Home Verkennen Help
Inloggen
cpp
/
JoltPhysics
spiegel van https://github.com/jrouwe/JoltPhysics.git
2
0
Vork 0
Bestanden Issues 0 Wiki
Aftakking: gh-pages
Aftakkingen Labels
JoltPhysics
/
_swing_twist_constraint_part_8h_source.html

_swing_twist_constraint_part_8h_source.html 148 KB
Permalink Geschiedenis Ruwe

123456789101112131415161718192021222324252627282930313233343536373839404142434445464748495051525354555657585960616263646566676869707172737475767778798081828384858687888990919293949596979899100101102103104105106107108109110111112113114115116117118119120121122123124125126127128129130131132133134135136137138139140141142143144145146147148149150151152153154155156157158159160161162163164165166167168169170171172173174175176177178179180181182183184185186187188189190191192193194195196197198199200201202203204205206207208209210211212213214215216217218219220221222223224225226227228229230231232233234235236237238239240241242243244245246247248249250251252253254255256257258259260261262263264265266267268269270271272273274275276277278279280281282283284285286287288289290291292293294295296297298299300301302303304305306307308309310311312313314315316317318319320321322323324325326327328329330331332333334335336337338339340341342343344345346347348349350351352353354355356357358359360361362363364365366367368369370371372373374375376377378379380381382383384385386387388389390391392393394395396397398399400401402403404405406407408409410411412413414415416417418419420421422423424425426427428429430431432433434435436437438439440441442443444445446447448449450451452453454455456457458459460461462463464465466467468469470471472473474475476477478479480481482483484485486487488489490491492493494495496497498499500501502503504505506507508509510511512513514515516517518519520521522523524525526527528529530531532533534535536537538539540541542543544545546547548549550551552553554555556557558559560561562563564565566567568569570571572573574575576577578579580581582583584585586587588589590591592593594595596597598599600601602603604605606607608609610611612613614615616617618619620621622623624625626627628629630631632633634635636637638639640641642643644645646647648649650651652653654655656657658659660661662663664665666667668669670671672673674675676677678679680681682683684685686687688689690691692693694695696697698699700701702703704705706707708709710711712713714715716717718719720721722723724725726727728729730731732733734735736737738739740741742743744745746747748749750751752753754755756757758759760761762763764765766767768769770771772773774775776777778779780781782783784785786787788789790791792793794795796797798799800801 
  1. <!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "https://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
    2. 

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

  3. <head>
    4. 

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

  22. MathJax.Hub.Config({
    23. 

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

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

  25. });
    26. 

  26. </script>
    27. 

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

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

  29. </head>
    30. 

  30. <body>
    31. 

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

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

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

  34.  <tbody>
    35. 

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

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

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

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

  39.    </div>
    40. 

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

  41.   </td>
    42. 

  42.  </tr>
    43. 

  43.  </tbody>
    44. 

  44. </table>
    45. 

  45. </div>
    46. 

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

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

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

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

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

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

  52. </script>
    53. 

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

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

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

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

  57. </script>
    58. 

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

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

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

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

  62. $(function() {
    63. 

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

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

  65. });
    66. 

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

  67. </script>
    68. 

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

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

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

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

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

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

  74.     </div>
    75. 

  75.   </div>
    76. 

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

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

  78.   </div>
    79. 

  79. </div>
    80. 

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

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

  82. $(function(){initNavTree('_swing_twist_constraint_part_8h_source.html',''); initResizable(true); });
    83. 

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

  84. </script>
    85. 

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

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

  87. <div id="MSearchSelectWindow"
    88. 

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

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

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

  91. </div>
    92. 

  92. 

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

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

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

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

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

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

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

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

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

  102. </div>
    103. 

  103. </div>
    104. 

  104. </div>
    105. 

  105. </div>
    106. 

  106. 

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

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

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

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

  111. <a href="_swing_twist_constraint_part_8h.html">Go to the documentation of this file.</a><div class="fragment"><div class="line"><a id="l00001" name="l00001"></a><span class="lineno">    1</span><span class="comment">// Jolt Physics Library (https://github.com/jrouwe/JoltPhysics)</span></div>
    112. 

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

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

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

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

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

  117. <div class="line"><a id="l00007" name="l00007"></a><span class="lineno">    7</span><span class="preprocessor">#include &lt;<a class="code" href="_ellipse_8h.html">Jolt/Geometry/Ellipse.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="_rotation_euler_constraint_part_8h.html">Jolt/Physics/Constraints/ConstraintPart/RotationEulerConstraintPart.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="_angle_constraint_part_8h.html">Jolt/Physics/Constraints/ConstraintPart/AngleConstraintPart.h</a>&gt;</span></div>
    120. 

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

  121. <div class="line"><a id="l00011" name="l00011"></a><span class="lineno">   11</span><a class="code hl_define" href="_core_8h.html#ad14098b68b8c44ea6112601031268405">JPH_NAMESPACE_BEGIN</a></div>
    122. 

  122. <div class="line"><a id="l00012" name="l00012"></a><span class="lineno">   12</span> </div>
    123. 

  123. <div class="foldopen" id="foldopen00014" data-start="{" data-end="};">
    124. 

  124. <div class="line"><a id="l00014" name="l00014"></a><span class="lineno"><a class="line" href="_swing_twist_constraint_part_8h.html#add9e89df628b33308461ef46e1b796b6">   14</a></span><span class="keyword">enum class</span> <a class="code hl_enumeration" href="_swing_twist_constraint_part_8h.html#add9e89df628b33308461ef46e1b796b6">ESwingType</a> : <a class="code hl_typedef" href="_core_8h.html#a115946cb5fc5879545e9ccea096a6031">uint8</a></div>
    125. 

  125. <div class="line"><a id="l00015" name="l00015"></a><span class="lineno">   15</span>{</div>
    126. 

  126. <div class="line"><a id="l00016" name="l00016"></a><span class="lineno">   16</span>    <a class="code hl_enumvalue" href="_swing_twist_constraint_part_8h.html#add9e89df628b33308461ef46e1b796b6acd2c8bc6e5f1ea17c918ccaf89660104">Cone</a>,                       </div>
    127. 

  127. <div class="line"><a id="l00017" name="l00017"></a><span class="lineno">   17</span>    <a class="code hl_enumvalue" href="_swing_twist_constraint_part_8h.html#add9e89df628b33308461ef46e1b796b6a5e5b0d93bab61584149905b5e5dc71a0">Pyramid</a>,                    </div>
    128. 

  128. <div class="line"><a id="l00018" name="l00018"></a><span class="lineno">   18</span>};</div>
    129. 

  129. </div>
    130. 

  130. <div class="line"><a id="l00019" name="l00019"></a><span class="lineno">   19</span> </div>
    131. 

  131. <div class="foldopen" id="foldopen00032" data-start="{" data-end="};">
    132. 

  132. <div class="line"><a id="l00032" name="l00032"></a><span class="lineno"><a class="line" href="class_swing_twist_constraint_part.html">   32</a></span><span class="keyword">class </span><a class="code hl_class" href="class_swing_twist_constraint_part.html">SwingTwistConstraintPart</a></div>
    133. 

  133. <div class="line"><a id="l00033" name="l00033"></a><span class="lineno">   33</span>{</div>
    134. 

  134. <div class="line"><a id="l00034" name="l00034"></a><span class="lineno">   34</span><span class="keyword">public</span>:</div>
    135. 

  135. <div class="foldopen" id="foldopen00036" data-start="{" data-end="}">
    136. 

  136. <div class="line"><a id="l00036" name="l00036"></a><span class="lineno"><a class="line" href="class_swing_twist_constraint_part.html#a848425a649ffd87b994ea1efe3cf9944">   36</a></span>    <span class="keywordtype">void</span>                        <a class="code hl_function" href="class_swing_twist_constraint_part.html#a848425a649ffd87b994ea1efe3cf9944">SetSwingType</a>(<a class="code hl_enumeration" href="_swing_twist_constraint_part_8h.html#add9e89df628b33308461ef46e1b796b6">ESwingType</a> inSwingType)</div>
    137. 

  137. <div class="line"><a id="l00037" name="l00037"></a><span class="lineno">   37</span>    {</div>
    138. 

  138. <div class="line"><a id="l00038" name="l00038"></a><span class="lineno">   38</span>        mSwingType = inSwingType;</div>
    139. 

  139. <div class="line"><a id="l00039" name="l00039"></a><span class="lineno">   39</span>    }</div>
    140. 

  140. </div>
    141. 

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

  142. <div class="foldopen" id="foldopen00042" data-start="{" data-end="}">
    143. 

  143. <div class="line"><a id="l00042" name="l00042"></a><span class="lineno"><a class="line" href="class_swing_twist_constraint_part.html#a1e8cca76a13bf4490e18086adfe44fb5">   42</a></span>    <a class="code hl_enumeration" href="_swing_twist_constraint_part_8h.html#add9e89df628b33308461ef46e1b796b6">ESwingType</a>                  <a class="code hl_function" href="class_swing_twist_constraint_part.html#a1e8cca76a13bf4490e18086adfe44fb5">GetSwingType</a>()<span class="keyword"> const</span></div>
    144. 

  144. <div class="line"><a id="l00043" name="l00043"></a><span class="lineno">   43</span><span class="keyword">    </span>{</div>
    145. 

  145. <div class="line"><a id="l00044" name="l00044"></a><span class="lineno">   44</span>        <span class="keywordflow">return</span> mSwingType;</div>
    146. 

  146. <div class="line"><a id="l00045" name="l00045"></a><span class="lineno">   45</span>    }</div>
    147. 

  147. </div>
    148. 

  148. <div class="line"><a id="l00046" name="l00046"></a><span class="lineno">   46</span> </div>
    149. 

  149. <div class="foldopen" id="foldopen00048" data-start="{" data-end="}">
    150. 

  150. <div class="line"><a id="l00048" name="l00048"></a><span class="lineno"><a class="line" href="class_swing_twist_constraint_part.html#aad526f8386b3e605f88fddf583ec215b">   48</a></span>    <span class="keywordtype">void</span>                        <a class="code hl_function" href="class_swing_twist_constraint_part.html#aad526f8386b3e605f88fddf583ec215b">SetLimits</a>(<span class="keywordtype">float</span> inTwistMinAngle, <span class="keywordtype">float</span> inTwistMaxAngle, <span class="keywordtype">float</span> inSwingYMinAngle, <span class="keywordtype">float</span> inSwingYMaxAngle, <span class="keywordtype">float</span> inSwingZMinAngle, <span class="keywordtype">float</span> inSwingZMaxAngle)</div>
    151. 

  151. <div class="line"><a id="l00049" name="l00049"></a><span class="lineno">   49</span>    {</div>
    152. 

  152. <div class="line"><a id="l00050" name="l00050"></a><span class="lineno">   50</span>        <span class="keyword">constexpr</span> <span class="keywordtype">float</span> cLockedAngle = <a class="code hl_function" href="_math_8h.html#a636689581f2a6ce1d3030dc4dd83b2f5">DegreesToRadians</a>(0.5f);</div>
    153. 

  153. <div class="line"><a id="l00051" name="l00051"></a><span class="lineno">   51</span>        <span class="keyword">constexpr</span> <span class="keywordtype">float</span> cFreeAngle = <a class="code hl_function" href="_math_8h.html#a636689581f2a6ce1d3030dc4dd83b2f5">DegreesToRadians</a>(179.5f);</div>
    154. 

  154. <div class="line"><a id="l00052" name="l00052"></a><span class="lineno">   52</span> </div>
    155. 

  155. <div class="line"><a id="l00053" name="l00053"></a><span class="lineno">   53</span>        <span class="comment">// Assume sane input</span></div>
    156. 

  156. <div class="line"><a id="l00054" name="l00054"></a><span class="lineno">   54</span>        <a class="code hl_define" href="_issue_reporting_8h.html#aaf6b1df827e11b7ca5f6f8778bd8f8cd">JPH_ASSERT</a>(inTwistMinAngle &lt;= inTwistMaxAngle);</div>
    157. 

  157. <div class="line"><a id="l00055" name="l00055"></a><span class="lineno">   55</span>        <a class="code hl_define" href="_issue_reporting_8h.html#aaf6b1df827e11b7ca5f6f8778bd8f8cd">JPH_ASSERT</a>(inSwingYMinAngle &lt;= inSwingYMaxAngle);</div>
    158. 

  158. <div class="line"><a id="l00056" name="l00056"></a><span class="lineno">   56</span>        <a class="code hl_define" href="_issue_reporting_8h.html#aaf6b1df827e11b7ca5f6f8778bd8f8cd">JPH_ASSERT</a>(inSwingZMinAngle &lt;= inSwingZMaxAngle);</div>
    159. 

  159. <div class="line"><a id="l00057" name="l00057"></a><span class="lineno">   57</span>        <a class="code hl_define" href="_issue_reporting_8h.html#aaf6b1df827e11b7ca5f6f8778bd8f8cd">JPH_ASSERT</a>(inSwingYMinAngle &gt;= -JPH_PI &amp;&amp; inSwingYMaxAngle &lt;= JPH_PI);</div>
    160. 

  160. <div class="line"><a id="l00058" name="l00058"></a><span class="lineno">   58</span>        <a class="code hl_define" href="_issue_reporting_8h.html#aaf6b1df827e11b7ca5f6f8778bd8f8cd">JPH_ASSERT</a>(inSwingZMinAngle &gt;= -JPH_PI &amp;&amp; inSwingZMaxAngle &lt;= JPH_PI);</div>
    161. 

  161. <div class="line"><a id="l00059" name="l00059"></a><span class="lineno">   59</span> </div>
    162. 

  162. <div class="line"><a id="l00060" name="l00060"></a><span class="lineno">   60</span>        <span class="comment">// Calculate the sine and cosine of the half angles</span></div>
    163. 

  163. <div class="line"><a id="l00061" name="l00061"></a><span class="lineno">   61</span>        <a class="code hl_class" href="class_vec4.html">Vec4</a> half_twist = 0.5f * <a class="code hl_class" href="class_vec4.html">Vec4</a>(inTwistMinAngle, inTwistMaxAngle, 0, 0);</div>
    164. 

  164. <div class="line"><a id="l00062" name="l00062"></a><span class="lineno">   62</span>        <a class="code hl_class" href="class_vec4.html">Vec4</a> twist_s, twist_c;</div>
    165. 

  165. <div class="line"><a id="l00063" name="l00063"></a><span class="lineno">   63</span>        half_twist.<a class="code hl_function" href="class_vec4.html#af7e7da5ada5c3e85aac45d62871a867c">SinCos</a>(twist_s, twist_c);</div>
    166. 

  166. <div class="line"><a id="l00064" name="l00064"></a><span class="lineno">   64</span>        <a class="code hl_class" href="class_vec4.html">Vec4</a> half_swing = 0.5f * <a class="code hl_class" href="class_vec4.html">Vec4</a>(inSwingYMinAngle, inSwingYMaxAngle, inSwingZMinAngle, inSwingZMaxAngle);</div>
    167. 

  167. <div class="line"><a id="l00065" name="l00065"></a><span class="lineno">   65</span>        <a class="code hl_class" href="class_vec4.html">Vec4</a> swing_s, swing_c;</div>
    168. 

  168. <div class="line"><a id="l00066" name="l00066"></a><span class="lineno">   66</span>        half_swing.<a class="code hl_function" href="class_vec4.html#af7e7da5ada5c3e85aac45d62871a867c">SinCos</a>(swing_s, swing_c);</div>
    169. 

  169. <div class="line"><a id="l00067" name="l00067"></a><span class="lineno">   67</span> </div>
    170. 

  170. <div class="line"><a id="l00068" name="l00068"></a><span class="lineno">   68</span>        <span class="comment">// Store half angles for pyramid limit</span></div>
    171. 

  171. <div class="line"><a id="l00069" name="l00069"></a><span class="lineno">   69</span>        mSwingYHalfMinAngle = half_swing.<a class="code hl_function" href="class_vec4.html#aad89aa3a9c4215f45c0dbe1fb65830c3">GetX</a>();</div>
    172. 

  172. <div class="line"><a id="l00070" name="l00070"></a><span class="lineno">   70</span>        mSwingYHalfMaxAngle = half_swing.<a class="code hl_function" href="class_vec4.html#aee5a8598cce851f687263d9b3a163989">GetY</a>();</div>
    173. 

  173. <div class="line"><a id="l00071" name="l00071"></a><span class="lineno">   71</span>        mSwingZHalfMinAngle = half_swing.<a class="code hl_function" href="class_vec4.html#ae5f0ef8f9fd4deb1359806fac122f309">GetZ</a>();</div>
    174. 

  174. <div class="line"><a id="l00072" name="l00072"></a><span class="lineno">   72</span>        mSwingZHalfMaxAngle = half_swing.<a class="code hl_function" href="class_vec4.html#a3779a0a05de85b286afeb12f65d08090">GetW</a>();</div>
    175. 

  175. <div class="line"><a id="l00073" name="l00073"></a><span class="lineno">   73</span> </div>
    176. 

  176. <div class="line"><a id="l00074" name="l00074"></a><span class="lineno">   74</span>        <span class="comment">// Store axis flags which are used at runtime to quickly decided which constraints to apply</span></div>
    177. 

  177. <div class="line"><a id="l00075" name="l00075"></a><span class="lineno">   75</span>        mRotationFlags = 0;</div>
    178. 

  178. <div class="line"><a id="l00076" name="l00076"></a><span class="lineno">   76</span>        <span class="keywordflow">if</span> (inTwistMinAngle &gt; -cLockedAngle &amp;&amp; inTwistMaxAngle &lt; cLockedAngle)</div>
    179. 

  179. <div class="line"><a id="l00077" name="l00077"></a><span class="lineno">   77</span>        {</div>
    180. 

  180. <div class="line"><a id="l00078" name="l00078"></a><span class="lineno">   78</span>            mRotationFlags |= TwistXLocked;</div>
    181. 

  181. <div class="line"><a id="l00079" name="l00079"></a><span class="lineno">   79</span>            mSinTwistHalfMinAngle = 0.0f;</div>
    182. 

  182. <div class="line"><a id="l00080" name="l00080"></a><span class="lineno">   80</span>            mSinTwistHalfMaxAngle = 0.0f;</div>
    183. 

  183. <div class="line"><a id="l00081" name="l00081"></a><span class="lineno">   81</span>            mCosTwistHalfMinAngle = 1.0f;</div>
    184. 

  184. <div class="line"><a id="l00082" name="l00082"></a><span class="lineno">   82</span>            mCosTwistHalfMaxAngle = 1.0f;</div>
    185. 

  185. <div class="line"><a id="l00083" name="l00083"></a><span class="lineno">   83</span>        }</div>
    186. 

  186. <div class="line"><a id="l00084" name="l00084"></a><span class="lineno">   84</span>        <span class="keywordflow">else</span> <span class="keywordflow">if</span> (inTwistMinAngle &lt; -cFreeAngle &amp;&amp; inTwistMaxAngle &gt; cFreeAngle)</div>
    187. 

  187. <div class="line"><a id="l00085" name="l00085"></a><span class="lineno">   85</span>        {</div>
    188. 

  188. <div class="line"><a id="l00086" name="l00086"></a><span class="lineno">   86</span>            mRotationFlags |= TwistXFree;</div>
    189. 

  189. <div class="line"><a id="l00087" name="l00087"></a><span class="lineno">   87</span>            mSinTwistHalfMinAngle = -1.0f;</div>
    190. 

  190. <div class="line"><a id="l00088" name="l00088"></a><span class="lineno">   88</span>            mSinTwistHalfMaxAngle = 1.0f;</div>
    191. 

  191. <div class="line"><a id="l00089" name="l00089"></a><span class="lineno">   89</span>            mCosTwistHalfMinAngle = 0.0f;</div>
    192. 

  192. <div class="line"><a id="l00090" name="l00090"></a><span class="lineno">   90</span>            mCosTwistHalfMaxAngle = 0.0f;</div>
    193. 

  193. <div class="line"><a id="l00091" name="l00091"></a><span class="lineno">   91</span>        }</div>
    194. 

