enumeration" href="_motor_settings_8h.html#a691a2387946263d993fa8e1c9488bc2b">EMotorState</a>                 mTwistMotorState = <a class="code hl_enumvalue" href="_motor_settings_8h.html#a691a2387946263d993fa8e1c9488bc2bad15305d7a4e34e02489c74a5ef542f36">EMotorState::Off</a>;</div>
<div class="line"><a id="l00183" name="l00183"></a><span class="lineno">  183</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>
<div class="line"><a id="l00184" name="l00184"></a><span class="lineno">  184</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>
<div class="line"><a id="l00185" name="l00185"></a><span class="lineno">  185</span> </div>
<div class="line"><a id="l00186" name="l00186"></a><span class="lineno">  186</span>    <span class="comment">// RUN TIME PROPERTIES FOLLOW</span></div>
<div class="line"><a id="l00187" name="l00187"></a><span class="lineno">  187</span> </div>
<div class="line"><a id="l00188" name="l00188"></a><span class="lineno">  188</span>    <span class="comment">// Rotation axis for motor constraint parts</span></div>
<div class="line"><a id="l00189" name="l00189"></a><span class="lineno">  189</span>    <a class="code hl_class" href="class_vec3.html">Vec3</a>                        mWorldSpaceMotorAxis[3];</div>
<div class="line"><a id="l00190" name="l00190"></a><span class="lineno">  190</span> </div>
<div class="line"><a id="l00191" name="l00191"></a><span class="lineno">  191</span>    <span class="comment">// The constraint parts</span></div>
<div class="line"><a id="l00192" name="l00192"></a><span class="lineno">  192</span>    <a class="code hl_class" href="class_point_constraint_part.html">PointConstraintPart</a>         mPointConstraintPart;</div>
<div class="line"><a id="l00193" name="l00193"></a><span class="lineno">  193</span>    <a class="code hl_class" href="class_swing_twist_constraint_part.html">SwingTwistConstraintPart</a>    mSwingTwistConstraintPart;</div>
<div class="line"><a id="l00194" name="l00194"></a><span class="lineno">  194</span>    <a class="code hl_class" href="class_angle_constraint_part.html">AngleConstraintPart</a>         mMotorConstraintPart[3];</div>
<div class="line"><a id="l00195" name="l00195"></a><span class="lineno">  195</span>};</div>
</div>
<div class="line"><a id="l00196" name="l00196"></a><span class="lineno">  196</span> </div>
<div class="line"><a id="l00197" name="l00197"></a><span class="lineno">  197</span><a class="code hl_define" href="_core_8h.html#a73da8725998b00321a9db341202d650d">JPH_NAMESPACE_END</a></div>
<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>
<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>
<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>
<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>
<div class="ttc" id="a_constraint_8h_html_adfc8350888df0c3a51714b7f372baf2da45c50d709bcdfc9e1733315ce452aeb2"><div class="ttname"><a href="_constraint_8h.html#adfc8350888df0c3a51714b7f372baf2da45c50d709bcdfc9e1733315ce452aeb2">EConstraintSubType::SwingTwist</a></div><div class="ttdeci">@ SwingTwist</div></div>
<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>
<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>
<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>
<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>
<div class="ttc" id="a_motor_settings_8h_html"><div class="ttname"><a href="_motor_settings_8h.html">MotorSettings.h</a></div></div>
<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>
<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>
<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>
<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>
<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>
<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>