  194. <div class="line"><a id="l00092" name="l00092"></a><span class="lineno">   92</span>        <span class="keywordflow">else</span></div>
    195. 

  195. <div class="line"><a id="l00093" name="l00093"></a><span class="lineno">   93</span>        {</div>
    196. 

  196. <div class="line"><a id="l00094" name="l00094"></a><span class="lineno">   94</span>            mSinTwistHalfMinAngle = twist_s.<a class="code hl_function" href="class_vec4.html#aad89aa3a9c4215f45c0dbe1fb65830c3">GetX</a>();</div>
    197. 

  197. <div class="line"><a id="l00095" name="l00095"></a><span class="lineno">   95</span>            mSinTwistHalfMaxAngle = twist_s.<a class="code hl_function" href="class_vec4.html#aee5a8598cce851f687263d9b3a163989">GetY</a>();</div>
    198. 

  198. <div class="line"><a id="l00096" name="l00096"></a><span class="lineno">   96</span>            mCosTwistHalfMinAngle = twist_c.<a class="code hl_function" href="class_vec4.html#aad89aa3a9c4215f45c0dbe1fb65830c3">GetX</a>();</div>
    199. 

  199. <div class="line"><a id="l00097" name="l00097"></a><span class="lineno">   97</span>            mCosTwistHalfMaxAngle = twist_c.<a class="code hl_function" href="class_vec4.html#aee5a8598cce851f687263d9b3a163989">GetY</a>();</div>
    200. 

  200. <div class="line"><a id="l00098" name="l00098"></a><span class="lineno">   98</span>        }</div>
    201. 

  201. <div class="line"><a id="l00099" name="l00099"></a><span class="lineno">   99</span> </div>
    202. 

  202. <div class="line"><a id="l00100" name="l00100"></a><span class="lineno">  100</span>        <span class="keywordflow">if</span> (inSwingYMinAngle &gt; -cLockedAngle &amp;&amp; inSwingYMaxAngle &lt; cLockedAngle)</div>
    203. 

  203. <div class="line"><a id="l00101" name="l00101"></a><span class="lineno">  101</span>        {</div>
    204. 

  204. <div class="line"><a id="l00102" name="l00102"></a><span class="lineno">  102</span>            mRotationFlags |= SwingYLocked;</div>
    205. 

  205. <div class="line"><a id="l00103" name="l00103"></a><span class="lineno">  103</span>            mSinSwingYHalfMinAngle = 0.0f;</div>
    206. 

  206. <div class="line"><a id="l00104" name="l00104"></a><span class="lineno">  104</span>            mSinSwingYHalfMaxAngle = 0.0f;</div>
    207. 

  207. <div class="line"><a id="l00105" name="l00105"></a><span class="lineno">  105</span>            mCosSwingYHalfMinAngle = 1.0f;</div>
    208. 

  208. <div class="line"><a id="l00106" name="l00106"></a><span class="lineno">  106</span>            mCosSwingYHalfMaxAngle = 1.0f;</div>
    209. 

  209. <div class="line"><a id="l00107" name="l00107"></a><span class="lineno">  107</span>        }</div>
    210. 

  210. <div class="line"><a id="l00108" name="l00108"></a><span class="lineno">  108</span>        <span class="keywordflow">else</span> <span class="keywordflow">if</span> (inSwingYMinAngle &lt; -cFreeAngle &amp;&amp; inSwingYMaxAngle &gt; cFreeAngle)</div>
    211. 

  211. <div class="line"><a id="l00109" name="l00109"></a><span class="lineno">  109</span>        {</div>
    212. 

  212. <div class="line"><a id="l00110" name="l00110"></a><span class="lineno">  110</span>            mRotationFlags |= SwingYFree;</div>
    213. 

  213. <div class="line"><a id="l00111" name="l00111"></a><span class="lineno">  111</span>            mSinSwingYHalfMinAngle = -1.0f;</div>
    214. 

  214. <div class="line"><a id="l00112" name="l00112"></a><span class="lineno">  112</span>            mSinSwingYHalfMaxAngle = 1.0f;</div>
    215. 

  215. <div class="line"><a id="l00113" name="l00113"></a><span class="lineno">  113</span>            mCosSwingYHalfMinAngle = 0.0f;</div>
    216. 

  216. <div class="line"><a id="l00114" name="l00114"></a><span class="lineno">  114</span>            mCosSwingYHalfMaxAngle = 0.0f;</div>
    217. 

  217. <div class="line"><a id="l00115" name="l00115"></a><span class="lineno">  115</span>        }</div>
    218. 

  218. <div class="line"><a id="l00116" name="l00116"></a><span class="lineno">  116</span>        <span class="keywordflow">else</span></div>
    219. 

  219. <div class="line"><a id="l00117" name="l00117"></a><span class="lineno">  117</span>        {</div>
    220. 

  220. <div class="line"><a id="l00118" name="l00118"></a><span class="lineno">  118</span>            mSinSwingYHalfMinAngle = swing_s.<a class="code hl_function" href="class_vec4.html#aad89aa3a9c4215f45c0dbe1fb65830c3">GetX</a>();</div>
    221. 

  221. <div class="line"><a id="l00119" name="l00119"></a><span class="lineno">  119</span>            mSinSwingYHalfMaxAngle = swing_s.<a class="code hl_function" href="class_vec4.html#aee5a8598cce851f687263d9b3a163989">GetY</a>();</div>
    222. 

  222. <div class="line"><a id="l00120" name="l00120"></a><span class="lineno">  120</span>            mCosSwingYHalfMinAngle = swing_c.<a class="code hl_function" href="class_vec4.html#aad89aa3a9c4215f45c0dbe1fb65830c3">GetX</a>();</div>
    223. 

  223. <div class="line"><a id="l00121" name="l00121"></a><span class="lineno">  121</span>            mCosSwingYHalfMaxAngle = swing_c.<a class="code hl_function" href="class_vec4.html#aee5a8598cce851f687263d9b3a163989">GetY</a>();</div>
    224. 

  224. <div class="line"><a id="l00122" name="l00122"></a><span class="lineno">  122</span>            <a class="code hl_define" href="_issue_reporting_8h.html#aaf6b1df827e11b7ca5f6f8778bd8f8cd">JPH_ASSERT</a>(mSinSwingYHalfMinAngle &lt;= mSinSwingYHalfMaxAngle);</div>
    225. 

  225. <div class="line"><a id="l00123" name="l00123"></a><span class="lineno">  123</span>        }</div>
    226. 

  226. <div class="line"><a id="l00124" name="l00124"></a><span class="lineno">  124</span> </div>
    227. 

  227. <div class="line"><a id="l00125" name="l00125"></a><span class="lineno">  125</span>        <span class="keywordflow">if</span> (inSwingZMinAngle &gt; -cLockedAngle &amp;&amp; inSwingZMaxAngle &lt; cLockedAngle)</div>
    228. 

  228. <div class="line"><a id="l00126" name="l00126"></a><span class="lineno">  126</span>        {</div>
    229. 

  229. <div class="line"><a id="l00127" name="l00127"></a><span class="lineno">  127</span>            mRotationFlags |= SwingZLocked;</div>
    230. 

  230. <div class="line"><a id="l00128" name="l00128"></a><span class="lineno">  128</span>            mSinSwingZHalfMinAngle = 0.0f;</div>
    231. 

  231. <div class="line"><a id="l00129" name="l00129"></a><span class="lineno">  129</span>            mSinSwingZHalfMaxAngle = 0.0f;</div>
    232. 

  232. <div class="line"><a id="l00130" name="l00130"></a><span class="lineno">  130</span>            mCosSwingZHalfMinAngle = 1.0f;</div>
    233. 

  233. <div class="line"><a id="l00131" name="l00131"></a><span class="lineno">  131</span>            mCosSwingZHalfMaxAngle = 1.0f;</div>
    234. 

  234. <div class="line"><a id="l00132" name="l00132"></a><span class="lineno">  132</span>        }</div>
    235. 

  235. <div class="line"><a id="l00133" name="l00133"></a><span class="lineno">  133</span>        <span class="keywordflow">else</span> <span class="keywordflow">if</span> (inSwingZMinAngle &lt; -cFreeAngle &amp;&amp; inSwingZMaxAngle &gt; cFreeAngle)</div>
    236. 

  236. <div class="line"><a id="l00134" name="l00134"></a><span class="lineno">  134</span>        {</div>
    237. 

  237. <div class="line"><a id="l00135" name="l00135"></a><span class="lineno">  135</span>            mRotationFlags |= SwingZFree;</div>
    238. 

  238. <div class="line"><a id="l00136" name="l00136"></a><span class="lineno">  136</span>            mSinSwingZHalfMinAngle = -1.0f;</div>
    239. 

  239. <div class="line"><a id="l00137" name="l00137"></a><span class="lineno">  137</span>            mSinSwingZHalfMaxAngle = 1.0f;</div>
    240. 

  240. <div class="line"><a id="l00138" name="l00138"></a><span class="lineno">  138</span>            mCosSwingZHalfMinAngle = 0.0f;</div>
    241. 

  241. <div class="line"><a id="l00139" name="l00139"></a><span class="lineno">  139</span>            mCosSwingZHalfMaxAngle = 0.0f;</div>
    242. 

  242. <div class="line"><a id="l00140" name="l00140"></a><span class="lineno">  140</span>        }</div>
    243. 

  243. <div class="line"><a id="l00141" name="l00141"></a><span class="lineno">  141</span>        <span class="keywordflow">else</span></div>
    244. 

  244. <div class="line"><a id="l00142" name="l00142"></a><span class="lineno">  142</span>        {</div>
    245. 

  245. <div class="line"><a id="l00143" name="l00143"></a><span class="lineno">  143</span>            mSinSwingZHalfMinAngle = swing_s.<a class="code hl_function" href="class_vec4.html#ae5f0ef8f9fd4deb1359806fac122f309">GetZ</a>();</div>
    246. 

  246. <div class="line"><a id="l00144" name="l00144"></a><span class="lineno">  144</span>            mSinSwingZHalfMaxAngle = swing_s.<a class="code hl_function" href="class_vec4.html#a3779a0a05de85b286afeb12f65d08090">GetW</a>();</div>
    247. 

  247. <div class="line"><a id="l00145" name="l00145"></a><span class="lineno">  145</span>            mCosSwingZHalfMinAngle = swing_c.<a class="code hl_function" href="class_vec4.html#ae5f0ef8f9fd4deb1359806fac122f309">GetZ</a>();</div>
    248. 

  248. <div class="line"><a id="l00146" name="l00146"></a><span class="lineno">  146</span>            mCosSwingZHalfMaxAngle = swing_c.<a class="code hl_function" href="class_vec4.html#a3779a0a05de85b286afeb12f65d08090">GetW</a>();</div>
    249. 

  249. <div class="line"><a id="l00147" name="l00147"></a><span class="lineno">  147</span>            <a class="code hl_define" href="_issue_reporting_8h.html#aaf6b1df827e11b7ca5f6f8778bd8f8cd">JPH_ASSERT</a>(mSinSwingZHalfMinAngle &lt;= mSinSwingZHalfMaxAngle);</div>
    250. 

  250. <div class="line"><a id="l00148" name="l00148"></a><span class="lineno">  148</span>        }</div>
    251. 

  251. <div class="line"><a id="l00149" name="l00149"></a><span class="lineno">  149</span>    }</div>
    252. 

  252. </div>
    253. 

  253. <div class="line"><a id="l00150" name="l00150"></a><span class="lineno">  150</span> </div>
    254. 

  254. <div class="line"><a id="l00152" name="l00152"></a><span class="lineno"><a class="line" href="class_swing_twist_constraint_part.html#a52114d8a17117ba0e7db21c6d65ac317">  152</a></span>    <span class="keyword">static</span> <span class="keyword">constexpr</span> <a class="code hl_typedef" href="_core_8h.html#a69aa29b598b851b0640aa225a9e5d61d">uint</a>       <a class="code hl_variable" href="class_swing_twist_constraint_part.html#a52114d8a17117ba0e7db21c6d65ac317">cClampedTwistMin</a> = 1 &lt;&lt; 0;</div>
    255. 

  255. <div class="line"><a id="l00153" name="l00153"></a><span class="lineno"><a class="line" href="class_swing_twist_constraint_part.html#a6b558e5a79ffce7ef3fcc4a10df1c932">  153</a></span>    <span class="keyword">static</span> <span class="keyword">constexpr</span> <a class="code hl_typedef" href="_core_8h.html#a69aa29b598b851b0640aa225a9e5d61d">uint</a>       <a class="code hl_variable" href="class_swing_twist_constraint_part.html#a6b558e5a79ffce7ef3fcc4a10df1c932">cClampedTwistMax</a> = 1 &lt;&lt; 1;</div>
    256. 

  256. <div class="line"><a id="l00154" name="l00154"></a><span class="lineno"><a class="line" href="class_swing_twist_constraint_part.html#a9b80a201af6ea27d2d35b485c88c9b0e">  154</a></span>    <span class="keyword">static</span> <span class="keyword">constexpr</span> <a class="code hl_typedef" href="_core_8h.html#a69aa29b598b851b0640aa225a9e5d61d">uint</a>       <a class="code hl_variable" href="class_swing_twist_constraint_part.html#a9b80a201af6ea27d2d35b485c88c9b0e">cClampedSwingYMin</a> = 1 &lt;&lt; 2;</div>
    257. 

  257. <div class="line"><a id="l00155" name="l00155"></a><span class="lineno"><a class="line" href="class_swing_twist_constraint_part.html#a480178e78f7f5c4bd4dd9043bcea0f03">  155</a></span>    <span class="keyword">static</span> <span class="keyword">constexpr</span> <a class="code hl_typedef" href="_core_8h.html#a69aa29b598b851b0640aa225a9e5d61d">uint</a>       <a class="code hl_variable" href="class_swing_twist_constraint_part.html#a480178e78f7f5c4bd4dd9043bcea0f03">cClampedSwingYMax</a> = 1 &lt;&lt; 3;</div>
    258. 

  258. <div class="line"><a id="l00156" name="l00156"></a><span class="lineno"><a class="line" href="class_swing_twist_constraint_part.html#a808d818a63cd8380799ace91d9a2b94c">  156</a></span>    <span class="keyword">static</span> <span class="keyword">constexpr</span> <a class="code hl_typedef" href="_core_8h.html#a69aa29b598b851b0640aa225a9e5d61d">uint</a>       <a class="code hl_variable" href="class_swing_twist_constraint_part.html#a808d818a63cd8380799ace91d9a2b94c">cClampedSwingZMin</a> = 1 &lt;&lt; 4;</div>
    259. 

  259. <div class="line"><a id="l00157" name="l00157"></a><span class="lineno"><a class="line" href="class_swing_twist_constraint_part.html#ac96e6d6e42458d8ca8d230763c451321">  157</a></span>    <span class="keyword">static</span> <span class="keyword">constexpr</span> <a class="code hl_typedef" href="_core_8h.html#a69aa29b598b851b0640aa225a9e5d61d">uint</a>       <a class="code hl_variable" href="class_swing_twist_constraint_part.html#ac96e6d6e42458d8ca8d230763c451321">cClampedSwingZMax</a> = 1 &lt;&lt; 5;</div>
    260. 

  260. <div class="line"><a id="l00158" name="l00158"></a><span class="lineno">  158</span> </div>
    261. 

  261. <div class="foldopen" id="foldopen00160" data-start="{" data-end="}">
    262. 

  262. <div class="line"><a id="l00160" name="l00160"></a><span class="lineno"><a class="line" href="class_swing_twist_constraint_part.html#a6588973f6ab2b380c62caaa2d3658f20">  160</a></span>    <span class="keyword">static</span> JPH_INLINE <span class="keywordtype">bool</span>      <a class="code hl_function" href="class_swing_twist_constraint_part.html#a6588973f6ab2b380c62caaa2d3658f20">sDistanceToMinShorter</a>(<span class="keywordtype">float</span> inDeltaMin, <span class="keywordtype">float</span> inDeltaMax)</div>
    263. 

  263. <div class="line"><a id="l00161" name="l00161"></a><span class="lineno">  161</span>    {</div>
    264. 

  264. <div class="line"><a id="l00162" name="l00162"></a><span class="lineno">  162</span>        <span class="comment">// We&#39;re outside of the limits, get actual delta to min/max range</span></div>
    265. 

  265. <div class="line"><a id="l00163" name="l00163"></a><span class="lineno">  163</span>        <span class="comment">// Note that a swing/twist of -1 and 1 represent the same angle, so if the difference is bigger than 1, the shortest angle is the other way around (2 - difference)</span></div>
    266. 

  266. <div class="line"><a id="l00164" name="l00164"></a><span class="lineno">  164</span>        <span class="comment">// We should actually be working with angles rather than sin(angle / 2). When the difference is small the approximation is accurate, but</span></div>
    267. 

  267. <div class="line"><a id="l00165" name="l00165"></a><span class="lineno">  165</span>        <span class="comment">// when working with extreme values the calculation is off and e.g. when the limit is between 0 and 180 a value of approx -60 will clamp</span></div>
    268. 

  268. <div class="line"><a id="l00166" name="l00166"></a><span class="lineno">  166</span>        <span class="comment">// to 180 rather than 0 (you&#39;d expect anything &gt; -90 to go to 0).</span></div>
    269. 

  269. <div class="line"><a id="l00167" name="l00167"></a><span class="lineno">  167</span>        inDeltaMin = abs(inDeltaMin);</div>
    270. 

  270. <div class="line"><a id="l00168" name="l00168"></a><span class="lineno">  168</span>        <span class="keywordflow">if</span> (inDeltaMin &gt; 1.0f) inDeltaMin = 2.0f - inDeltaMin;</div>
    271. 

  271. <div class="line"><a id="l00169" name="l00169"></a><span class="lineno">  169</span>        inDeltaMax = abs(inDeltaMax);</div>
    272. 

  272. <div class="line"><a id="l00170" name="l00170"></a><span class="lineno">  170</span>        <span class="keywordflow">if</span> (inDeltaMax &gt; 1.0f) inDeltaMax = 2.0f - inDeltaMax;</div>
    273. 

  273. <div class="line"><a id="l00171" name="l00171"></a><span class="lineno">  171</span>        <span class="keywordflow">return</span> inDeltaMin &lt; inDeltaMax;</div>
    274. 

  274. <div class="line"><a id="l00172" name="l00172"></a><span class="lineno">  172</span>    }</div>
    275. 

  275. </div>
    276. 

  276. <div class="line"><a id="l00173" name="l00173"></a><span class="lineno">  173</span> </div>
    277. 

  277. <div class="foldopen" id="foldopen00175" data-start="{" data-end="}">
    278. 

  278. <div class="line"><a id="l00175" name="l00175"></a><span class="lineno"><a class="line" href="class_swing_twist_constraint_part.html#a63a4870b93b5bb0d90555edbacbf5229">  175</a></span>    <span class="keyword">inline</span> <span class="keywordtype">void</span>                 <a class="code hl_function" href="class_swing_twist_constraint_part.html#a63a4870b93b5bb0d90555edbacbf5229">ClampSwingTwist</a>(<a class="code hl_class" href="class_quat.html">Quat</a> &amp;ioSwing, <a class="code hl_class" href="class_quat.html">Quat</a> &amp;ioTwist, <a class="code hl_typedef" href="_core_8h.html#a69aa29b598b851b0640aa225a9e5d61d">uint</a> &amp;outClampedAxis)<span class="keyword"> const</span></div>
    279. 

  279. <div class="line"><a id="l00176" name="l00176"></a><span class="lineno">  176</span><span class="keyword">    </span>{</div>
    280. 

  280. <div class="line"><a id="l00177" name="l00177"></a><span class="lineno">  177</span>        <span class="comment">// Start with not clamped</span></div>
    281. 

  281. <div class="line"><a id="l00178" name="l00178"></a><span class="lineno">  178</span>        outClampedAxis = 0;</div>
    282. 

  282. <div class="line"><a id="l00179" name="l00179"></a><span class="lineno">  179</span> </div>
    283. 

  283. <div class="line"><a id="l00180" name="l00180"></a><span class="lineno">  180</span>        <span class="comment">// Check that swing and twist quaternions don&#39;t contain rotations around the wrong axis</span></div>
    284. 

  284. <div class="line"><a id="l00181" name="l00181"></a><span class="lineno">  181</span>        <a class="code hl_define" href="_issue_reporting_8h.html#aaf6b1df827e11b7ca5f6f8778bd8f8cd">JPH_ASSERT</a>(ioSwing.<a class="code hl_function" href="class_quat.html#a3fb43a7bca4b20ce7573030fd826aa96">GetX</a>() == 0.0f);</div>
    285. 

  285. <div class="line"><a id="l00182" name="l00182"></a><span class="lineno">  182</span>        <a class="code hl_define" href="_issue_reporting_8h.html#aaf6b1df827e11b7ca5f6f8778bd8f8cd">JPH_ASSERT</a>(ioTwist.<a class="code hl_function" href="class_quat.html#a21f44684684b475d9f5d02ed9c580def">GetY</a>() == 0.0f);</div>
    286. 

  286. <div class="line"><a id="l00183" name="l00183"></a><span class="lineno">  183</span>        <a class="code hl_define" href="_issue_reporting_8h.html#aaf6b1df827e11b7ca5f6f8778bd8f8cd">JPH_ASSERT</a>(ioTwist.<a class="code hl_function" href="class_quat.html#a38dfc20f7628eee4492125a41ad91764">GetZ</a>() == 0.0f);</div>
    287. 

  287. <div class="line"><a id="l00184" name="l00184"></a><span class="lineno">  184</span> </div>
    288. 

  288. <div class="line"><a id="l00185" name="l00185"></a><span class="lineno">  185</span>        <span class="comment">// Ensure quaternions have w &gt; 0</span></div>
    289. 

  289. <div class="line"><a id="l00186" name="l00186"></a><span class="lineno">  186</span>        <span class="keywordtype">bool</span> negate_swing = ioSwing.<a class="code hl_function" href="class_quat.html#a13d0159a54a94e6a90dc5952f454b09e">GetW</a>() &lt; 0.0f;</div>
    290. 

  290. <div class="line"><a id="l00187" name="l00187"></a><span class="lineno">  187</span>        <span class="keywordflow">if</span> (negate_swing)</div>
    291. 

  291. <div class="line"><a id="l00188" name="l00188"></a><span class="lineno">  188</span>            ioSwing = -ioSwing;</div>
    292. 

  292. <div class="line"><a id="l00189" name="l00189"></a><span class="lineno">  189</span>        <span class="keywordtype">bool</span> negate_twist = ioTwist.<a class="code hl_function" href="class_quat.html#a13d0159a54a94e6a90dc5952f454b09e">GetW</a>() &lt; 0.0f;</div>
    293. 

  293. <div class="line"><a id="l00190" name="l00190"></a><span class="lineno">  190</span>        <span class="keywordflow">if</span> (negate_twist)</div>
    294. 

  294. <div class="line"><a id="l00191" name="l00191"></a><span class="lineno">  191</span>            ioTwist = -ioTwist;</div>
    295. 

  295. <div class="line"><a id="l00192" name="l00192"></a><span class="lineno">  192</span> </div>
    296. 

  296. <div class="line"><a id="l00193" name="l00193"></a><span class="lineno">  193</span>        <span class="keywordflow">if</span> (mRotationFlags &amp; TwistXLocked)</div>
    297. 

  297. <div class="line"><a id="l00194" name="l00194"></a><span class="lineno">  194</span>        {</div>
    298. 

  298. <div class="line"><a id="l00195" name="l00195"></a><span class="lineno">  195</span>            <span class="comment">// Twist axis is locked, clamp whenever twist is not identity</span></div>
    299. 

  299. <div class="line"><a id="l00196" name="l00196"></a><span class="lineno">  196</span>            outClampedAxis |= ioTwist.<a class="code hl_function" href="class_quat.html#a3fb43a7bca4b20ce7573030fd826aa96">GetX</a>() != 0.0f? (<a class="code hl_variable" href="class_swing_twist_constraint_part.html#a52114d8a17117ba0e7db21c6d65ac317">cClampedTwistMin</a> | <a class="code hl_variable" href="class_swing_twist_constraint_part.html#a6b558e5a79ffce7ef3fcc4a10df1c932">cClampedTwistMax</a>) : 0;</div>
    300. 

  300. <div class="line"><a id="l00197" name="l00197"></a><span class="lineno">  197</span>            ioTwist = <a class="code hl_function" href="class_quat.html#a73a43fe262fbbbc0b1872d238b972794">Quat::sIdentity</a>();</div>
    301. 

  301. <div class="line"><a id="l00198" name="l00198"></a><span class="lineno">  198</span>        }</div>
    302. 

  302. <div class="line"><a id="l00199" name="l00199"></a><span class="lineno">  199</span>        <span class="keywordflow">else</span> <span class="keywordflow">if</span> ((mRotationFlags &amp; TwistXFree) == 0)</div>
    303. 

  303. <div class="line"><a id="l00200" name="l00200"></a><span class="lineno">  200</span>        {</div>
    304. 

  304. <div class="line"><a id="l00201" name="l00201"></a><span class="lineno">  201</span>            <span class="comment">// Twist axis has limit, clamp whenever out of range</span></div>
    305. 

  305. <div class="line"><a id="l00202" name="l00202"></a><span class="lineno">  202</span>            <span class="keywordtype">float</span> delta_min = mSinTwistHalfMinAngle - ioTwist.<a class="code hl_function" href="class_quat.html#a3fb43a7bca4b20ce7573030fd826aa96">GetX</a>();</div>
    306. 

  306. <div class="line"><a id="l00203" name="l00203"></a><span class="lineno">  203</span>            <span class="keywordtype">float</span> delta_max = ioTwist.<a class="code hl_function" href="class_quat.html#a3fb43a7bca4b20ce7573030fd826aa96">GetX</a>() - mSinTwistHalfMaxAngle;</div>
    307. 

  307. <div class="line"><a id="l00204" name="l00204"></a><span class="lineno">  204</span>            <span class="keywordflow">if</span> (delta_min &gt; 0.0f || delta_max &gt; 0.0f)</div>
    308. 

  308. <div class="line"><a id="l00205" name="l00205"></a><span class="lineno">  205</span>            {</div>
    309. 

  309. <div class="line"><a id="l00206" name="l00206"></a><span class="lineno">  206</span>                <span class="comment">// Pick the twist that corresponds to the smallest delta</span></div>
    310. 

  310. <div class="line"><a id="l00207" name="l00207"></a><span class="lineno">  207</span>                <span class="keywordflow">if</span> (<a class="code hl_function" href="class_swing_twist_constraint_part.html#a6588973f6ab2b380c62caaa2d3658f20">sDistanceToMinShorter</a>(delta_min, delta_max))</div>
    311. 

  311. <div class="line"><a id="l00208" name="l00208"></a><span class="lineno">  208</span>                {</div>
    312. 

  312. <div class="line"><a id="l00209" name="l00209"></a><span class="lineno">  209</span>                    ioTwist = <a class="code hl_class" href="class_quat.html">Quat</a>(mSinTwistHalfMinAngle, 0, 0, mCosTwistHalfMinAngle);</div>
    313. 

  313. <div class="line"><a id="l00210" name="l00210"></a><span class="lineno">  210</span>                    outClampedAxis |= <a class="code hl_variable" href="class_swing_twist_constraint_part.html#a52114d8a17117ba0e7db21c6d65ac317">cClampedTwistMin</a>;</div>
    314. 

  314. <div class="line"><a id="l00211" name="l00211"></a><span class="lineno">  211</span>                }</div>
    315. 

  315. <div class="line"><a id="l00212" name="l00212"></a><span class="lineno">  212</span>                <span class="keywordflow">else</span></div>
    316. 

  316. <div class="line"><a id="l00213" name="l00213"></a><span class="lineno">  213</span>                {</div>
    317. 

  317. <div class="line"><a id="l00214" name="l00214"></a><span class="lineno">  214</span>                    ioTwist = <a class="code hl_class" href="class_quat.html">Quat</a>(mSinTwistHalfMaxAngle, 0, 0, mCosTwistHalfMaxAngle);</div>
    318. 

  318. <div class="line"><a id="l00215" name="l00215"></a><span class="lineno">  215</span>                    outClampedAxis |= <a class="code hl_variable" href="class_swing_twist_constraint_part.html#a6b558e5a79ffce7ef3fcc4a10df1c932">cClampedTwistMax</a>;</div>
    319. 

  319. <div class="line"><a id="l00216" name="l00216"></a><span class="lineno">  216</span>                }</div>
    320. 

  320. <div class="line"><a id="l00217" name="l00217"></a><span class="lineno">  217</span>            }</div>
    321. 

  321. <div class="line"><a id="l00218" name="l00218"></a><span class="lineno">  218</span>        }</div>
    322. 

  322. <div class="line"><a id="l00219" name="l00219"></a><span class="lineno">  219</span> </div>
    323. 

  323. <div class="line"><a id="l00220" name="l00220"></a><span class="lineno">  220</span>        <span class="comment">// Clamp swing</span></div>
    324. 

  324. <div class="line"><a id="l00221" name="l00221"></a><span class="lineno">  221</span>        <span class="keywordflow">if</span> (mRotationFlags &amp; SwingYLocked)</div>
    325. 

  325. <div class="line"><a id="l00222" name="l00222"></a><span class="lineno">  222</span>        {</div>
    326. 

  326. <div class="line"><a id="l00223" name="l00223"></a><span class="lineno">  223</span>            <span class="keywordflow">if</span> (mRotationFlags &amp; SwingZLocked)</div>
    327. 

  327. <div class="line"><a id="l00224" name="l00224"></a><span class="lineno">  224</span>            {</div>
    328. 

  328. <div class="line"><a id="l00225" name="l00225"></a><span class="lineno">  225</span>                <span class="comment">// Both swing Y and Z are disabled, no degrees of freedom in swing</span></div>
    329. 

  329. <div class="line"><a id="l00226" name="l00226"></a><span class="lineno">  226</span>                outClampedAxis |= ioSwing.<a class="code hl_function" href="class_quat.html#a21f44684684b475d9f5d02ed9c580def">GetY</a>() != 0.0f? (<a class="code hl_variable" href="class_swing_twist_constraint_part.html#a9b80a201af6ea27d2d35b485c88c9b0e">cClampedSwingYMin</a> | <a class="code hl_variable" href="class_swing_twist_constraint_part.html#a480178e78f7f5c4bd4dd9043bcea0f03">cClampedSwingYMax</a>) : 0;</div>
    330. 

  330. <div class="line"><a id="l00227" name="l00227"></a><span class="lineno">  227</span>                outClampedAxis |= ioSwing.<a class="code hl_function" href="class_quat.html#a38dfc20f7628eee4492125a41ad91764">GetZ</a>() != 0.0f? (<a class="code hl_variable" href="class_swing_twist_constraint_part.html#a808d818a63cd8380799ace91d9a2b94c">cClampedSwingZMin</a> | <a class="code hl_variable" href="class_swing_twist_constraint_part.html#ac96e6d6e42458d8ca8d230763c451321">cClampedSwingZMax</a>) : 0;</div>
    331. 

  331. <div class="line"><a id="l00228" name="l00228"></a><span class="lineno">  228</span>                ioSwing = <a class="code hl_function" href="class_quat.html#a73a43fe262fbbbc0b1872d238b972794">Quat::sIdentity</a>();</div>
    332. 

  332. <div class="line"><a id="l00229" name="l00229"></a><span class="lineno">  229</span>            }</div>
    333. 

  333. <div class="line"><a id="l00230" name="l00230"></a><span class="lineno">  230</span>            <span class="keywordflow">else</span></div>
    334. 

  334. <div class="line"><a id="l00231" name="l00231"></a><span class="lineno">  231</span>            {</div>
    335. 

  335. <div class="line"><a id="l00232" name="l00232"></a><span class="lineno">  232</span>                <span class="comment">// Swing Y angle disabled, only 1 degree of freedom in swing</span></div>
    336. 

  336. <div class="line"><a id="l00233" name="l00233"></a><span class="lineno">  233</span>                outClampedAxis |= ioSwing.<a class="code hl_function" href="class_quat.html#a21f44684684b475d9f5d02ed9c580def">GetY</a>() != 0.0f? (<a class="code hl_variable" href="class_swing_twist_constraint_part.html#a9b80a201af6ea27d2d35b485c88c9b0e">cClampedSwingYMin</a> | <a class="code hl_variable" href="class_swing_twist_constraint_part.html#a480178e78f7f5c4bd4dd9043bcea0f03">cClampedSwingYMax</a>) : 0;</div>
    337. 

  337. <div class="line"><a id="l00234" name="l00234"></a><span class="lineno">  234</span>                <span class="keywordtype">float</span> delta_min = mSinSwingZHalfMinAngle - ioSwing.<a class="code hl_function" href="class_quat.html#a38dfc20f7628eee4492125a41ad91764">GetZ</a>();</div>
    338. 

  338. <div class="line"><a id="l00235" name="l00235"></a><span class="lineno">  235</span>                <span class="keywordtype">float</span> delta_max = ioSwing.<a class="code hl_function" href="class_quat.html#a38dfc20f7628eee4492125a41ad91764">GetZ</a>() - mSinSwingZHalfMaxAngle;</div>
    339. 

  339. <div class="line"><a id="l00236" name="l00236"></a><span class="lineno">  236</span>                <span class="keywordflow">if</span> (delta_min &gt; 0.0f || delta_max &gt; 0.0f)</div>
    340. 

  340. <div class="line"><a id="l00237" name="l00237"></a><span class="lineno">  237</span>                {</div>
    341. 

  341. <div class="line"><a id="l00238" name="l00238"></a><span class="lineno">  238</span>                    <span class="comment">// Pick the swing that corresponds to the smallest delta</span></div>
    342. 

  342. <div class="line"><a id="l00239" name="l00239"></a><span class="lineno">  239</span>                    <span class="keywordflow">if</span> (<a class="code hl_function" href="class_swing_twist_constraint_part.html#a6588973f6ab2b380c62caaa2d3658f20">sDistanceToMinShorter</a>(delta_min, delta_max))</div>
    343. 

  343. <div class="line"><a id="l00240" name="l00240"></a><span class="lineno">  240</span>                    {</div>
    344. 

  344. <div class="line"><a id="l00241" name="l00241"></a><span class="lineno">  241</span>                        ioSwing = <a class="code hl_class" href="class_quat.html">Quat</a>(0, 0, mSinSwingZHalfMinAngle, mCosSwingZHalfMinAngle);</div>
    345. 

  345. <div class="line"><a id="l00242" name="l00242"></a><span class="lineno">  242</span>                        outClampedAxis |= <a class="code hl_variable" href="class_swing_twist_constraint_part.html#a808d818a63cd8380799ace91d9a2b94c">cClampedSwingZMin</a>;</div>
    346. 

  346. <div class="line"><a id="l00243" name="l00243"></a><span class="lineno">  243</span>                    }</div>
    347. 

  347. <div class="line"><a id="l00244" name="l00244"></a><span class="lineno">  244</span>                    <span class="keywordflow">else</span></div>
    348. 

  348. <div class="line"><a id="l00245" name="l00245"></a><span class="lineno">  245</span>                    {</div>
    349. 

  349. <div class="line"><a id="l00246" name="l00246"></a><span class="lineno">  246</span>                        ioSwing = <a class="code hl_class" href="class_quat.html">Quat</a>(0, 0, mSinSwingZHalfMaxAngle, mCosSwingZHalfMaxAngle);</div>
    350. 

  350. <div class="line"><a id="l00247" name="l00247"></a><span class="lineno">  247</span>                        outClampedAxis |= <a class="code hl_variable" href="class_swing_twist_constraint_part.html#ac96e6d6e42458d8ca8d230763c451321">cClampedSwingZMax</a>;</div>
    351. 

  351. <div class="line"><a id="l00248" name="l00248"></a><span class="lineno">  248</span>                    }</div>
    352. 

  352. <div class="line"><a id="l00249" name="l00249"></a><span class="lineno">  249</span>                }</div>
    353. 

  353. <div class="line"><a id="l00250" name="l00250"></a><span class="lineno">  250</span>                <span class="keywordflow">else</span> <span class="keywordflow">if</span> ((outClampedAxis &amp; <a class="code hl_variable" href="class_swing_twist_constraint_part.html#a9b80a201af6ea27d2d35b485c88c9b0e">cClampedSwingYMin</a>) != 0)</div>
    354. 

  354. <div class="line"><a id="l00251" name="l00251"></a><span class="lineno">  251</span>                {</div>
    355. 

  355. <div class="line"><a id="l00252" name="l00252"></a><span class="lineno">  252</span>                    <span class="keywordtype">float</span> z = ioSwing.<a class="code hl_function" href="class_quat.html#a38dfc20f7628eee4492125a41ad91764">GetZ</a>();</div>
    356. 

  356. <div class="line"><a id="l00253" name="l00253"></a><span class="lineno">  253</span>                    ioSwing = <a class="code hl_class" href="class_quat.html">Quat</a>(0, 0, z, sqrt(1.0f - <a class="code hl_function" href="_math_8h.html#a61379b8b743a16fe823daeebc1482570">Square</a>(z)));</div>
    357. 

  357. <div class="line"><a id="l00254" name="l00254"></a><span class="lineno">  254</span>                }</div>
    358. 

  358. <div class="line"><a id="l00255" name="l00255"></a><span class="lineno">  255</span>            }</div>
    359. 

  359. <div class="line"><a id="l00256" name="l00256"></a><span class="lineno">  256</span>        }</div>
    360. 

  360. <div class="line"><a id="l00257" name="l00257"></a><span class="lineno">  257</span>        <span class="keywordflow">else</span> <span class="keywordflow">if</span> (mRotationFlags &amp; SwingZLocked)</div>
    361. 

  361. <div class="line"><a id="l00258" name="l00258"></a><span class="lineno">  258</span>        {</div>
    362. 

  362. <div class="line"><a id="l00259" name="l00259"></a><span class="lineno">  259</span>            <span class="comment">// Swing Z angle disabled, only 1 degree of freedom in swing</span></div>
    363. 

  363. <div class="line"><a id="l00260" name="l00260"></a><span class="lineno">  260</span>            outClampedAxis |= ioSwing.<a class="code hl_function" href="class_quat.html#a38dfc20f7628eee4492125a41ad91764">GetZ</a>() != 0.0f? (<a class="code hl_variable" href="class_swing_twist_constraint_part.html#a808d818a63cd8380799ace91d9a2b94c">cClampedSwingZMin</a> | <a class="code hl_variable" href="class_swing_twist_constraint_part.html#ac96e6d6e42458d8ca8d230763c451321">cClampedSwingZMax</a>) : 0;</div>
    364. 

  364. <div class="line"><a id="l00261" name="l00261"></a><span class="lineno">  261</span>            <span class="keywordtype">float</span> delta_min = mSinSwingYHalfMinAngle - ioSwing.<a class="code hl_function" href="class_quat.html#a21f44684684b475d9f5d02ed9c580def">GetY</a>();</div>
    365. 

  365. <div class="line"><a id="l00262" name="l00262"></a><span class="lineno">  262</span>            <span class="keywordtype">float</span> delta_max = ioSwing.<a class="code hl_function" href="class_quat.html#a21f44684684b475d9f5d02ed9c580def">GetY</a>() - mSinSwingYHalfMaxAngle;</div>
    366. 

  366. <div class="line"><a id="l00263" name="l00263"></a><span class="lineno">  263</span>            <span class="keywordflow">if</span> (delta_min &gt; 0.0f || delta_max &gt; 0.0f)</div>
    367. 

  367. <div class="line"><a id="l00264" name="l00264"></a><span class="lineno">  264</span>            {</div>
    368. 

  368. <div class="line"><a id="l00265" name="l00265"></a><span class="lineno">  265</span>                <span class="comment">// Pick the swing that corresponds to the smallest delta</span></div>
    369. 