<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>
<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>
<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>
<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>
<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>
<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>
<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>
<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>
<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>
<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>
<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>
<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>
<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>
<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>
<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>
<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>
<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>
<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>
<div class="ttc" id="aclass_swing_twist_constraint_html"><div class="ttname"><a href="class_swing_twist_constraint.html">SwingTwistConstraint</a></div><div class="ttdef"><b>Definition</b> SwingTwistConstraint.h:71</div></div>
<div class="ttc" id="aclass_swing_twist_constraint_html_a00fb39bbe9a4ea59b363c2d60ca959ff"><div class="ttname"><a href="class_swing_twist_constraint.html#a00fb39bbe9a4ea59b363c2d60ca959ff">SwingTwistConstraint::SetPlaneHalfConeAngle</a></div><div class="ttdeci">void SetPlaneHalfConeAngle(float inAngle)</div><div class="ttdef"><b>Definition</b> SwingTwistConstraint.h:108</div></div>
<div class="ttc" id="aclass_swing_twist_constraint_html_a01fffaa54b35ffbe9321bd6549346b4d"><div class="ttname"><a href="class_swing_twist_constraint.html#a01fffaa54b35ffbe9321bd6549346b4d">SwingTwistConstraint::GetNormalHalfConeAngle</a></div><div class="ttdeci">float GetNormalHalfConeAngle() const</div><div class="ttdef"><b>Definition</b> SwingTwistConstraint.h:105</div></div>
<div class="ttc" id="aclass_swing_twist_constraint_html_a0276be01794b613f1e961227e774fb98"><div class="ttname"><a href="class_swing_twist_constraint.html#a0276be01794b613f1e961227e774fb98">SwingTwistConstraint::SetTwistMinAngle</a></div><div class="ttdeci">void SetTwistMinAngle(float inAngle)</div><div class="ttdef"><b>Definition</b> SwingTwistConstraint.h:110</div></div>
<div class="ttc" id="aclass_swing_twist_constraint_html_a0c2292aef09fef869c8264e0735a6f26"><div class="ttname"><a href="class_swing_twist_constraint.html#a0c2292aef09fef869c8264e0735a6f26">SwingTwistConstraint::GetTotalLambdaSwingY</a></div><div class="ttdeci">float GetTotalLambdaSwingY() const</div><div class="ttdef"><b>Definition</b> SwingTwistConstraint.h:151</div></div>
<div class="ttc" id="aclass_swing_twist_constraint_html_a167f8f552fae981543530a4bd225b763"><div class="ttname"><a href="class_swing_twist_constraint.html#a167f8f552fae981543530a4bd225b763">SwingTwistConstraint::GetTwistMaxAngle</a></div><div class="ttdeci">float GetTwistMaxAngle() const</div><div class="ttdef"><b>Definition</b> SwingTwistConstraint.h:111</div></div>
<div class="ttc" id="aclass_swing_twist_constraint_html_a259cdffe333947fb29e1455619b81dd5"><div class="ttname"><a href="class_swing_twist_constraint.html#a259cdffe333947fb29e1455619b81dd5">SwingTwistConstraint::GetSubType</a></div><div class="ttdeci">virtual EConstraintSubType GetSubType() const override</div><div class="ttdoc">Get the sub type of a constraint.</div><div class="ttdef"><b>Definition</b> SwingTwistConstraint.h:79</div></div>
<div class="ttc" id="aclass_swing_twist_constraint_html_a2ada7d7eadcc3f9d235cb1d8c75f3e4a"><div class="ttname"><a href="class_swing_twist_constraint.html#a2ada7d7eadcc3f9d235cb1d8c75f3e4a">SwingTwistConstraint::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> SwingTwistConstraint.h:96</div></div>