  369. <div class="line"><a id="l00266" name="l00266"></a><span class="lineno">  266</span>                <span class="keywordflow">if</span> (<a class="code hl_function" href="class_swing_twist_constraint_part.html#a6588973f6ab2b380c62caaa2d3658f20">sDistanceToMinShorter</a>(delta_min, delta_max))</div>
    370. 

  370. <div class="line"><a id="l00267" name="l00267"></a><span class="lineno">  267</span>                {</div>
    371. 

  371. <div class="line"><a id="l00268" name="l00268"></a><span class="lineno">  268</span>                    ioSwing = <a class="code hl_class" href="class_quat.html">Quat</a>(0, mSinSwingYHalfMinAngle, 0, mCosSwingYHalfMinAngle);</div>
    372. 

  372. <div class="line"><a id="l00269" name="l00269"></a><span class="lineno">  269</span>                    outClampedAxis |= <a class="code hl_variable" href="class_swing_twist_constraint_part.html#a9b80a201af6ea27d2d35b485c88c9b0e">cClampedSwingYMin</a>;</div>
    373. 

  373. <div class="line"><a id="l00270" name="l00270"></a><span class="lineno">  270</span>                }</div>
    374. 

  374. <div class="line"><a id="l00271" name="l00271"></a><span class="lineno">  271</span>                <span class="keywordflow">else</span></div>
    375. 

  375. <div class="line"><a id="l00272" name="l00272"></a><span class="lineno">  272</span>                {</div>
    376. 

  376. <div class="line"><a id="l00273" name="l00273"></a><span class="lineno">  273</span>                    ioSwing = <a class="code hl_class" href="class_quat.html">Quat</a>(0, mSinSwingYHalfMaxAngle, 0, mCosSwingYHalfMaxAngle);</div>
    377. 

  377. <div class="line"><a id="l00274" name="l00274"></a><span class="lineno">  274</span>                    outClampedAxis |= <a class="code hl_variable" href="class_swing_twist_constraint_part.html#a480178e78f7f5c4bd4dd9043bcea0f03">cClampedSwingYMax</a>;</div>
    378. 

  378. <div class="line"><a id="l00275" name="l00275"></a><span class="lineno">  275</span>                }</div>
    379. 

  379. <div class="line"><a id="l00276" name="l00276"></a><span class="lineno">  276</span>            }</div>
    380. 

  380. <div class="line"><a id="l00277" name="l00277"></a><span class="lineno">  277</span>            <span class="keywordflow">else</span> <span class="keywordflow">if</span> ((outClampedAxis &amp; <a class="code hl_variable" href="class_swing_twist_constraint_part.html#a808d818a63cd8380799ace91d9a2b94c">cClampedSwingZMin</a>) != 0)</div>
    381. 

  381. <div class="line"><a id="l00278" name="l00278"></a><span class="lineno">  278</span>            {</div>
    382. 

  382. <div class="line"><a id="l00279" name="l00279"></a><span class="lineno">  279</span>                <span class="keywordtype">float</span> y = ioSwing.<a class="code hl_function" href="class_quat.html#a21f44684684b475d9f5d02ed9c580def">GetY</a>();</div>
    383. 

  383. <div class="line"><a id="l00280" name="l00280"></a><span class="lineno">  280</span>                ioSwing = <a class="code hl_class" href="class_quat.html">Quat</a>(0, y, 0, sqrt(1.0f - <a class="code hl_function" href="_math_8h.html#a61379b8b743a16fe823daeebc1482570">Square</a>(y)));</div>
    384. 

  384. <div class="line"><a id="l00281" name="l00281"></a><span class="lineno">  281</span>            }</div>
    385. 

  385. <div class="line"><a id="l00282" name="l00282"></a><span class="lineno">  282</span>        }</div>
    386. 

  386. <div class="line"><a id="l00283" name="l00283"></a><span class="lineno">  283</span>        <span class="keywordflow">else</span></div>
    387. 

  387. <div class="line"><a id="l00284" name="l00284"></a><span class="lineno">  284</span>        {</div>
    388. 

  388. <div class="line"><a id="l00285" name="l00285"></a><span class="lineno">  285</span>            <span class="comment">// Two degrees of freedom</span></div>
    389. 

  389. <div class="line"><a id="l00286" name="l00286"></a><span class="lineno">  286</span>            <span class="keywordflow">if</span> (mSwingType == <a class="code hl_enumvalue" href="_swing_twist_constraint_part_8h.html#add9e89df628b33308461ef46e1b796b6acd2c8bc6e5f1ea17c918ccaf89660104">ESwingType::Cone</a>)</div>
    390. 

  390. <div class="line"><a id="l00287" name="l00287"></a><span class="lineno">  287</span>            {</div>
    391. 

  391. <div class="line"><a id="l00288" name="l00288"></a><span class="lineno">  288</span>                <span class="comment">// Use ellipse to solve limits</span></div>
    392. 

  392. <div class="line"><a id="l00289" name="l00289"></a><span class="lineno">  289</span>                <a class="code hl_class" href="class_ellipse.html">Ellipse</a> ellipse(mSinSwingYHalfMaxAngle, mSinSwingZHalfMaxAngle);</div>
    393. 

  393. <div class="line"><a id="l00290" name="l00290"></a><span class="lineno">  290</span>                <a class="code hl_class" href="class_float2.html">Float2</a> point(ioSwing.<a class="code hl_function" href="class_quat.html#a21f44684684b475d9f5d02ed9c580def">GetY</a>(), ioSwing.<a class="code hl_function" href="class_quat.html#a38dfc20f7628eee4492125a41ad91764">GetZ</a>());</div>
    394. 

  394. <div class="line"><a id="l00291" name="l00291"></a><span class="lineno">  291</span>                <span class="keywordflow">if</span> (!ellipse.<a class="code hl_function" href="class_ellipse.html#a5592d2e8e6bb560567b3c9236babd545">IsInside</a>(point))</div>
    395. 

  395. <div class="line"><a id="l00292" name="l00292"></a><span class="lineno">  292</span>                {</div>
    396. 

  396. <div class="line"><a id="l00293" name="l00293"></a><span class="lineno">  293</span>                    <a class="code hl_class" href="class_float2.html">Float2</a> closest = ellipse.<a class="code hl_function" href="class_ellipse.html#a07b49662cd16799da0e0b1a1d67a8d84">GetClosestPoint</a>(point);</div>
    397. 

  397. <div class="line"><a id="l00294" name="l00294"></a><span class="lineno">  294</span>                    ioSwing = <a class="code hl_class" href="class_quat.html">Quat</a>(0, closest.<a class="code hl_variable" href="class_float2.html#a9f4577102bc9a7bdf9355b5776301485">x</a>, closest.<a class="code hl_variable" href="class_float2.html#a53deb463e8335f53a8f5454c9c3c0503">y</a>, sqrt(max(0.0f, 1.0f - <a class="code hl_function" href="_math_8h.html#a61379b8b743a16fe823daeebc1482570">Square</a>(closest.<a class="code hl_variable" href="class_float2.html#a9f4577102bc9a7bdf9355b5776301485">x</a>) - <a class="code hl_function" href="_math_8h.html#a61379b8b743a16fe823daeebc1482570">Square</a>(closest.<a class="code hl_variable" href="class_float2.html#a53deb463e8335f53a8f5454c9c3c0503">y</a>))));</div>
    398. 

  398. <div class="line"><a id="l00295" name="l00295"></a><span class="lineno">  295</span>                    outClampedAxis |= <a class="code hl_variable" href="class_swing_twist_constraint_part.html#a9b80a201af6ea27d2d35b485c88c9b0e">cClampedSwingYMin</a> | <a class="code hl_variable" href="class_swing_twist_constraint_part.html#a480178e78f7f5c4bd4dd9043bcea0f03">cClampedSwingYMax</a> | <a class="code hl_variable" href="class_swing_twist_constraint_part.html#a808d818a63cd8380799ace91d9a2b94c">cClampedSwingZMin</a> | <a class="code hl_variable" href="class_swing_twist_constraint_part.html#ac96e6d6e42458d8ca8d230763c451321">cClampedSwingZMax</a>; <span class="comment">// We&#39;re not using the flags on which side we got clamped here</span></div>
    399. 

  399. <div class="line"><a id="l00296" name="l00296"></a><span class="lineno">  296</span>                }</div>
    400. 

  400. <div class="line"><a id="l00297" name="l00297"></a><span class="lineno">  297</span>            }</div>
    401. 

  401. <div class="line"><a id="l00298" name="l00298"></a><span class="lineno">  298</span>            <span class="keywordflow">else</span></div>
    402. 

  402. <div class="line"><a id="l00299" name="l00299"></a><span class="lineno">  299</span>            {</div>
    403. 

  403. <div class="line"><a id="l00300" name="l00300"></a><span class="lineno">  300</span>                <span class="comment">// Use pyramid to solve limits</span></div>
    404. 

  404. <div class="line"><a id="l00301" name="l00301"></a><span class="lineno">  301</span>                <span class="comment">// The quaternion rotating by angle y around the Y axis then rotating by angle z around the Z axis is:</span></div>
    405. 

  405. <div class="line"><a id="l00302" name="l00302"></a><span class="lineno">  302</span>                <span class="comment">// q = Quat::sRotation(Vec3::sAxisZ(), z) * Quat::sRotation(Vec3::sAxisY(), y)</span></div>
    406. 

  406. <div class="line"><a id="l00303" name="l00303"></a><span class="lineno">  303</span>                <span class="comment">// [q.x, q.y, q.z, q.w] = [-sin(y / 2) * sin(z / 2), sin(y / 2) * cos(z / 2), cos(y / 2) * sin(z / 2), cos(y / 2) * cos(z / 2)]</span></div>
    407. 

  407. <div class="line"><a id="l00304" name="l00304"></a><span class="lineno">  304</span>                <span class="comment">// So we can calculate y / 2 = atan2(q.y, q.w) and z / 2 = atan2(q.z, q.w)</span></div>
    408. 

  408. <div class="line"><a id="l00305" name="l00305"></a><span class="lineno">  305</span>                <a class="code hl_class" href="class_vec4.html">Vec4</a> half_angle = <a class="code hl_function" href="class_vec4.html#a276178476f7db15b1925cae464f136cf">Vec4::sATan2</a>(ioSwing.<a class="code hl_function" href="class_quat.html#a7800c0c4cb017273d86793d8a09bf136">GetXYZW</a>().<a class="code hl_function" href="class_vec4.html#abc7417303ad93e9bbe7506e7cd045724">Swizzle</a>&lt;<a class="code hl_enumvalue" href="_swizzle_8h.html#abc5c98fcc1211af2b80116dd6e0a035dafd291953004304db41e7893449a2ff08">SWIZZLE_Y</a>, <a class="code hl_enumvalue" href="_swizzle_8h.html#abc5c98fcc1211af2b80116dd6e0a035dafd291953004304db41e7893449a2ff08">SWIZZLE_Y</a>, <a class="code hl_enumvalue" href="_swizzle_8h.html#abc5c98fcc1211af2b80116dd6e0a035da193cb4a0d68ee0b032d86ae28008aa63">SWIZZLE_Z</a>, <a class="code hl_enumvalue" href="_swizzle_8h.html#abc5c98fcc1211af2b80116dd6e0a035da193cb4a0d68ee0b032d86ae28008aa63">SWIZZLE_Z</a>&gt;(), ioSwing.<a class="code hl_function" href="class_quat.html#a7800c0c4cb017273d86793d8a09bf136">GetXYZW</a>().<a class="code hl_function" href="class_vec4.html#aa890d45169669b6845a2770a72166fcf">SplatW</a>());</div>
    409. 

  409. <div class="line"><a id="l00306" name="l00306"></a><span class="lineno">  306</span>                <a class="code hl_class" href="class_vec4.html">Vec4</a> min_half_angle(mSwingYHalfMinAngle, mSwingYHalfMinAngle, mSwingZHalfMinAngle, mSwingZHalfMinAngle);</div>
    410. 

  410. <div class="line"><a id="l00307" name="l00307"></a><span class="lineno">  307</span>                <a class="code hl_class" href="class_vec4.html">Vec4</a> max_half_angle(mSwingYHalfMaxAngle, mSwingYHalfMaxAngle, mSwingZHalfMaxAngle, mSwingZHalfMaxAngle);</div>
    411. 

  411. <div class="line"><a id="l00308" name="l00308"></a><span class="lineno">  308</span>                <a class="code hl_class" href="class_vec4.html">Vec4</a> clamped_half_angle = <a class="code hl_function" href="class_vec4.html#a85510ae45bcc02e079547de4bf4b6983">Vec4::sMin</a>(<a class="code hl_function" href="class_vec4.html#ad41f746bf922376846050d932c0de23d">Vec4::sMax</a>(half_angle, min_half_angle), max_half_angle);</div>
    412. 

  412. <div class="line"><a id="l00309" name="l00309"></a><span class="lineno">  309</span>                <a class="code hl_class" href="class_u_vec4.html">UVec4</a> unclamped = <a class="code hl_function" href="class_vec4.html#a698a4e6c270545046633b043eb36d21f">Vec4::sEquals</a>(half_angle, clamped_half_angle);</div>
    413. 

  413. <div class="line"><a id="l00310" name="l00310"></a><span class="lineno">  310</span>                <span class="keywordflow">if</span> (!unclamped.<a class="code hl_function" href="class_u_vec4.html#a48549afaeaba00fc4b45a10c50656c9f">TestAllTrue</a>())</div>
    414. 

  414. <div class="line"><a id="l00311" name="l00311"></a><span class="lineno">  311</span>                {</div>
    415. 

  415. <div class="line"><a id="l00312" name="l00312"></a><span class="lineno">  312</span>                    <span class="comment">// We now calculate the quaternion again using the formula for q above,</span></div>
    416. 

  416. <div class="line"><a id="l00313" name="l00313"></a><span class="lineno">  313</span>                    <span class="comment">// but we leave out the x component in order to not introduce twist</span></div>
    417. 

  417. <div class="line"><a id="l00314" name="l00314"></a><span class="lineno">  314</span>                    <a class="code hl_class" href="class_vec4.html">Vec4</a> s, c;</div>
    418. 

  418. <div class="line"><a id="l00315" name="l00315"></a><span class="lineno">  315</span>                    clamped_half_angle.<a class="code hl_function" href="class_vec4.html#af7e7da5ada5c3e85aac45d62871a867c">SinCos</a>(s, c);</div>
    419. 

  419. <div class="line"><a id="l00316" name="l00316"></a><span class="lineno">  316</span>                    ioSwing = <a class="code hl_class" href="class_quat.html">Quat</a>(0, s.<a class="code hl_function" href="class_vec4.html#aee5a8598cce851f687263d9b3a163989">GetY</a>() * c.<a class="code hl_function" href="class_vec4.html#ae5f0ef8f9fd4deb1359806fac122f309">GetZ</a>(), c.<a class="code hl_function" href="class_vec4.html#aee5a8598cce851f687263d9b3a163989">GetY</a>() * s.<a class="code hl_function" href="class_vec4.html#ae5f0ef8f9fd4deb1359806fac122f309">GetZ</a>(), c.<a class="code hl_function" href="class_vec4.html#aee5a8598cce851f687263d9b3a163989">GetY</a>() * c.<a class="code hl_function" href="class_vec4.html#ae5f0ef8f9fd4deb1359806fac122f309">GetZ</a>()).<a class="code hl_function" href="class_quat.html#a9d4b1ee8c4685a4589766e1c8cacc268">Normalized</a>();</div>
    420. 

  420. <div class="line"><a id="l00317" name="l00317"></a><span class="lineno">  317</span>                    outClampedAxis |= <a class="code hl_variable" href="class_swing_twist_constraint_part.html#a9b80a201af6ea27d2d35b485c88c9b0e">cClampedSwingYMin</a> | <a class="code hl_variable" href="class_swing_twist_constraint_part.html#a480178e78f7f5c4bd4dd9043bcea0f03">cClampedSwingYMax</a> | <a class="code hl_variable" href="class_swing_twist_constraint_part.html#a808d818a63cd8380799ace91d9a2b94c">cClampedSwingZMin</a> | <a class="code hl_variable" href="class_swing_twist_constraint_part.html#ac96e6d6e42458d8ca8d230763c451321">cClampedSwingZMax</a>; <span class="comment">// We&#39;re not using the flags on which side we got clamped here</span></div>
    421. 

  421. <div class="line"><a id="l00318" name="l00318"></a><span class="lineno">  318</span>                }</div>
    422. 

  422. <div class="line"><a id="l00319" name="l00319"></a><span class="lineno">  319</span>            }</div>
    423. 

  423. <div class="line"><a id="l00320" name="l00320"></a><span class="lineno">  320</span>        }</div>
    424. 

  424. <div class="line"><a id="l00321" name="l00321"></a><span class="lineno">  321</span> </div>
    425. 

  425. <div class="line"><a id="l00322" name="l00322"></a><span class="lineno">  322</span>        <span class="comment">// Flip sign back</span></div>
    426. 

  426. <div class="line"><a id="l00323" name="l00323"></a><span class="lineno">  323</span>        <span class="keywordflow">if</span> (negate_swing)</div>
    427. 

  427. <div class="line"><a id="l00324" name="l00324"></a><span class="lineno">  324</span>            ioSwing = -ioSwing;</div>
    428. 

  428. <div class="line"><a id="l00325" name="l00325"></a><span class="lineno">  325</span>        <span class="keywordflow">if</span> (negate_twist)</div>
    429. 

  429. <div class="line"><a id="l00326" name="l00326"></a><span class="lineno">  326</span>            ioTwist = -ioTwist;</div>
    430. 

  430. <div class="line"><a id="l00327" name="l00327"></a><span class="lineno">  327</span> </div>
    431. 

  431. <div class="line"><a id="l00328" name="l00328"></a><span class="lineno">  328</span>        <a class="code hl_define" href="_issue_reporting_8h.html#aaf6b1df827e11b7ca5f6f8778bd8f8cd">JPH_ASSERT</a>(ioSwing.<a class="code hl_function" href="class_quat.html#ae628a9685f0be008f18752ea9302b4e4">IsNormalized</a>());</div>
    432. 

  432. <div class="line"><a id="l00329" name="l00329"></a><span class="lineno">  329</span>        <a class="code hl_define" href="_issue_reporting_8h.html#aaf6b1df827e11b7ca5f6f8778bd8f8cd">JPH_ASSERT</a>(ioTwist.<a class="code hl_function" href="class_quat.html#ae628a9685f0be008f18752ea9302b4e4">IsNormalized</a>());</div>
    433. 

  433. <div class="line"><a id="l00330" name="l00330"></a><span class="lineno">  330</span>    }</div>
    434. 

  434. </div>
    435. 

  435. <div class="line"><a id="l00331" name="l00331"></a><span class="lineno">  331</span> </div>
    436. 

  436. <div class="foldopen" id="foldopen00337" data-start="{" data-end="}">
    437. 

  437. <div class="line"><a id="l00337" name="l00337"></a><span class="lineno"><a class="line" href="class_swing_twist_constraint_part.html#aaf0e7de8bc6c556f7d1a1d2ef4c32317">  337</a></span>    <span class="keyword">inline</span> <span class="keywordtype">void</span>                 <a class="code hl_function" href="class_swing_twist_constraint_part.html#aaf0e7de8bc6c556f7d1a1d2ef4c32317">CalculateConstraintProperties</a>(<span class="keyword">const</span> <a class="code hl_class" href="class_body.html">Body</a> &amp;inBody1, <span class="keyword">const</span> <a class="code hl_class" href="class_body.html">Body</a> &amp;inBody2, <a class="code hl_class" href="class_quat.html">QuatArg</a> inConstraintRotation, <a class="code hl_class" href="class_quat.html">QuatArg</a> inConstraintToWorld)</div>
    438. 

  438. <div class="line"><a id="l00338" name="l00338"></a><span class="lineno">  338</span>    {</div>
    439. 

  439. <div class="line"><a id="l00339" name="l00339"></a><span class="lineno">  339</span>        <span class="comment">// Decompose into swing and twist</span></div>
    440. 

  440. <div class="line"><a id="l00340" name="l00340"></a><span class="lineno">  340</span>        <a class="code hl_class" href="class_quat.html">Quat</a> q_swing, q_twist;</div>
    441. 

  441. <div class="line"><a id="l00341" name="l00341"></a><span class="lineno">  341</span>        inConstraintRotation.<a class="code hl_function" href="class_quat.html#a7bb8b016622e5ad8f361c52f9037f1aa">GetSwingTwist</a>(q_swing, q_twist);</div>
    442. 

  442. <div class="line"><a id="l00342" name="l00342"></a><span class="lineno">  342</span> </div>
    443. 

  443. <div class="line"><a id="l00343" name="l00343"></a><span class="lineno">  343</span>        <span class="comment">// Clamp against joint limits</span></div>
    444. 

  444. <div class="line"><a id="l00344" name="l00344"></a><span class="lineno">  344</span>        <a class="code hl_class" href="class_quat.html">Quat</a> q_clamped_swing = q_swing, q_clamped_twist = q_twist;</div>
    445. 

  445. <div class="line"><a id="l00345" name="l00345"></a><span class="lineno">  345</span>        <a class="code hl_typedef" href="_core_8h.html#a69aa29b598b851b0640aa225a9e5d61d">uint</a> clamped_axis;</div>
    446. 

  446. <div class="line"><a id="l00346" name="l00346"></a><span class="lineno">  346</span>        <a class="code hl_function" href="class_swing_twist_constraint_part.html#a63a4870b93b5bb0d90555edbacbf5229">ClampSwingTwist</a>(q_clamped_swing, q_clamped_twist, clamped_axis);</div>
    447. 

  447. <div class="line"><a id="l00347" name="l00347"></a><span class="lineno">  347</span> </div>
    448. 

  448. <div class="line"><a id="l00348" name="l00348"></a><span class="lineno">  348</span>        <span class="keywordflow">if</span> (mRotationFlags &amp; SwingYLocked)</div>
    449. 

  449. <div class="line"><a id="l00349" name="l00349"></a><span class="lineno">  349</span>        {</div>
    450. 

  450. <div class="line"><a id="l00350" name="l00350"></a><span class="lineno">  350</span>            <a class="code hl_class" href="class_quat.html">Quat</a> twist_to_world = inConstraintToWorld * q_swing;</div>
    451. 

  451. <div class="line"><a id="l00351" name="l00351"></a><span class="lineno">  351</span>            mWorldSpaceSwingLimitYRotationAxis = twist_to_world.<a class="code hl_function" href="class_quat.html#adb1d1a70ed64c0a6fadc849126306706">RotateAxisY</a>();</div>
    452. 

  452. <div class="line"><a id="l00352" name="l00352"></a><span class="lineno">  352</span>            mWorldSpaceSwingLimitZRotationAxis = twist_to_world.<a class="code hl_function" href="class_quat.html#ab226b2147a748e53008556bcf1a3cd76">RotateAxisZ</a>();</div>
    453. 

  453. <div class="line"><a id="l00353" name="l00353"></a><span class="lineno">  353</span> </div>
    454. 

  454. <div class="line"><a id="l00354" name="l00354"></a><span class="lineno">  354</span>            <span class="keywordflow">if</span> (mRotationFlags &amp; SwingZLocked)</div>
    455. 

  455. <div class="line"><a id="l00355" name="l00355"></a><span class="lineno">  355</span>            {</div>
    456. 

  456. <div class="line"><a id="l00356" name="l00356"></a><span class="lineno">  356</span>                <span class="comment">// Swing fully locked</span></div>
    457. 

  457. <div class="line"><a id="l00357" name="l00357"></a><span class="lineno">  357</span>                mSwingLimitYConstraintPart.<a class="code hl_function" href="class_angle_constraint_part.html#a4db6fb3120c161301e04ee92276544d4">CalculateConstraintProperties</a>(inBody1, inBody2, mWorldSpaceSwingLimitYRotationAxis);</div>
    458. 

  458. <div class="line"><a id="l00358" name="l00358"></a><span class="lineno">  358</span>                mSwingLimitZConstraintPart.<a class="code hl_function" href="class_angle_constraint_part.html#a4db6fb3120c161301e04ee92276544d4">CalculateConstraintProperties</a>(inBody1, inBody2, mWorldSpaceSwingLimitZRotationAxis);</div>
    459. 

  459. <div class="line"><a id="l00359" name="l00359"></a><span class="lineno">  359</span>            }</div>
    460. 

  460. <div class="line"><a id="l00360" name="l00360"></a><span class="lineno">  360</span>            <span class="keywordflow">else</span></div>
    461. 

  461. <div class="line"><a id="l00361" name="l00361"></a><span class="lineno">  361</span>            {</div>
    462. 

  462. <div class="line"><a id="l00362" name="l00362"></a><span class="lineno">  362</span>                <span class="comment">// Swing only locked around Y</span></div>
    463. 

  463. <div class="line"><a id="l00363" name="l00363"></a><span class="lineno">  363</span>                mSwingLimitYConstraintPart.<a class="code hl_function" href="class_angle_constraint_part.html#a4db6fb3120c161301e04ee92276544d4">CalculateConstraintProperties</a>(inBody1, inBody2, mWorldSpaceSwingLimitYRotationAxis);</div>
    464. 

  464. <div class="line"><a id="l00364" name="l00364"></a><span class="lineno">  364</span>                <span class="keywordflow">if</span> ((clamped_axis &amp; (<a class="code hl_variable" href="class_swing_twist_constraint_part.html#a808d818a63cd8380799ace91d9a2b94c">cClampedSwingZMin</a> | <a class="code hl_variable" href="class_swing_twist_constraint_part.html#ac96e6d6e42458d8ca8d230763c451321">cClampedSwingZMax</a>)) != 0)</div>
    465. 

  465. <div class="line"><a id="l00365" name="l00365"></a><span class="lineno">  365</span>                {</div>
    466. 

  466. <div class="line"><a id="l00366" name="l00366"></a><span class="lineno">  366</span>                    <span class="keywordflow">if</span> ((clamped_axis &amp; <a class="code hl_variable" href="class_swing_twist_constraint_part.html#a808d818a63cd8380799ace91d9a2b94c">cClampedSwingZMin</a>) != 0)</div>
    467. 

  467. <div class="line"><a id="l00367" name="l00367"></a><span class="lineno">  367</span>                        mWorldSpaceSwingLimitZRotationAxis = -mWorldSpaceSwingLimitZRotationAxis; <span class="comment">// Flip axis if hitting min limit because the impulse limit is going to be between [-FLT_MAX, 0]</span></div>
    468. 

  468. <div class="line"><a id="l00368" name="l00368"></a><span class="lineno">  368</span>                    mSwingLimitZConstraintPart.<a class="code hl_function" href="class_angle_constraint_part.html#a4db6fb3120c161301e04ee92276544d4">CalculateConstraintProperties</a>(inBody1, inBody2, mWorldSpaceSwingLimitZRotationAxis);</div>
    469. 

  469. <div class="line"><a id="l00369" name="l00369"></a><span class="lineno">  369</span>                }</div>
    470. 

  470. <div class="line"><a id="l00370" name="l00370"></a><span class="lineno">  370</span>                <span class="keywordflow">else</span></div>
    471. 

  471. <div class="line"><a id="l00371" name="l00371"></a><span class="lineno">  371</span>                    mSwingLimitZConstraintPart.<a class="code hl_function" href="class_angle_constraint_part.html#a27c8bf9c172f0d3867c1a489aa08c840">Deactivate</a>();</div>
    472. 

  472. <div class="line"><a id="l00372" name="l00372"></a><span class="lineno">  372</span>            }</div>
    473. 

  473. <div class="line"><a id="l00373" name="l00373"></a><span class="lineno">  373</span>        }</div>
    474. 

  474. <div class="line"><a id="l00374" name="l00374"></a><span class="lineno">  374</span>        <span class="keywordflow">else</span> <span class="keywordflow">if</span> (mRotationFlags &amp; SwingZLocked)</div>
    475. 

  475. <div class="line"><a id="l00375" name="l00375"></a><span class="lineno">  375</span>        {</div>
    476. 

  476. <div class="line"><a id="l00376" name="l00376"></a><span class="lineno">  376</span>            <span class="comment">// Swing only locked around Z</span></div>
    477. 

  477. <div class="line"><a id="l00377" name="l00377"></a><span class="lineno">  377</span>            <a class="code hl_class" href="class_quat.html">Quat</a> twist_to_world = inConstraintToWorld * q_swing;</div>
    478. 

  478. <div class="line"><a id="l00378" name="l00378"></a><span class="lineno">  378</span>            mWorldSpaceSwingLimitYRotationAxis = twist_to_world.<a class="code hl_function" href="class_quat.html#adb1d1a70ed64c0a6fadc849126306706">RotateAxisY</a>();</div>
    479. 

  479. <div class="line"><a id="l00379" name="l00379"></a><span class="lineno">  379</span>            mWorldSpaceSwingLimitZRotationAxis = twist_to_world.<a class="code hl_function" href="class_quat.html#ab226b2147a748e53008556bcf1a3cd76">RotateAxisZ</a>();</div>
    480. 

  480. <div class="line"><a id="l00380" name="l00380"></a><span class="lineno">  380</span> </div>
    481. 

  481. <div class="line"><a id="l00381" name="l00381"></a><span class="lineno">  381</span>            <span class="keywordflow">if</span> ((clamped_axis &amp; (<a class="code hl_variable" href="class_swing_twist_constraint_part.html#a9b80a201af6ea27d2d35b485c88c9b0e">cClampedSwingYMin</a> | <a class="code hl_variable" href="class_swing_twist_constraint_part.html#a480178e78f7f5c4bd4dd9043bcea0f03">cClampedSwingYMax</a>)) != 0)</div>
    482. 

  482. <div class="line"><a id="l00382" name="l00382"></a><span class="lineno">  382</span>            {</div>
    483. 

  483. <div class="line"><a id="l00383" name="l00383"></a><span class="lineno">  383</span>                <span class="keywordflow">if</span> ((clamped_axis &amp; <a class="code hl_variable" href="class_swing_twist_constraint_part.html#a9b80a201af6ea27d2d35b485c88c9b0e">cClampedSwingYMin</a>) != 0)</div>
    484. 

  484. <div class="line"><a id="l00384" name="l00384"></a><span class="lineno">  384</span>                    mWorldSpaceSwingLimitYRotationAxis = -mWorldSpaceSwingLimitYRotationAxis; <span class="comment">// Flip axis if hitting min limit because the impulse limit is going to be between [-FLT_MAX, 0]</span></div>
    485. 

  485. <div class="line"><a id="l00385" name="l00385"></a><span class="lineno">  385</span>                mSwingLimitYConstraintPart.<a class="code hl_function" href="class_angle_constraint_part.html#a4db6fb3120c161301e04ee92276544d4">CalculateConstraintProperties</a>(inBody1, inBody2, mWorldSpaceSwingLimitYRotationAxis);</div>
    486. 

  486. <div class="line"><a id="l00386" name="l00386"></a><span class="lineno">  386</span>            }</div>
    487. 

  487. <div class="line"><a id="l00387" name="l00387"></a><span class="lineno">  387</span>            <span class="keywordflow">else</span></div>
    488. 

  488. <div class="line"><a id="l00388" name="l00388"></a><span class="lineno">  388</span>                mSwingLimitYConstraintPart.<a class="code hl_function" href="class_angle_constraint_part.html#a27c8bf9c172f0d3867c1a489aa08c840">Deactivate</a>();</div>
    489. 

  489. <div class="line"><a id="l00389" name="l00389"></a><span class="lineno">  389</span>            mSwingLimitZConstraintPart.<a class="code hl_function" href="class_angle_constraint_part.html#a4db6fb3120c161301e04ee92276544d4">CalculateConstraintProperties</a>(inBody1, inBody2, mWorldSpaceSwingLimitZRotationAxis);</div>
    490. 

  490. <div class="line"><a id="l00390" name="l00390"></a><span class="lineno">  390</span>        }</div>
    491. 

  491. <div class="line"><a id="l00391" name="l00391"></a><span class="lineno">  391</span>        <span class="keywordflow">else</span> <span class="keywordflow">if</span> ((mRotationFlags &amp; SwingYZFree) != SwingYZFree)</div>
    492. 

  492. <div class="line"><a id="l00392" name="l00392"></a><span class="lineno">  392</span>        {</div>
    493. 

  493. <div class="line"><a id="l00393" name="l00393"></a><span class="lineno">  393</span>            <span class="comment">// Swing has limits around Y and Z</span></div>
    494. 

  494. <div class="line"><a id="l00394" name="l00394"></a><span class="lineno">  394</span>            <span class="keywordflow">if</span> ((clamped_axis &amp; (<a class="code hl_variable" href="class_swing_twist_constraint_part.html#a9b80a201af6ea27d2d35b485c88c9b0e">cClampedSwingYMin</a> | <a class="code hl_variable" href="class_swing_twist_constraint_part.html#a480178e78f7f5c4bd4dd9043bcea0f03">cClampedSwingYMax</a> | <a class="code hl_variable" href="class_swing_twist_constraint_part.html#a808d818a63cd8380799ace91d9a2b94c">cClampedSwingZMin</a> | <a class="code hl_variable" href="class_swing_twist_constraint_part.html#ac96e6d6e42458d8ca8d230763c451321">cClampedSwingZMax</a>)) != 0)</div>
    495. 

  495. <div class="line"><a id="l00395" name="l00395"></a><span class="lineno">  395</span>            {</div>
    496. 

  496. <div class="line"><a id="l00396" name="l00396"></a><span class="lineno">  396</span>                <span class="comment">// Calculate axis of rotation from clamped swing to swing</span></div>
    497. 

  497. <div class="line"><a id="l00397" name="l00397"></a><span class="lineno">  397</span>                <a class="code hl_class" href="class_vec3.html">Vec3</a> current = (inConstraintToWorld * q_swing).RotateAxisX();</div>
    498. 

  498. <div class="line"><a id="l00398" name="l00398"></a><span class="lineno">  398</span>                <a class="code hl_class" href="class_vec3.html">Vec3</a> desired = (inConstraintToWorld * q_clamped_swing).RotateAxisX();</div>
    499. 

  499. <div class="line"><a id="l00399" name="l00399"></a><span class="lineno">  399</span>                mWorldSpaceSwingLimitYRotationAxis = desired.<a class="code hl_function" href="class_vec3.html#a224811af391ccfd1e05282eda22d1de8">Cross</a>(current);</div>
    500. 

  500. <div class="line"><a id="l00400" name="l00400"></a><span class="lineno">  400</span>                <span class="keywordtype">float</span> len = mWorldSpaceSwingLimitYRotationAxis.<a class="code hl_function" href="class_vec3.html#a38a9efffc3f9413f3dd702abc73eb9a2">Length</a>();</div>
    501. 

  501. <div class="line"><a id="l00401" name="l00401"></a><span class="lineno">  401</span>                <span class="keywordflow">if</span> (len != 0.0f)</div>
    502. 

  502. <div class="line"><a id="l00402" name="l00402"></a><span class="lineno">  402</span>                {</div>
    503. 

  503. <div class="line"><a id="l00403" name="l00403"></a><span class="lineno">  403</span>                    mWorldSpaceSwingLimitYRotationAxis /= len;</div>
    504. 

  504. <div class="line"><a id="l00404" name="l00404"></a><span class="lineno">  404</span>                    mSwingLimitYConstraintPart.<a class="code hl_function" href="class_angle_constraint_part.html#a4db6fb3120c161301e04ee92276544d4">CalculateConstraintProperties</a>(inBody1, inBody2, mWorldSpaceSwingLimitYRotationAxis);</div>
    505. 

  505. <div class="line"><a id="l00405" name="l00405"></a><span class="lineno">  405</span>                }</div>
    506. 

  506. <div class="line"><a id="l00406" name="l00406"></a><span class="lineno">  406</span>                <span class="keywordflow">else</span></div>
    507. 

  507. <div class="line"><a id="l00407" name="l00407"></a><span class="lineno">  407</span>                    mSwingLimitYConstraintPart.<a class="code hl_function" href="class_angle_constraint_part.html#a27c8bf9c172f0d3867c1a489aa08c840">Deactivate</a>();</div>
    508. 

  508. <div class="line"><a id="l00408" name="l00408"></a><span class="lineno">  408</span>            }</div>
    509. 

  509. <div class="line"><a id="l00409" name="l00409"></a><span class="lineno">  409</span>            <span class="keywordflow">else</span></div>
    510. 

  510. <div class="line"><a id="l00410" name="l00410"></a><span class="lineno">  410</span>                mSwingLimitYConstraintPart.<a class="code hl_function" href="class_angle_constraint_part.html#a27c8bf9c172f0d3867c1a489aa08c840">Deactivate</a>();</div>
    511. 

  511. <div class="line"><a id="l00411" name="l00411"></a><span class="lineno">  411</span>            mSwingLimitZConstraintPart.<a class="code hl_function" href="class_angle_constraint_part.html#a27c8bf9c172f0d3867c1a489aa08c840">Deactivate</a>();</div>
    512. 

  512. <div class="line"><a id="l00412" name="l00412"></a><span class="lineno">  412</span>        }</div>
    513. 

  513. <div class="line"><a id="l00413" name="l00413"></a><span class="lineno">  413</span>        <span class="keywordflow">else</span></div>
    514. 

  514. <div class="line"><a id="l00414" name="l00414"></a><span class="lineno">  414</span>        {</div>
    515. 

  515. <div class="line"><a id="l00415" name="l00415"></a><span class="lineno">  415</span>            <span class="comment">// No swing limits</span></div>
    516. 

  516. <div class="line"><a id="l00416" name="l00416"></a><span class="lineno">  416</span>            mSwingLimitYConstraintPart.<a class="code hl_function" href="class_angle_constraint_part.html#a27c8bf9c172f0d3867c1a489aa08c840">Deactivate</a>();</div>
    517. 

  517. <div class="line"><a id="l00417" name="l00417"></a><span class="lineno">  417</span>            mSwingLimitZConstraintPart.<a class="code hl_function" href="class_angle_constraint_part.html#a27c8bf9c172f0d3867c1a489aa08c840">Deactivate</a>();</div>
    518. 

  518. <div class="line"><a id="l00418" name="l00418"></a><span class="lineno">  418</span>        }</div>
    519. 

  519. <div class="line"><a id="l00419" name="l00419"></a><span class="lineno">  419</span> </div>
    520. 

  520. <div class="line"><a id="l00420" name="l00420"></a><span class="lineno">  420</span>        <span class="keywordflow">if</span> (mRotationFlags &amp; TwistXLocked)</div>
    521. 

  521. <div class="line"><a id="l00421" name="l00421"></a><span class="lineno">  421</span>        {</div>
    522. 

  522. <div class="line"><a id="l00422" name="l00422"></a><span class="lineno">  422</span>            <span class="comment">// Twist locked, always activate constraint</span></div>
    523. 

  523. <div class="line"><a id="l00423" name="l00423"></a><span class="lineno">  423</span>            mWorldSpaceTwistLimitRotationAxis = (inConstraintToWorld * q_swing).RotateAxisX();</div>
    524. 

  524. <div class="line"><a id="l00424" name="l00424"></a><span class="lineno">  424</span>            mTwistLimitConstraintPart.<a class="code hl_function" href="class_angle_constraint_part.html#a4db6fb3120c161301e04ee92276544d4">CalculateConstraintProperties</a>(inBody1, inBody2, mWorldSpaceTwistLimitRotationAxis);</div>
    525. 

  525. <div class="line"><a id="l00425" name="l00425"></a><span class="lineno">  425</span>        }</div>
    526. 

  526. <div class="line"><a id="l00426" name="l00426"></a><span class="lineno">  426</span>        <span class="keywordflow">else</span> <span class="keywordflow">if</span> ((mRotationFlags &amp; TwistXFree) == 0)</div>
    527. 