<div class="ttc" id="aclass_swing_twist_constraint_html_a2e87742bbeac9f5b0b0ee75050326c7b"><div class="ttname"><a href="class_swing_twist_constraint.html#a2e87742bbeac9f5b0b0ee75050326c7b">SwingTwistConstraint::GetTotalLambdaSwingZ</a></div><div class="ttdeci">float GetTotalLambdaSwingZ() const</div><div class="ttdef"><b>Definition</b> SwingTwistConstraint.h:152</div></div>
<div class="ttc" id="aclass_swing_twist_constraint_html_a352f4276b652ae5f31ec8ce7b63a321f"><div class="ttname"><a href="class_swing_twist_constraint.html#a352f4276b652ae5f31ec8ce7b63a321f">SwingTwistConstraint::SetTargetAngularVelocityCS</a></div><div class="ttdeci">void SetTargetAngularVelocityCS(Vec3Arg inAngularVelocity)</div><div class="ttdoc">Set the target angular velocity of body 2 in constraint space of body 2.</div><div class="ttdef"><b>Definition</b> SwingTwistConstraint.h:133</div></div>
<div class="ttc" id="aclass_swing_twist_constraint_html_a41ac135d5eb9c233fe50ff9fc8b3d40e"><div class="ttname"><a href="class_swing_twist_constraint.html#a41ac135d5eb9c233fe50ff9fc8b3d40e">SwingTwistConstraint::GetTotalLambdaMotor</a></div><div class="ttdeci">Vec3 GetTotalLambdaMotor() const</div><div class="ttdef"><b>Definition</b> SwingTwistConstraint.h:153</div></div>
<div class="ttc" id="aclass_swing_twist_constraint_html_a44ce1ccf1c4d95f88bb6ab2571035196"><div class="ttname"><a href="class_swing_twist_constraint.html#a44ce1ccf1c4d95f88bb6ab2571035196">SwingTwistConstraint::GetTwistMotorState</a></div><div class="ttdeci">EMotorState GetTwistMotorState() const</div><div class="ttdef"><b>Definition</b> SwingTwistConstraint.h:130</div></div>
<div class="ttc" id="aclass_swing_twist_constraint_html_a4b15b5eed50bb023141968a6eb05a307"><div class="ttname"><a href="class_swing_twist_constraint.html#a4b15b5eed50bb023141968a6eb05a307">SwingTwistConstraint::GetConstraintToBody1</a></div><div class="ttdeci">Quat GetConstraintToBody1() const</div><div class="ttdef"><b>Definition</b> SwingTwistConstraint.h:101</div></div>
<div class="ttc" id="aclass_swing_twist_constraint_html_a505202f615a1842d430a4caff34b7a7d"><div class="ttname"><a href="class_swing_twist_constraint.html#a505202f615a1842d430a4caff34b7a7d">SwingTwistConstraint::SetTwistMaxAngle</a></div><div class="ttdeci">void SetTwistMaxAngle(float inAngle)</div><div class="ttdef"><b>Definition</b> SwingTwistConstraint.h:112</div></div>
<div class="ttc" id="aclass_swing_twist_constraint_html_a5bdb29744f4e345d3366312d3d77d85c"><div class="ttname"><a href="class_swing_twist_constraint.html#a5bdb29744f4e345d3366312d3d77d85c">SwingTwistConstraint::SetNormalHalfConeAngle</a></div><div class="ttdeci">void SetNormalHalfConeAngle(float inAngle)</div><div class="ttdef"><b>Definition</b> SwingTwistConstraint.h:106</div></div>
<div class="ttc" id="aclass_swing_twist_constraint_html_a5cf8ea24972bf6fd7c614d8e5a851b37"><div class="ttname"><a href="class_swing_twist_constraint.html#a5cf8ea24972bf6fd7c614d8e5a851b37">SwingTwistConstraint::GetLocalSpacePosition1</a></div><div class="ttdeci">Vec3 GetLocalSpacePosition1() const</div><div class="ttdef"><b>Definition</b> SwingTwistConstraint.h:99</div></div>
<div class="ttc" id="aclass_swing_twist_constraint_html_a62867e2044909678e7eb8ae1a60fc30e"><div class="ttname"><a href="class_swing_twist_constraint.html#a62867e2044909678e7eb8ae1a60fc30e">SwingTwistConstraint::GetSwingMotorSettings</a></div><div class="ttdeci">const MotorSettings &amp; GetSwingMotorSettings() const</div><div class="ttdef"><b>Definition</b> SwingTwistConstraint.h:115</div></div>