  527. <div class="line"><a id="l00427" name="l00427"></a><span class="lineno">  427</span>        {</div>
    528. 

  528. <div class="line"><a id="l00428" name="l00428"></a><span class="lineno">  428</span>            <span class="comment">// Twist has limits</span></div>
    529. 

  529. <div class="line"><a id="l00429" name="l00429"></a><span class="lineno">  429</span>            <span class="keywordflow">if</span> ((clamped_axis &amp; (<a class="code hl_variable" href="class_swing_twist_constraint_part.html#a52114d8a17117ba0e7db21c6d65ac317">cClampedTwistMin</a> | <a class="code hl_variable" href="class_swing_twist_constraint_part.html#a6b558e5a79ffce7ef3fcc4a10df1c932">cClampedTwistMax</a>)) != 0)</div>
    530. 

  530. <div class="line"><a id="l00430" name="l00430"></a><span class="lineno">  430</span>            {</div>
    531. 

  531. <div class="line"><a id="l00431" name="l00431"></a><span class="lineno">  431</span>                mWorldSpaceTwistLimitRotationAxis = (inConstraintToWorld * q_swing).RotateAxisX();</div>
    532. 

  532. <div class="line"><a id="l00432" name="l00432"></a><span class="lineno">  432</span>                <span class="keywordflow">if</span> ((clamped_axis &amp; <a class="code hl_variable" href="class_swing_twist_constraint_part.html#a52114d8a17117ba0e7db21c6d65ac317">cClampedTwistMin</a>) != 0)</div>
    533. 

  533. <div class="line"><a id="l00433" name="l00433"></a><span class="lineno">  433</span>                    mWorldSpaceTwistLimitRotationAxis = -mWorldSpaceTwistLimitRotationAxis; <span class="comment">// Flip axis if hitting min limit because the impulse limit is going to be between [-FLT_MAX, 0]</span></div>
    534. 

  534. <div class="line"><a id="l00434" name="l00434"></a><span class="lineno">  434</span>                mTwistLimitConstraintPart.<a class="code hl_function" href="class_angle_constraint_part.html#a4db6fb3120c161301e04ee92276544d4">CalculateConstraintProperties</a>(inBody1, inBody2, mWorldSpaceTwistLimitRotationAxis);</div>
    535. 

  535. <div class="line"><a id="l00435" name="l00435"></a><span class="lineno">  435</span>            }</div>
    536. 

  536. <div class="line"><a id="l00436" name="l00436"></a><span class="lineno">  436</span>            <span class="keywordflow">else</span></div>
    537. 

  537. <div class="line"><a id="l00437" name="l00437"></a><span class="lineno">  437</span>                mTwistLimitConstraintPart.<a class="code hl_function" href="class_angle_constraint_part.html#a27c8bf9c172f0d3867c1a489aa08c840">Deactivate</a>();</div>
    538. 

  538. <div class="line"><a id="l00438" name="l00438"></a><span class="lineno">  438</span>        }</div>
    539. 

  539. <div class="line"><a id="l00439" name="l00439"></a><span class="lineno">  439</span>        <span class="keywordflow">else</span></div>
    540. 

  540. <div class="line"><a id="l00440" name="l00440"></a><span class="lineno">  440</span>        {</div>
    541. 

  541. <div class="line"><a id="l00441" name="l00441"></a><span class="lineno">  441</span>            <span class="comment">// No twist limits</span></div>
    542. 

  542. <div class="line"><a id="l00442" name="l00442"></a><span class="lineno">  442</span>            mTwistLimitConstraintPart.<a class="code hl_function" href="class_angle_constraint_part.html#a27c8bf9c172f0d3867c1a489aa08c840">Deactivate</a>();</div>
    543. 

  543. <div class="line"><a id="l00443" name="l00443"></a><span class="lineno">  443</span>        }</div>
    544. 

  544. <div class="line"><a id="l00444" name="l00444"></a><span class="lineno">  444</span>    }</div>
    545. 

  545. </div>
    546. 

  546. <div class="line"><a id="l00445" name="l00445"></a><span class="lineno">  445</span> </div>
    547. 

  547. <div class="foldopen" id="foldopen00447" data-start="{" data-end="}">
    548. 

  548. <div class="line"><a id="l00447" name="l00447"></a><span class="lineno"><a class="line" href="class_swing_twist_constraint_part.html#ae76162c3dfe72782a020162752a7ccf5">  447</a></span>    <span class="keywordtype">void</span>                        <a class="code hl_function" href="class_swing_twist_constraint_part.html#ae76162c3dfe72782a020162752a7ccf5">Deactivate</a>()</div>
    549. 

  549. <div class="line"><a id="l00448" name="l00448"></a><span class="lineno">  448</span>    {</div>
    550. 

  550. <div class="line"><a id="l00449" name="l00449"></a><span class="lineno">  449</span>        mSwingLimitYConstraintPart.<a class="code hl_function" href="class_angle_constraint_part.html#a27c8bf9c172f0d3867c1a489aa08c840">Deactivate</a>();</div>
    551. 

  551. <div class="line"><a id="l00450" name="l00450"></a><span class="lineno">  450</span>        mSwingLimitZConstraintPart.<a class="code hl_function" href="class_angle_constraint_part.html#a27c8bf9c172f0d3867c1a489aa08c840">Deactivate</a>();</div>
    552. 

  552. <div class="line"><a id="l00451" name="l00451"></a><span class="lineno">  451</span>        mTwistLimitConstraintPart.<a class="code hl_function" href="class_angle_constraint_part.html#a27c8bf9c172f0d3867c1a489aa08c840">Deactivate</a>();</div>
    553. 

  553. <div class="line"><a id="l00452" name="l00452"></a><span class="lineno">  452</span>    }</div>
    554. 

  554. </div>
    555. 

  555. <div class="line"><a id="l00453" name="l00453"></a><span class="lineno">  453</span> </div>
    556. 

  556. <div class="foldopen" id="foldopen00455" data-start="{" data-end="}">
    557. 

  557. <div class="line"><a id="l00455" name="l00455"></a><span class="lineno"><a class="line" href="class_swing_twist_constraint_part.html#af3c12b4e902bc93120df5ec5a706de99">  455</a></span>    <span class="keyword">inline</span> <span class="keywordtype">bool</span>                 <a class="code hl_function" href="class_swing_twist_constraint_part.html#af3c12b4e902bc93120df5ec5a706de99">IsActive</a>()<span class="keyword"> const</span></div>
    558. 

  558. <div class="line"><a id="l00456" name="l00456"></a><span class="lineno">  456</span><span class="keyword">    </span>{</div>
    559. 

  559. <div class="line"><a id="l00457" name="l00457"></a><span class="lineno">  457</span>        <span class="keywordflow">return</span> mSwingLimitYConstraintPart.<a class="code hl_function" href="class_angle_constraint_part.html#a470e2813d397af02acc6bf8e8373431c">IsActive</a>() || mSwingLimitZConstraintPart.<a class="code hl_function" href="class_angle_constraint_part.html#a470e2813d397af02acc6bf8e8373431c">IsActive</a>() || mTwistLimitConstraintPart.<a class="code hl_function" href="class_angle_constraint_part.html#a470e2813d397af02acc6bf8e8373431c">IsActive</a>();</div>
    560. 

  560. <div class="line"><a id="l00458" name="l00458"></a><span class="lineno">  458</span>    }</div>
    561. 

  561. </div>
    562. 

  562. <div class="line"><a id="l00459" name="l00459"></a><span class="lineno">  459</span> </div>
    563. 

  563. <div class="foldopen" id="foldopen00461" data-start="{" data-end="}">
    564. 

  564. <div class="line"><a id="l00461" name="l00461"></a><span class="lineno"><a class="line" href="class_swing_twist_constraint_part.html#a507f0506fd29b63f244e73670d85d55d">  461</a></span>    <span class="keyword">inline</span> <span class="keywordtype">void</span>                 <a class="code hl_function" href="class_swing_twist_constraint_part.html#a507f0506fd29b63f244e73670d85d55d">WarmStart</a>(<a class="code hl_class" href="class_body.html">Body</a> &amp;ioBody1, <a class="code hl_class" href="class_body.html">Body</a> &amp;ioBody2, <span class="keywordtype">float</span> inWarmStartImpulseRatio)</div>
    565. 

  565. <div class="line"><a id="l00462" name="l00462"></a><span class="lineno">  462</span>    {</div>
    566. 

  566. <div class="line"><a id="l00463" name="l00463"></a><span class="lineno">  463</span>        mSwingLimitYConstraintPart.<a class="code hl_function" href="class_angle_constraint_part.html#a8b54544706a1005ac865db7c445b76f1">WarmStart</a>(ioBody1, ioBody2, inWarmStartImpulseRatio);</div>
    567. 

  567. <div class="line"><a id="l00464" name="l00464"></a><span class="lineno">  464</span>        mSwingLimitZConstraintPart.<a class="code hl_function" href="class_angle_constraint_part.html#a8b54544706a1005ac865db7c445b76f1">WarmStart</a>(ioBody1, ioBody2, inWarmStartImpulseRatio);</div>
    568. 

  568. <div class="line"><a id="l00465" name="l00465"></a><span class="lineno">  465</span>        mTwistLimitConstraintPart.<a class="code hl_function" href="class_angle_constraint_part.html#a8b54544706a1005ac865db7c445b76f1">WarmStart</a>(ioBody1, ioBody2, inWarmStartImpulseRatio);</div>
    569. 

  569. <div class="line"><a id="l00466" name="l00466"></a><span class="lineno">  466</span>    }</div>
    570. 

  570. </div>
    571. 

  571. <div class="line"><a id="l00467" name="l00467"></a><span class="lineno">  467</span> </div>
    572. 

  572. <div class="foldopen" id="foldopen00469" data-start="{" data-end="}">
    573. 

  573. <div class="line"><a id="l00469" name="l00469"></a><span class="lineno"><a class="line" href="class_swing_twist_constraint_part.html#ad62155a6ac18bfc95a038b72df927e02">  469</a></span>    <span class="keyword">inline</span> <span class="keywordtype">bool</span>                 <a class="code hl_function" href="class_swing_twist_constraint_part.html#ad62155a6ac18bfc95a038b72df927e02">SolveVelocityConstraint</a>(<a class="code hl_class" href="class_body.html">Body</a> &amp;ioBody1, <a class="code hl_class" href="class_body.html">Body</a> &amp;ioBody2)</div>
    574. 

  574. <div class="line"><a id="l00470" name="l00470"></a><span class="lineno">  470</span>    {</div>
    575. 

  575. <div class="line"><a id="l00471" name="l00471"></a><span class="lineno">  471</span>        <span class="keywordtype">bool</span> impulse = <span class="keyword">false</span>;</div>
    576. 

  576. <div class="line"><a id="l00472" name="l00472"></a><span class="lineno">  472</span> </div>
    577. 

  577. <div class="line"><a id="l00473" name="l00473"></a><span class="lineno">  473</span>        <span class="comment">// Solve swing constraint</span></div>
    578. 

  578. <div class="line"><a id="l00474" name="l00474"></a><span class="lineno">  474</span>        <span class="keywordflow">if</span> (mSwingLimitYConstraintPart.<a class="code hl_function" href="class_angle_constraint_part.html#a470e2813d397af02acc6bf8e8373431c">IsActive</a>())</div>
    579. 

  579. <div class="line"><a id="l00475" name="l00475"></a><span class="lineno">  475</span>            impulse |= mSwingLimitYConstraintPart.<a class="code hl_function" href="class_angle_constraint_part.html#aab9cd08fa77ca04f5ab6a6d5cfd78538">SolveVelocityConstraint</a>(ioBody1, ioBody2, mWorldSpaceSwingLimitYRotationAxis, -FLT_MAX, mSinSwingYHalfMinAngle == mSinSwingYHalfMaxAngle? FLT_MAX : 0.0f);</div>
    580. 

  580. <div class="line"><a id="l00476" name="l00476"></a><span class="lineno">  476</span> </div>
    581. 

  581. <div class="line"><a id="l00477" name="l00477"></a><span class="lineno">  477</span>        <span class="keywordflow">if</span> (mSwingLimitZConstraintPart.<a class="code hl_function" href="class_angle_constraint_part.html#a470e2813d397af02acc6bf8e8373431c">IsActive</a>())</div>
    582. 

  582. <div class="line"><a id="l00478" name="l00478"></a><span class="lineno">  478</span>            impulse |= mSwingLimitZConstraintPart.<a class="code hl_function" href="class_angle_constraint_part.html#aab9cd08fa77ca04f5ab6a6d5cfd78538">SolveVelocityConstraint</a>(ioBody1, ioBody2, mWorldSpaceSwingLimitZRotationAxis, -FLT_MAX, mSinSwingZHalfMinAngle == mSinSwingZHalfMaxAngle? FLT_MAX : 0.0f);</div>
    583. 

  583. <div class="line"><a id="l00479" name="l00479"></a><span class="lineno">  479</span> </div>
    584. 

  584. <div class="line"><a id="l00480" name="l00480"></a><span class="lineno">  480</span>        <span class="comment">// Solve twist constraint</span></div>
    585. 

  585. <div class="line"><a id="l00481" name="l00481"></a><span class="lineno">  481</span>        <span class="keywordflow">if</span> (mTwistLimitConstraintPart.<a class="code hl_function" href="class_angle_constraint_part.html#a470e2813d397af02acc6bf8e8373431c">IsActive</a>())</div>
    586. 

  586. <div class="line"><a id="l00482" name="l00482"></a><span class="lineno">  482</span>            impulse |= mTwistLimitConstraintPart.<a class="code hl_function" href="class_angle_constraint_part.html#aab9cd08fa77ca04f5ab6a6d5cfd78538">SolveVelocityConstraint</a>(ioBody1, ioBody2, mWorldSpaceTwistLimitRotationAxis, -FLT_MAX, mSinTwistHalfMinAngle == mSinTwistHalfMaxAngle? FLT_MAX : 0.0f);</div>
    587. 

  587. <div class="line"><a id="l00483" name="l00483"></a><span class="lineno">  483</span> </div>
    588. 

  588. <div class="line"><a id="l00484" name="l00484"></a><span class="lineno">  484</span>        <span class="keywordflow">return</span> impulse;</div>
    589. 

  589. <div class="line"><a id="l00485" name="l00485"></a><span class="lineno">  485</span>    }</div>
    590. 

  590. </div>
    591. 

  591. <div class="line"><a id="l00486" name="l00486"></a><span class="lineno">  486</span> </div>
    592. 

  592. <div class="foldopen" id="foldopen00493" data-start="{" data-end="}">
    593. 

  593. <div class="line"><a id="l00493" name="l00493"></a><span class="lineno"><a class="line" href="class_swing_twist_constraint_part.html#ae8a947eca657db9a653b0d3de921e7c1">  493</a></span>    <span class="keyword">inline</span> <span class="keywordtype">bool</span>                 <a class="code hl_function" href="class_swing_twist_constraint_part.html#ae8a947eca657db9a653b0d3de921e7c1">SolvePositionConstraint</a>(<a class="code hl_class" href="class_body.html">Body</a> &amp;ioBody1, <a class="code hl_class" href="class_body.html">Body</a> &amp;ioBody2, <a class="code hl_class" href="class_quat.html">QuatArg</a> inConstraintRotation, <a class="code hl_class" href="class_quat.html">QuatArg</a> inConstraintToBody1, <a class="code hl_class" href="class_quat.html">QuatArg</a> inConstraintToBody2, <span class="keywordtype">float</span> inBaumgarte)<span class="keyword"> const</span></div>
    594. 

  594. <div class="line"><a id="l00494" name="l00494"></a><span class="lineno">  494</span><span class="keyword">    </span>{</div>
    595. 

  595. <div class="line"><a id="l00495" name="l00495"></a><span class="lineno">  495</span>        <a class="code hl_class" href="class_quat.html">Quat</a> q_swing, q_twist;</div>
    596. 

  596. <div class="line"><a id="l00496" name="l00496"></a><span class="lineno">  496</span>        inConstraintRotation.<a class="code hl_function" href="class_quat.html#a7bb8b016622e5ad8f361c52f9037f1aa">GetSwingTwist</a>(q_swing, q_twist);</div>
    597. 

  597. <div class="line"><a id="l00497" name="l00497"></a><span class="lineno">  497</span> </div>
    598. 

  598. <div class="line"><a id="l00498" name="l00498"></a><span class="lineno">  498</span>        <a class="code hl_typedef" href="_core_8h.html#a69aa29b598b851b0640aa225a9e5d61d">uint</a> clamped_axis;</div>
    599. 

  599. <div class="line"><a id="l00499" name="l00499"></a><span class="lineno">  499</span>        <a class="code hl_function" href="class_swing_twist_constraint_part.html#a63a4870b93b5bb0d90555edbacbf5229">ClampSwingTwist</a>(q_swing, q_twist, clamped_axis);</div>
    600. 

  600. <div class="line"><a id="l00500" name="l00500"></a><span class="lineno">  500</span> </div>
    601. 

  601. <div class="line"><a id="l00501" name="l00501"></a><span class="lineno">  501</span>        <span class="comment">// Solve rotation violations</span></div>
    602. 

  602. <div class="line"><a id="l00502" name="l00502"></a><span class="lineno">  502</span>        <span class="keywordflow">if</span> (clamped_axis != 0)</div>
    603. 

  603. <div class="line"><a id="l00503" name="l00503"></a><span class="lineno">  503</span>        {</div>
    604. 

  604. <div class="line"><a id="l00504" name="l00504"></a><span class="lineno">  504</span>            <a class="code hl_class" href="class_rotation_euler_constraint_part.html">RotationEulerConstraintPart</a> part;</div>
    605. 

  605. <div class="line"><a id="l00505" name="l00505"></a><span class="lineno">  505</span>            <a class="code hl_class" href="class_quat.html">Quat</a> inv_initial_orientation = inConstraintToBody2 * (inConstraintToBody1 * q_swing * q_twist).Conjugated();</div>
    606. 

  606. <div class="line"><a id="l00506" name="l00506"></a><span class="lineno">  506</span>            part.<a class="code hl_function" href="class_rotation_euler_constraint_part.html#af37f613895af10af42c71f644fe3f2f5">CalculateConstraintProperties</a>(ioBody1, <a class="code hl_function" href="class_mat44.html#ac3109f2d950061c0b4de57e76a132634">Mat44::sRotation</a>(ioBody1.<a class="code hl_function" href="class_body.html#aaee24bfb5e32e756f50113b9d1f45a2c">GetRotation</a>()), ioBody2, <a class="code hl_function" href="class_mat44.html#ac3109f2d950061c0b4de57e76a132634">Mat44::sRotation</a>(ioBody2.<a class="code hl_function" href="class_body.html#aaee24bfb5e32e756f50113b9d1f45a2c">GetRotation</a>()));</div>
    607. 

  607. <div class="line"><a id="l00507" name="l00507"></a><span class="lineno">  507</span>            <span class="keywordflow">return</span> part.<a class="code hl_function" href="class_rotation_euler_constraint_part.html#ab2276b37dd0f8eaf4229469def2627b6">SolvePositionConstraint</a>(ioBody1, ioBody2, inv_initial_orientation, inBaumgarte);</div>
    608. 

  608. <div class="line"><a id="l00508" name="l00508"></a><span class="lineno">  508</span>        }</div>
    609. 

  609. <div class="line"><a id="l00509" name="l00509"></a><span class="lineno">  509</span> </div>
    610. 

  610. <div class="line"><a id="l00510" name="l00510"></a><span class="lineno">  510</span>        <span class="keywordflow">return</span> <span class="keyword">false</span>;</div>
    611. 

  611. <div class="line"><a id="l00511" name="l00511"></a><span class="lineno">  511</span>    }</div>
    612. 

  612. </div>
    613. 

  613. <div class="line"><a id="l00512" name="l00512"></a><span class="lineno">  512</span> </div>
    614. 

  614. <div class="foldopen" id="foldopen00514" data-start="{" data-end="}">
    615. 