<div class="ttc" id="aclass_swing_twist_constraint_html_a6529b62b9a91f1f1093116a789f1d5ca"><div class="ttname"><a href="class_swing_twist_constraint.html#a6529b62b9a91f1f1093116a789f1d5ca">SwingTwistConstraint::GetPlaneHalfConeAngle</a></div><div class="ttdeci">float GetPlaneHalfConeAngle() const</div><div class="ttdef"><b>Definition</b> SwingTwistConstraint.h:107</div></div>
<div class="ttc" id="aclass_swing_twist_constraint_html_a663ea09e2e7019d0d43fec36cd3b89f1"><div class="ttname"><a href="class_swing_twist_constraint.html#a663ea09e2e7019d0d43fec36cd3b89f1">SwingTwistConstraint::GetMaxFrictionTorque</a></div><div class="ttdeci">float GetMaxFrictionTorque() const</div><div class="ttdef"><b>Definition</b> SwingTwistConstraint.h:122</div></div>
<div class="ttc" id="aclass_swing_twist_constraint_html_a79760736ee2bc3afecdf80dfe703fa45"><div class="ttname"><a href="class_swing_twist_constraint.html#a79760736ee2bc3afecdf80dfe703fa45">SwingTwistConstraint::GetConstraintToBody2</a></div><div class="ttdeci">Quat GetConstraintToBody2() const</div><div class="ttdef"><b>Definition</b> SwingTwistConstraint.h:102</div></div>
<div class="ttc" id="aclass_swing_twist_constraint_html_a7ba465390161d081cbfa4f6d313308e5"><div class="ttname"><a href="class_swing_twist_constraint.html#a7ba465390161d081cbfa4f6d313308e5">SwingTwistConstraint::GetTargetAngularVelocityCS</a></div><div class="ttdeci">Vec3 GetTargetAngularVelocityCS() const</div><div class="ttdef"><b>Definition</b> SwingTwistConstraint.h:134</div></div>
<div class="ttc" id="aclass_swing_twist_constraint_html_a82b21f86dc816c6a989df827c04d2a7b"><div class="ttname"><a href="class_swing_twist_constraint.html#a82b21f86dc816c6a989df827c04d2a7b">SwingTwistConstraint::GetTotalLambdaPosition</a></div><div class="ttdeci">Vec3 GetTotalLambdaPosition() const</div><div class="ttdef"><b>Definition</b> SwingTwistConstraint.h:149</div></div>
<div class="ttc" id="aclass_swing_twist_constraint_html_a96e0594e40bc6d63d72241e03cdebcc0"><div class="ttname"><a href="class_swing_twist_constraint.html#a96e0594e40bc6d63d72241e03cdebcc0">SwingTwistConstraint::SetTargetOrientationBS</a></div><div class="ttdeci">void SetTargetOrientationBS(QuatArg inOrientation)</div><div class="ttdef"><b>Definition</b> SwingTwistConstraint.h:142</div></div>
<div class="ttc" id="aclass_swing_twist_constraint_html_ab2ddd5c601f20912ceeaeb2cd01cc601"><div class="ttname"><a href="class_swing_twist_constraint.html#ab2ddd5c601f20912ceeaeb2cd01cc601">SwingTwistConstraint::GetLocalSpacePosition2</a></div><div class="ttdeci">Vec3 GetLocalSpacePosition2() const</div><div class="ttdef"><b>Definition</b> SwingTwistConstraint.h:100</div></div>
<div class="ttc" id="aclass_swing_twist_constraint_html_ab490bdbf00a2c76b00b2d3d2afe19419"><div class="ttname"><a href="class_swing_twist_constraint.html#ab490bdbf00a2c76b00b2d3d2afe19419">SwingTwistConstraint::GetTargetOrientationCS</a></div><div class="ttdeci">Quat GetTargetOrientationCS() const</div><div class="ttdef"><b>Definition</b> SwingTwistConstraint.h:138</div></div>
<div class="ttc" id="aclass_swing_twist_constraint_html_ab89ec6165c3789f22964700f21695c32"><div class="ttname"><a href="class_swing_twist_constraint.html#ab89ec6165c3789f22964700f21695c32">SwingTwistConstraint::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> SwingTwistConstraint.h:95</div></div>
<div class="ttc" id="aclass_swing_twist_constraint_html_abf0d635feedfe665fa4f7a6e566bf168"><div class="ttname"><a href="class_swing_twist_constraint.html#abf0d635feedfe665fa4f7a6e566bf168">SwingTwistConstraint::SetMaxFrictionTorque</a></div><div class="ttdeci">void SetMaxFrictionTorque(float inFrictionTorque)</div><div class="ttdef"><b>Definition</b> SwingTwistConstraint.h:121</div></div>