  615. <div class="line"><a id="l00514" name="l00514"></a><span class="lineno"><a class="line" href="class_swing_twist_constraint_part.html#a16832ee912d335e0865e78f37fe7ad81">  514</a></span>    <span class="keyword">inline</span> <span class="keywordtype">float</span>                <a class="code hl_function" href="class_swing_twist_constraint_part.html#a16832ee912d335e0865e78f37fe7ad81">GetTotalSwingYLambda</a>()<span class="keyword"> const</span></div>
    616. 

  616. <div class="line"><a id="l00515" name="l00515"></a><span class="lineno">  515</span><span class="keyword">    </span>{</div>
    617. 

  617. <div class="line"><a id="l00516" name="l00516"></a><span class="lineno">  516</span>        <span class="keywordflow">return</span> mSwingLimitYConstraintPart.<a class="code hl_function" href="class_angle_constraint_part.html#af482295498d9ca4f6fcdd0c034d0fb90">GetTotalLambda</a>();</div>
    618. 

  618. <div class="line"><a id="l00517" name="l00517"></a><span class="lineno">  517</span>    }</div>
    619. 

  619. </div>
    620. 

  620. <div class="line"><a id="l00518" name="l00518"></a><span class="lineno">  518</span> </div>
    621. 

  621. <div class="foldopen" id="foldopen00519" data-start="{" data-end="}">
    622. 

  622. <div class="line"><a id="l00519" name="l00519"></a><span class="lineno"><a class="line" href="class_swing_twist_constraint_part.html#a31a518f141eab3f601906193d7b56ada">  519</a></span>    <span class="keyword">inline</span> <span class="keywordtype">float</span>                <a class="code hl_function" href="class_swing_twist_constraint_part.html#a31a518f141eab3f601906193d7b56ada">GetTotalSwingZLambda</a>()<span class="keyword"> const</span></div>
    623. 

  623. <div class="line"><a id="l00520" name="l00520"></a><span class="lineno">  520</span><span class="keyword">    </span>{</div>
    624. 

  624. <div class="line"><a id="l00521" name="l00521"></a><span class="lineno">  521</span>        <span class="keywordflow">return</span> mSwingLimitZConstraintPart.<a class="code hl_function" href="class_angle_constraint_part.html#af482295498d9ca4f6fcdd0c034d0fb90">GetTotalLambda</a>();</div>
    625. 

  625. <div class="line"><a id="l00522" name="l00522"></a><span class="lineno">  522</span>    }</div>
    626. 

  626. </div>
    627. 

  627. <div class="line"><a id="l00523" name="l00523"></a><span class="lineno">  523</span> </div>
    628. 

  628. <div class="foldopen" id="foldopen00525" data-start="{" data-end="}">
    629. 

  629. <div class="line"><a id="l00525" name="l00525"></a><span class="lineno"><a class="line" href="class_swing_twist_constraint_part.html#a45a880db0765176f7e807f4aba08da6e">  525</a></span>    <span class="keyword">inline</span> <span class="keywordtype">float</span>                <a class="code hl_function" href="class_swing_twist_constraint_part.html#a45a880db0765176f7e807f4aba08da6e">GetTotalTwistLambda</a>()<span class="keyword"> const</span></div>
    630. 

  630. <div class="line"><a id="l00526" name="l00526"></a><span class="lineno">  526</span><span class="keyword">    </span>{</div>
    631. 

  631. <div class="line"><a id="l00527" name="l00527"></a><span class="lineno">  527</span>        <span class="keywordflow">return</span> mTwistLimitConstraintPart.<a class="code hl_function" href="class_angle_constraint_part.html#af482295498d9ca4f6fcdd0c034d0fb90">GetTotalLambda</a>();</div>
    632. 

  632. <div class="line"><a id="l00528" name="l00528"></a><span class="lineno">  528</span>    }</div>
    633. 

  633. </div>
    634. 

  634. <div class="line"><a id="l00529" name="l00529"></a><span class="lineno">  529</span> </div>
    635. 

  635. <div class="foldopen" id="foldopen00531" data-start="{" data-end="}">
    636. 

  636. <div class="line"><a id="l00531" name="l00531"></a><span class="lineno"><a class="line" href="class_swing_twist_constraint_part.html#a901f23c5450f15ee2c8979776fcdbf15">  531</a></span>    <span class="keywordtype">void</span>                        <a class="code hl_function" href="class_swing_twist_constraint_part.html#a901f23c5450f15ee2c8979776fcdbf15">SaveState</a>(<a class="code hl_class" href="class_state_recorder.html">StateRecorder</a> &amp;inStream)<span class="keyword"> const</span></div>
    637. 

  637. <div class="line"><a id="l00532" name="l00532"></a><span class="lineno">  532</span><span class="keyword">    </span>{</div>
    638. 

  638. <div class="line"><a id="l00533" name="l00533"></a><span class="lineno">  533</span>        mSwingLimitYConstraintPart.<a class="code hl_function" href="class_angle_constraint_part.html#ab75081badd77c6854423f45825ff36ce">SaveState</a>(inStream);</div>
    639. 

  639. <div class="line"><a id="l00534" name="l00534"></a><span class="lineno">  534</span>        mSwingLimitZConstraintPart.<a class="code hl_function" href="class_angle_constraint_part.html#ab75081badd77c6854423f45825ff36ce">SaveState</a>(inStream);</div>
    640. 

  640. <div class="line"><a id="l00535" name="l00535"></a><span class="lineno">  535</span>        mTwistLimitConstraintPart.<a class="code hl_function" href="class_angle_constraint_part.html#ab75081badd77c6854423f45825ff36ce">SaveState</a>(inStream);</div>
    641. 

  641. <div class="line"><a id="l00536" name="l00536"></a><span class="lineno">  536</span>    }</div>
    642. 

  642. </div>
    643. 

  643. <div class="line"><a id="l00537" name="l00537"></a><span class="lineno">  537</span> </div>
    644. 

  644. <div class="foldopen" id="foldopen00539" data-start="{" data-end="}">
    645. 

  645. <div class="line"><a id="l00539" name="l00539"></a><span class="lineno"><a class="line" href="class_swing_twist_constraint_part.html#a2964a0ed18137258a244d1b4926fa290">  539</a></span>    <span class="keywordtype">void</span>                        <a class="code hl_function" href="class_swing_twist_constraint_part.html#a2964a0ed18137258a244d1b4926fa290">RestoreState</a>(<a class="code hl_class" href="class_state_recorder.html">StateRecorder</a> &amp;inStream)</div>
    646. 

  646. <div class="line"><a id="l00540" name="l00540"></a><span class="lineno">  540</span>    {</div>
    647. 

  647. <div class="line"><a id="l00541" name="l00541"></a><span class="lineno">  541</span>        mSwingLimitYConstraintPart.<a class="code hl_function" href="class_angle_constraint_part.html#a80bd3ee7db86967d1a55100ab244d01c">RestoreState</a>(inStream);</div>
    648. 

  648. <div class="line"><a id="l00542" name="l00542"></a><span class="lineno">  542</span>        mSwingLimitZConstraintPart.<a class="code hl_function" href="class_angle_constraint_part.html#a80bd3ee7db86967d1a55100ab244d01c">RestoreState</a>(inStream);</div>
    649. 

  649. <div class="line"><a id="l00543" name="l00543"></a><span class="lineno">  543</span>        mTwistLimitConstraintPart.<a class="code hl_function" href="class_angle_constraint_part.html#a80bd3ee7db86967d1a55100ab244d01c">RestoreState</a>(inStream);</div>
    650. 

  650. <div class="line"><a id="l00544" name="l00544"></a><span class="lineno">  544</span>    }</div>
    651. 

  651. </div>
    652. 

  652. <div class="line"><a id="l00545" name="l00545"></a><span class="lineno">  545</span> </div>
    653. 

  653. <div class="line"><a id="l00546" name="l00546"></a><span class="lineno">  546</span><span class="keyword">private</span>:</div>
    654. 

  654. <div class="line"><a id="l00547" name="l00547"></a><span class="lineno">  547</span>    <span class="comment">// CONFIGURATION PROPERTIES FOLLOW</span></div>
    655. 

  655. <div class="line"><a id="l00548" name="l00548"></a><span class="lineno">  548</span> </div>
    656. 

  656. <div class="line"><a id="l00549" name="l00549"></a><span class="lineno">  549</span>    <span class="keyword">enum</span> ERotationFlags</div>
    657. 

  657. <div class="line"><a id="l00550" name="l00550"></a><span class="lineno">  550</span>    {</div>
    658. 

  658. <div class="line"><a id="l00552" name="l00552"></a><span class="lineno">  552</span>        TwistXLocked            = 1 &lt;&lt; 0,</div>
    659. 

  659. <div class="line"><a id="l00553" name="l00553"></a><span class="lineno">  553</span>        SwingYLocked            = 1 &lt;&lt; 1,</div>
    660. 

  660. <div class="line"><a id="l00554" name="l00554"></a><span class="lineno">  554</span>        SwingZLocked            = 1 &lt;&lt; 2,</div>
    661. 

  661. <div class="line"><a id="l00555" name="l00555"></a><span class="lineno">  555</span> </div>
    662. 

  662. <div class="line"><a id="l00557" name="l00557"></a><span class="lineno">  557</span>        TwistXFree              = 1 &lt;&lt; 3,</div>
    663. 

  663. <div class="line"><a id="l00558" name="l00558"></a><span class="lineno">  558</span>        SwingYFree              = 1 &lt;&lt; 4,</div>
    664. 

  664. <div class="line"><a id="l00559" name="l00559"></a><span class="lineno">  559</span>        SwingZFree              = 1 &lt;&lt; 5,</div>
    665. 

  665. <div class="line"><a id="l00560" name="l00560"></a><span class="lineno">  560</span>        SwingYZFree             = SwingYFree | SwingZFree</div>
    666. 

  666. <div class="line"><a id="l00561" name="l00561"></a><span class="lineno">  561</span>    };</div>
    667. 

  667. <div class="line"><a id="l00562" name="l00562"></a><span class="lineno">  562</span> </div>
    668. 

  668. <div class="line"><a id="l00563" name="l00563"></a><span class="lineno">  563</span>    <a class="code hl_typedef" href="_core_8h.html#a115946cb5fc5879545e9ccea096a6031">uint8</a>                       mRotationFlags;</div>
    669. 

  669. <div class="line"><a id="l00564" name="l00564"></a><span class="lineno">  564</span> </div>
    670. 

  670. <div class="line"><a id="l00565" name="l00565"></a><span class="lineno">  565</span>    <span class="comment">// Constants</span></div>
    671. 

  671. <div class="line"><a id="l00566" name="l00566"></a><span class="lineno">  566</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>
    672. 

  672. <div class="line"><a id="l00567" name="l00567"></a><span class="lineno">  567</span>    <span class="keywordtype">float</span>                       mSinTwistHalfMinAngle;</div>
    673. 

  673. <div class="line"><a id="l00568" name="l00568"></a><span class="lineno">  568</span>    <span class="keywordtype">float</span>                       mSinTwistHalfMaxAngle;</div>
    674. 

  674. <div class="line"><a id="l00569" name="l00569"></a><span class="lineno">  569</span>    <span class="keywordtype">float</span>                       mCosTwistHalfMinAngle;</div>
    675. 

  675. <div class="line"><a id="l00570" name="l00570"></a><span class="lineno">  570</span>    <span class="keywordtype">float</span>                       mCosTwistHalfMaxAngle;</div>
    676. 

  676. <div class="line"><a id="l00571" name="l00571"></a><span class="lineno">  571</span>    <span class="keywordtype">float</span>                       mSwingYHalfMinAngle;</div>
    677. 

  677. <div class="line"><a id="l00572" name="l00572"></a><span class="lineno">  572</span>    <span class="keywordtype">float</span>                       mSwingYHalfMaxAngle;</div>
    678. 

  678. <div class="line"><a id="l00573" name="l00573"></a><span class="lineno">  573</span>    <span class="keywordtype">float</span>                       mSwingZHalfMinAngle;</div>
    679. 

  679. <div class="line"><a id="l00574" name="l00574"></a><span class="lineno">  574</span>    <span class="keywordtype">float</span>                       mSwingZHalfMaxAngle;</div>
    680. 

  680. <div class="line"><a id="l00575" name="l00575"></a><span class="lineno">  575</span>    <span class="keywordtype">float</span>                       mSinSwingYHalfMinAngle;</div>
    681. 

  681. <div class="line"><a id="l00576" name="l00576"></a><span class="lineno">  576</span>    <span class="keywordtype">float</span>                       mSinSwingYHalfMaxAngle;</div>
    682. 

  682. <div class="line"><a id="l00577" name="l00577"></a><span class="lineno">  577</span>    <span class="keywordtype">float</span>                       mSinSwingZHalfMinAngle;</div>
    683. 

  683. <div class="line"><a id="l00578" name="l00578"></a><span class="lineno">  578</span>    <span class="keywordtype">float</span>                       mSinSwingZHalfMaxAngle;</div>
    684. 

  684. <div class="line"><a id="l00579" name="l00579"></a><span class="lineno">  579</span>    <span class="keywordtype">float</span>                       mCosSwingYHalfMinAngle;</div>
    685. 

  685. <div class="line"><a id="l00580" name="l00580"></a><span class="lineno">  580</span>    <span class="keywordtype">float</span>                       mCosSwingYHalfMaxAngle;</div>
    686. 

  686. <div class="line"><a id="l00581" name="l00581"></a><span class="lineno">  581</span>    <span class="keywordtype">float</span>                       mCosSwingZHalfMinAngle;</div>
    687. 

  687. <div class="line"><a id="l00582" name="l00582"></a><span class="lineno">  582</span>    <span class="keywordtype">float</span>                       mCosSwingZHalfMaxAngle;</div>
    688. 

  688. <div class="line"><a id="l00583" name="l00583"></a><span class="lineno">  583</span> </div>
    689. 

  689. <div class="line"><a id="l00584" name="l00584"></a><span class="lineno">  584</span>    <span class="comment">// RUN TIME PROPERTIES FOLLOW</span></div>
    690. 

  690. <div class="line"><a id="l00585" name="l00585"></a><span class="lineno">  585</span> </div>
    691. 

  691. <div class="line"><a id="l00587" name="l00587"></a><span class="lineno">  587</span>    <a class="code hl_class" href="class_vec3.html">Vec3</a>                        mWorldSpaceSwingLimitYRotationAxis;</div>
    692. 

  692. <div class="line"><a id="l00588" name="l00588"></a><span class="lineno">  588</span>    <a class="code hl_class" href="class_vec3.html">Vec3</a>                        mWorldSpaceSwingLimitZRotationAxis;</div>
    693. 

  693. <div class="line"><a id="l00589" name="l00589"></a><span class="lineno">  589</span>    <a class="code hl_class" href="class_vec3.html">Vec3</a>                        mWorldSpaceTwistLimitRotationAxis;</div>
    694. 

  694. <div class="line"><a id="l00590" name="l00590"></a><span class="lineno">  590</span> </div>
    695. 

  695. <div class="line"><a id="l00592" name="l00592"></a><span class="lineno">  592</span>    <a class="code hl_class" href="class_angle_constraint_part.html">AngleConstraintPart</a>         mSwingLimitYConstraintPart;</div>
    696. 

  696. <div class="line"><a id="l00593" name="l00593"></a><span class="lineno">  593</span>    <a class="code hl_class" href="class_angle_constraint_part.html">AngleConstraintPart</a>         mSwingLimitZConstraintPart;</div>
    697. 

  697. <div class="line"><a id="l00594" name="l00594"></a><span class="lineno">  594</span>    <a class="code hl_class" href="class_angle_constraint_part.html">AngleConstraintPart</a>         mTwistLimitConstraintPart;</div>
    698. 

  698. <div class="line"><a id="l00595" name="l00595"></a><span class="lineno">  595</span>};</div>
    699. 

  699. </div>
    700. 

  700. <div class="line"><a id="l00596" name="l00596"></a><span class="lineno">  596</span> </div>
    701. 

  701. <div class="line"><a id="l00597" name="l00597"></a><span class="lineno">  597</span><a class="code hl_define" href="_core_8h.html#a73da8725998b00321a9db341202d650d">JPH_NAMESPACE_END</a></div>
    702. 

  702. <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>
    703. 

  703. <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>
    704. 

  704. <div class="ttc" id="a_core_8h_html_a69aa29b598b851b0640aa225a9e5d61d"><div class="ttname"><a href="_core_8h.html#a69aa29b598b851b0640aa225a9e5d61d">uint</a></div><div class="ttdeci">unsigned int uint</div><div class="ttdef"><b>Definition</b> Core.h:500</div></div>
    705. 

  705. <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>
    706. 

  706. <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>
    707. 

  707. <div class="ttc" id="a_ellipse_8h_html"><div class="ttname"><a href="_ellipse_8h.html">Ellipse.h</a></div></div>
    708. 

  708. <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>
    709. 

  709. <div class="ttc" id="a_math_8h_html_a61379b8b743a16fe823daeebc1482570"><div class="ttname"><a href="_math_8h.html#a61379b8b743a16fe823daeebc1482570">Square</a></div><div class="ttdeci">JPH_INLINE constexpr T Square(T inV)</div><div class="ttdoc">Square a value.</div><div class="ttdef"><b>Definition</b> Math.h:55</div></div>
    710. 

  710. <div class="ttc" id="a_math_8h_html_a636689581f2a6ce1d3030dc4dd83b2f5"><div class="ttname"><a href="_math_8h.html#a636689581f2a6ce1d3030dc4dd83b2f5">DegreesToRadians</a></div><div class="ttdeci">JPH_INLINE constexpr float DegreesToRadians(float inV)</div><div class="ttdoc">Convert a value from degrees to radians.</div><div class="ttdef"><b>Definition</b> Math.h:16</div></div>
    711. 

  711. <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>
    712. 

  712. <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>
    713. 

  713. <div class="ttc" id="a_swing_twist_constraint_part_8h_html_add9e89df628b33308461ef46e1b796b6a5e5b0d93bab61584149905b5e5dc71a0"><div class="ttname"><a href="_swing_twist_constraint_part_8h.html#add9e89df628b33308461ef46e1b796b6a5e5b0d93bab61584149905b5e5dc71a0">ESwingType::Pyramid</a></div><div class="ttdeci">@ Pyramid</div><div class="ttdoc">Swing is limited by a pyramid shape, note that this pyramid starts to deform for larger swing angles.</div></div>
    714. 

  714. <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>
    715. 

  715. <div class="ttc" id="a_swizzle_8h_html_abc5c98fcc1211af2b80116dd6e0a035da193cb4a0d68ee0b032d86ae28008aa63"><div class="ttname"><a href="_swizzle_8h.html#abc5c98fcc1211af2b80116dd6e0a035da193cb4a0d68ee0b032d86ae28008aa63">SWIZZLE_Z</a></div><div class="ttdeci">@ SWIZZLE_Z</div><div class="ttdoc">Use the Z component.</div><div class="ttdef"><b>Definition</b> Swizzle.h:14</div></div>
    716. 

  716. <div class="ttc" id="a_swizzle_8h_html_abc5c98fcc1211af2b80116dd6e0a035dafd291953004304db41e7893449a2ff08"><div class="ttname"><a href="_swizzle_8h.html#abc5c98fcc1211af2b80116dd6e0a035dafd291953004304db41e7893449a2ff08">SWIZZLE_Y</a></div><div class="ttdeci">@ SWIZZLE_Y</div><div class="ttdoc">Use the Y component.</div><div class="ttdef"><b>Definition</b> Swizzle.h:13</div></div>
    717. 

  717. <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>
    718. 

  718. <div class="ttc" id="aclass_angle_constraint_part_html_a27c8bf9c172f0d3867c1a489aa08c840"><div class="ttname"><a href="class_angle_constraint_part.html#a27c8bf9c172f0d3867c1a489aa08c840">AngleConstraintPart::Deactivate</a></div><div class="ttdeci">void Deactivate()</div><div class="ttdoc">Deactivate this constraint.</div><div class="ttdef"><b>Definition</b> AngleConstraintPart.h:148</div></div>
    719. 