<div class="ttc" id="aclass_swing_twist_constraint_html_adc142775611a925dfdc755c0fa35bdbc"><div class="ttname"><a href="class_swing_twist_constraint.html#adc142775611a925dfdc755c0fa35bdbc">SwingTwistConstraint::GetSwingMotorSettings</a></div><div class="ttdeci">MotorSettings &amp; GetSwingMotorSettings()</div><div class="ttdef"><b>Definition</b> SwingTwistConstraint.h:116</div></div>
<div class="ttc" id="aclass_swing_twist_constraint_html_ae2220254397365c2d99a026cdfeb5243"><div class="ttname"><a href="class_swing_twist_constraint.html#ae2220254397365c2d99a026cdfeb5243">SwingTwistConstraint::GetTwistMinAngle</a></div><div class="ttdeci">float GetTwistMinAngle() const</div><div class="ttdef"><b>Definition</b> SwingTwistConstraint.h:109</div></div>
<div class="ttc" id="aclass_swing_twist_constraint_html_ae63b6cda1826e0b1aa6b6960780e92e3"><div class="ttname"><a href="class_swing_twist_constraint.html#ae63b6cda1826e0b1aa6b6960780e92e3">SwingTwistConstraint::GetTwistMotorSettings</a></div><div class="ttdeci">const MotorSettings &amp; GetTwistMotorSettings() const</div><div class="ttdef"><b>Definition</b> SwingTwistConstraint.h:117</div></div>
<div class="ttc" id="aclass_swing_twist_constraint_html_aec236c29d446311925a62f2004ae6974"><div class="ttname"><a href="class_swing_twist_constraint.html#aec236c29d446311925a62f2004ae6974">SwingTwistConstraint::GetTwistMotorSettings</a></div><div class="ttdeci">MotorSettings &amp; GetTwistMotorSettings()</div><div class="ttdef"><b>Definition</b> SwingTwistConstraint.h:118</div></div>
<div class="ttc" id="aclass_swing_twist_constraint_html_afc81f0c8d931210044e2a05cea0988c6"><div class="ttname"><a href="class_swing_twist_constraint.html#afc81f0c8d931210044e2a05cea0988c6">SwingTwistConstraint::GetTotalLambdaTwist</a></div><div class="ttdeci">float GetTotalLambdaTwist() const</div><div class="ttdef"><b>Definition</b> SwingTwistConstraint.h:150</div></div>
<div class="ttc" id="aclass_swing_twist_constraint_html_aff96015babd85fab3b262eee70a2a283"><div class="ttname"><a href="class_swing_twist_constraint.html#aff96015babd85fab3b262eee70a2a283">SwingTwistConstraint::GetSwingMotorState</a></div><div class="ttdeci">EMotorState GetSwingMotorState() const</div><div class="ttdef"><b>Definition</b> SwingTwistConstraint.h:128</div></div>
<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>
<div class="ttc" id="aclass_swing_twist_constraint_settings_html"><div class="ttname"><a href="class_swing_twist_constraint_settings.html">SwingTwistConstraintSettings</a></div><div class="ttdef"><b>Definition</b> SwingTwistConstraint.h:21</div></div>
<div class="ttc" id="aclass_swing_twist_constraint_settings_html_a3e07516a7bee2dd0552197bb46663289"><div class="ttname"><a href="class_swing_twist_constraint_settings.html#a3e07516a7bee2dd0552197bb46663289">SwingTwistConstraintSettings::mSwingMotorSettings</a></div><div class="ttdeci">MotorSettings mSwingMotorSettings</div><div class="ttdef"><b>Definition</b> SwingTwistConstraint.h:59</div></div>
<div class="ttc" id="aclass_swing_twist_constraint_settings_html_a72373f006ab5f1785c363bc03db5f5c0"><div class="ttname"><a href="class_swing_twist_constraint_settings.html#a72373f006ab5f1785c363bc03db5f5c0">SwingTwistConstraintSettings::mTwistMotorSettings</a></div><div class="ttdeci">MotorSettings mTwistMotorSettings</div><div class="ttdef"><b>Definition</b> SwingTwistConstraint.h:60</div></div>
<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>
<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>
<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>
<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>
<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>
<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>
<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>
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