  719. <div class="ttc" id="aclass_angle_constraint_part_html_a470e2813d397af02acc6bf8e8373431c"><div class="ttname"><a href="class_angle_constraint_part.html#a470e2813d397af02acc6bf8e8373431c">AngleConstraintPart::IsActive</a></div><div class="ttdeci">bool IsActive() const</div><div class="ttdoc">Check if constraint is active.</div><div class="ttdef"><b>Definition</b> AngleConstraintPart.h:155</div></div>
    720. 

  720. <div class="ttc" id="aclass_angle_constraint_part_html_a4db6fb3120c161301e04ee92276544d4"><div class="ttname"><a href="class_angle_constraint_part.html#a4db6fb3120c161301e04ee92276544d4">AngleConstraintPart::CalculateConstraintProperties</a></div><div class="ttdeci">void CalculateConstraintProperties(const Body &amp;inBody1, const Body &amp;inBody2, Vec3Arg inWorldSpaceAxis, float inBias=0.0f)</div><div class="ttdef"><b>Definition</b> AngleConstraintPart.h:81</div></div>
    721. 

  721. <div class="ttc" id="aclass_angle_constraint_part_html_a80bd3ee7db86967d1a55100ab244d01c"><div class="ttname"><a href="class_angle_constraint_part.html#a80bd3ee7db86967d1a55100ab244d01c">AngleConstraintPart::RestoreState</a></div><div class="ttdeci">void RestoreState(StateRecorder &amp;inStream)</div><div class="ttdoc">Restore state of this constraint part.</div><div class="ttdef"><b>Definition</b> AngleConstraintPart.h:244</div></div>
    722. 

  722. <div class="ttc" id="aclass_angle_constraint_part_html_a8b54544706a1005ac865db7c445b76f1"><div class="ttname"><a href="class_angle_constraint_part.html#a8b54544706a1005ac865db7c445b76f1">AngleConstraintPart::WarmStart</a></div><div class="ttdeci">void WarmStart(Body &amp;ioBody1, Body &amp;ioBody2, float inWarmStartImpulseRatio)</div><div class="ttdef"><b>Definition</b> AngleConstraintPart.h:164</div></div>
    723. 

  723. <div class="ttc" id="aclass_angle_constraint_part_html_aab9cd08fa77ca04f5ab6a6d5cfd78538"><div class="ttname"><a href="class_angle_constraint_part.html#aab9cd08fa77ca04f5ab6a6d5cfd78538">AngleConstraintPart::SolveVelocityConstraint</a></div><div class="ttdeci">bool SolveVelocityConstraint(Body &amp;ioBody1, Body &amp;ioBody2, Vec3Arg inWorldSpaceAxis, float inMinLambda, float inMaxLambda)</div><div class="ttdef"><b>Definition</b> AngleConstraintPart.h:176</div></div>
    724. 

  724. <div class="ttc" id="aclass_angle_constraint_part_html_ab75081badd77c6854423f45825ff36ce"><div class="ttname"><a href="class_angle_constraint_part.html#ab75081badd77c6854423f45825ff36ce">AngleConstraintPart::SaveState</a></div><div class="ttdeci">void SaveState(StateRecorder &amp;inStream) const</div><div class="ttdoc">Save state of this constraint part.</div><div class="ttdef"><b>Definition</b> AngleConstraintPart.h:238</div></div>
    725. 

  725. <div class="ttc" id="aclass_angle_constraint_part_html_af482295498d9ca4f6fcdd0c034d0fb90"><div class="ttname"><a href="class_angle_constraint_part.html#af482295498d9ca4f6fcdd0c034d0fb90">AngleConstraintPart::GetTotalLambda</a></div><div class="ttdeci">float GetTotalLambda() const</div><div class="ttdoc">Return lagrange multiplier.</div><div class="ttdef"><b>Definition</b> AngleConstraintPart.h:190</div></div>
    726. 

  726. <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>
    727. 

  727. <div class="ttc" id="aclass_body_html_aaee24bfb5e32e756f50113b9d1f45a2c"><div class="ttname"><a href="class_body.html#aaee24bfb5e32e756f50113b9d1f45a2c">Body::GetRotation</a></div><div class="ttdeci">Quat GetRotation() const</div><div class="ttdoc">World space rotation of the body.</div><div class="ttdef"><b>Definition</b> Body.h:271</div></div>
    728. 

  728. <div class="ttc" id="aclass_ellipse_html"><div class="ttname"><a href="class_ellipse.html">Ellipse</a></div><div class="ttdef"><b>Definition</b> Ellipse.h:14</div></div>
    729. 

  729. <div class="ttc" id="aclass_ellipse_html_a07b49662cd16799da0e0b1a1d67a8d84"><div class="ttname"><a href="class_ellipse.html#a07b49662cd16799da0e0b1a1d67a8d84">Ellipse::GetClosestPoint</a></div><div class="ttdeci">Float2 GetClosestPoint(const Float2 &amp;inPoint) const</div><div class="ttdef"><b>Definition</b> Ellipse.h:30</div></div>
    730. 

  730. <div class="ttc" id="aclass_ellipse_html_a5592d2e8e6bb560567b3c9236babd545"><div class="ttname"><a href="class_ellipse.html#a5592d2e8e6bb560567b3c9236babd545">Ellipse::IsInside</a></div><div class="ttdeci">bool IsInside(const Float2 &amp;inPoint) const</div><div class="ttdoc">Check if inPoint is inside the ellipse.</div><div class="ttdef"><b>Definition</b> Ellipse.h:22</div></div>
    731. 

  731. <div class="ttc" id="aclass_float2_html"><div class="ttname"><a href="class_float2.html">Float2</a></div><div class="ttdoc">Class that holds 2 floats, used as a storage class mainly.</div><div class="ttdef"><b>Definition</b> Float2.h:11</div></div>
    732. 

  732. <div class="ttc" id="aclass_float2_html_a53deb463e8335f53a8f5454c9c3c0503"><div class="ttname"><a href="class_float2.html#a53deb463e8335f53a8f5454c9c3c0503">Float2::y</a></div><div class="ttdeci">float y</div><div class="ttdef"><b>Definition</b> Float2.h:31</div></div>
    733. 

  733. <div class="ttc" id="aclass_float2_html_a9f4577102bc9a7bdf9355b5776301485"><div class="ttname"><a href="class_float2.html#a9f4577102bc9a7bdf9355b5776301485">Float2::x</a></div><div class="ttdeci">float x</div><div class="ttdef"><b>Definition</b> Float2.h:30</div></div>
    734. 

  734. <div class="ttc" id="aclass_mat44_html_ac3109f2d950061c0b4de57e76a132634"><div class="ttname"><a href="class_mat44.html#ac3109f2d950061c0b4de57e76a132634">Mat44::sRotation</a></div><div class="ttdeci">static JPH_INLINE Mat44 sRotation(Vec3Arg inAxis, float inAngle)</div><div class="ttdoc">Rotate around arbitrary axis.</div><div class="ttdef"><b>Definition</b> Mat44.inl:139</div></div>
    735. 

  735. <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>
    736. 

  736. <div class="ttc" id="aclass_quat_html_a13d0159a54a94e6a90dc5952f454b09e"><div class="ttname"><a href="class_quat.html#a13d0159a54a94e6a90dc5952f454b09e">Quat::GetW</a></div><div class="ttdeci">JPH_INLINE float GetW() const</div><div class="ttdoc">Get W component (real part)</div><div class="ttdef"><b>Definition</b> Quat.h:79</div></div>
    737. 

  737. <div class="ttc" id="aclass_quat_html_a21f44684684b475d9f5d02ed9c580def"><div class="ttname"><a href="class_quat.html#a21f44684684b475d9f5d02ed9c580def">Quat::GetY</a></div><div class="ttdeci">JPH_INLINE float GetY() const</div><div class="ttdoc">Get Y component (imaginary part j)</div><div class="ttdef"><b>Definition</b> Quat.h:73</div></div>
    738. 

  738. <div class="ttc" id="aclass_quat_html_a38dfc20f7628eee4492125a41ad91764"><div class="ttname"><a href="class_quat.html#a38dfc20f7628eee4492125a41ad91764">Quat::GetZ</a></div><div class="ttdeci">JPH_INLINE float GetZ() const</div><div class="ttdoc">Get Z component (imaginary part k)</div><div class="ttdef"><b>Definition</b> Quat.h:76</div></div>
    739. 

  739. <div class="ttc" id="aclass_quat_html_a3fb43a7bca4b20ce7573030fd826aa96"><div class="ttname"><a href="class_quat.html#a3fb43a7bca4b20ce7573030fd826aa96">Quat::GetX</a></div><div class="ttdeci">JPH_INLINE float GetX() const</div><div class="ttdoc">Get X component (imaginary part i)</div><div class="ttdef"><b>Definition</b> Quat.h:70</div></div>
    740. 

  740. <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>
    741. 

  741. <div class="ttc" id="aclass_quat_html_a7800c0c4cb017273d86793d8a09bf136"><div class="ttname"><a href="class_quat.html#a7800c0c4cb017273d86793d8a09bf136">Quat::GetXYZW</a></div><div class="ttdeci">JPH_INLINE Vec4 GetXYZW() const</div><div class="ttdoc">Get the quaternion as a Vec4.</div><div class="ttdef"><b>Definition</b> Quat.h:85</div></div>
    742. 

  742. <div class="ttc" id="aclass_quat_html_a7bb8b016622e5ad8f361c52f9037f1aa"><div class="ttname"><a href="class_quat.html#a7bb8b016622e5ad8f361c52f9037f1aa">Quat::GetSwingTwist</a></div><div class="ttdeci">JPH_INLINE void GetSwingTwist(Quat &amp;outSwing, Quat &amp;outTwist) const</div><div class="ttdef"><b>Definition</b> Quat.inl:269</div></div>
    743. 

  743. <div class="ttc" id="aclass_quat_html_a9d4b1ee8c4685a4589766e1c8cacc268"><div class="ttname"><a href="class_quat.html#a9d4b1ee8c4685a4589766e1c8cacc268">Quat::Normalized</a></div><div class="ttdeci">JPH_INLINE Quat Normalized() const</div><div class="ttdoc">Normalize the quaternion (make it length 1)</div><div class="ttdef"><b>Definition</b> Quat.h:140</div></div>
    744. 

  744. <div class="ttc" id="aclass_quat_html_ab226b2147a748e53008556bcf1a3cd76"><div class="ttname"><a href="class_quat.html#ab226b2147a748e53008556bcf1a3cd76">Quat::RotateAxisZ</a></div><div class="ttdeci">JPH_INLINE Vec3 RotateAxisZ() const</div><div class="ttdoc">Rotate a the vector (0, 0, 1) with this quaternion.</div><div class="ttdef"><b>Definition</b> Quat.inl:380</div></div>
    745. 

  745. <div class="ttc" id="aclass_quat_html_adb1d1a70ed64c0a6fadc849126306706"><div class="ttname"><a href="class_quat.html#adb1d1a70ed64c0a6fadc849126306706">Quat::RotateAxisY</a></div><div class="ttdeci">JPH_INLINE Vec3 RotateAxisY() const</div><div class="ttdoc">Rotate a the vector (0, 1, 0) with this quaternion.</div><div class="ttdef"><b>Definition</b> Quat.inl:372</div></div>
    746. 

  746. <div class="ttc" id="aclass_quat_html_ae628a9685f0be008f18752ea9302b4e4"><div class="ttname"><a href="class_quat.html#ae628a9685f0be008f18752ea9302b4e4">Quat::IsNormalized</a></div><div class="ttdeci">bool IsNormalized(float inTolerance=1.0e-5f) const</div><div class="ttdoc">If the length of this quaternion is 1 +/- inTolerance.</div><div class="ttdef"><b>Definition</b> Quat.h:60</div></div>
    747. 

  747. <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>
    748. 

  748. <div class="ttc" id="aclass_rotation_euler_constraint_part_html_ab2276b37dd0f8eaf4229469def2627b6"><div class="ttname"><a href="class_rotation_euler_constraint_part.html#ab2276b37dd0f8eaf4229469def2627b6">RotationEulerConstraintPart::SolvePositionConstraint</a></div><div class="ttdeci">bool SolvePositionConstraint(Body &amp;ioBody1, Body &amp;ioBody2, QuatArg inInvInitialOrientation, float inBaumgarte) const</div><div class="ttdoc">Iteratively update the position constraint. Makes sure C(...) = 0.</div><div class="ttdef"><b>Definition</b> RotationEulerConstraintPart.h:195</div></div>
    749. 

  749. <div class="ttc" id="aclass_rotation_euler_constraint_part_html_af37f613895af10af42c71f644fe3f2f5"><div class="ttname"><a href="class_rotation_euler_constraint_part.html#af37f613895af10af42c71f644fe3f2f5">RotationEulerConstraintPart::CalculateConstraintProperties</a></div><div class="ttdeci">void CalculateConstraintProperties(const Body &amp;inBody1, Mat44Arg inRotation1, const Body &amp;inBody2, Mat44Arg inRotation2)</div><div class="ttdoc">Calculate properties used during the functions below.</div><div class="ttdef"><b>Definition</b> RotationEulerConstraintPart.h:139</div></div>
    750. 

  750. <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>
    751. 

  751. <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>
    752. 

  752. <div class="ttc" id="aclass_swing_twist_constraint_part_html_a16832ee912d335e0865e78f37fe7ad81"><div class="ttname"><a href="class_swing_twist_constraint_part.html#a16832ee912d335e0865e78f37fe7ad81">SwingTwistConstraintPart::GetTotalSwingYLambda</a></div><div class="ttdeci">float GetTotalSwingYLambda() const</div><div class="ttdoc">Return lagrange multiplier for swing.</div><div class="ttdef"><b>Definition</b> SwingTwistConstraintPart.h:514</div></div>
    753. 

  753. <div class="ttc" id="aclass_swing_twist_constraint_part_html_a1e8cca76a13bf4490e18086adfe44fb5"><div class="ttname"><a href="class_swing_twist_constraint_part.html#a1e8cca76a13bf4490e18086adfe44fb5">SwingTwistConstraintPart::GetSwingType</a></div><div class="ttdeci">ESwingType GetSwingType() const</div><div class="ttdoc">Get the swing type for this part.</div><div class="ttdef"><b>Definition</b> SwingTwistConstraintPart.h:42</div></div>
    754. 

  754. <div class="ttc" id="aclass_swing_twist_constraint_part_html_a2964a0ed18137258a244d1b4926fa290"><div class="ttname"><a href="class_swing_twist_constraint_part.html#a2964a0ed18137258a244d1b4926fa290">SwingTwistConstraintPart::RestoreState</a></div><div class="ttdeci">void RestoreState(StateRecorder &amp;inStream)</div><div class="ttdoc">Restore state of this constraint part.</div><div class="ttdef"><b>Definition</b> SwingTwistConstraintPart.h:539</div></div>
    755. 

  755. <div class="ttc" id="aclass_swing_twist_constraint_part_html_a31a518f141eab3f601906193d7b56ada"><div class="ttname"><a href="class_swing_twist_constraint_part.html#a31a518f141eab3f601906193d7b56ada">SwingTwistConstraintPart::GetTotalSwingZLambda</a></div><div class="ttdeci">float GetTotalSwingZLambda() const</div><div class="ttdef"><b>Definition</b> SwingTwistConstraintPart.h:519</div></div>
    756. 

  756. <div class="ttc" id="aclass_swing_twist_constraint_part_html_a45a880db0765176f7e807f4aba08da6e"><div class="ttname"><a href="class_swing_twist_constraint_part.html#a45a880db0765176f7e807f4aba08da6e">SwingTwistConstraintPart::GetTotalTwistLambda</a></div><div class="ttdeci">float GetTotalTwistLambda() const</div><div class="ttdoc">Return lagrange multiplier for twist.</div><div class="ttdef"><b>Definition</b> SwingTwistConstraintPart.h:525</div></div>
    757. 

  757. <div class="ttc" id="aclass_swing_twist_constraint_part_html_a480178e78f7f5c4bd4dd9043bcea0f03"><div class="ttname"><a href="class_swing_twist_constraint_part.html#a480178e78f7f5c4bd4dd9043bcea0f03">SwingTwistConstraintPart::cClampedSwingYMax</a></div><div class="ttdeci">static constexpr uint cClampedSwingYMax</div><div class="ttdef"><b>Definition</b> SwingTwistConstraintPart.h:155</div></div>
    758. 

  758. <div class="ttc" id="aclass_swing_twist_constraint_part_html_a507f0506fd29b63f244e73670d85d55d"><div class="ttname"><a href="class_swing_twist_constraint_part.html#a507f0506fd29b63f244e73670d85d55d">SwingTwistConstraintPart::WarmStart</a></div><div class="ttdeci">void WarmStart(Body &amp;ioBody1, Body &amp;ioBody2, float inWarmStartImpulseRatio)</div><div class="ttdoc">Must be called from the WarmStartVelocityConstraint call to apply the previous frame's impulses.</div><div class="ttdef"><b>Definition</b> SwingTwistConstraintPart.h:461</div></div>
    759. 

  759. <div class="ttc" id="aclass_swing_twist_constraint_part_html_a52114d8a17117ba0e7db21c6d65ac317"><div class="ttname"><a href="class_swing_twist_constraint_part.html#a52114d8a17117ba0e7db21c6d65ac317">SwingTwistConstraintPart::cClampedTwistMin</a></div><div class="ttdeci">static constexpr uint cClampedTwistMin</div><div class="ttdoc">Flags to indicate which axis got clamped by ClampSwingTwist.</div><div class="ttdef"><b>Definition</b> SwingTwistConstraintPart.h:152</div></div>
    760. 

  760. <div class="ttc" id="aclass_swing_twist_constraint_part_html_a63a4870b93b5bb0d90555edbacbf5229"><div class="ttname"><a href="class_swing_twist_constraint_part.html#a63a4870b93b5bb0d90555edbacbf5229">SwingTwistConstraintPart::ClampSwingTwist</a></div><div class="ttdeci">void ClampSwingTwist(Quat &amp;ioSwing, Quat &amp;ioTwist, uint &amp;outClampedAxis) const</div><div class="ttdoc">Clamp twist and swing against the constraint limits, returns which parts were clamped (everything ass...</div><div class="ttdef"><b>Definition</b> SwingTwistConstraintPart.h:175</div></div>
    761. 

  761. <div class="ttc" id="aclass_swing_twist_constraint_part_html_a6588973f6ab2b380c62caaa2d3658f20"><div class="ttname"><a href="class_swing_twist_constraint_part.html#a6588973f6ab2b380c62caaa2d3658f20">SwingTwistConstraintPart::sDistanceToMinShorter</a></div><div class="ttdeci">static JPH_INLINE bool sDistanceToMinShorter(float inDeltaMin, float inDeltaMax)</div><div class="ttdoc">Helper function to determine if we're clamped against the min or max limit.</div><div class="ttdef"><b>Definition</b> SwingTwistConstraintPart.h:160</div></div>
    762. 

  762. <div class="ttc" id="aclass_swing_twist_constraint_part_html_a6b558e5a79ffce7ef3fcc4a10df1c932"><div class="ttname"><a href="class_swing_twist_constraint_part.html#a6b558e5a79ffce7ef3fcc4a10df1c932">SwingTwistConstraintPart::cClampedTwistMax</a></div><div class="ttdeci">static constexpr uint cClampedTwistMax</div><div class="ttdef"><b>Definition</b> SwingTwistConstraintPart.h:153</div></div>
    763. 

  763. <div class="ttc" id="aclass_swing_twist_constraint_part_html_a808d818a63cd8380799ace91d9a2b94c"><div class="ttname"><a href="class_swing_twist_constraint_part.html#a808d818a63cd8380799ace91d9a2b94c">SwingTwistConstraintPart::cClampedSwingZMin</a></div><div class="ttdeci">static constexpr uint cClampedSwingZMin</div><div class="ttdef"><b>Definition</b> SwingTwistConstraintPart.h:156</div></div>
    764. 

  764. <div class="ttc" id="aclass_swing_twist_constraint_part_html_a848425a649ffd87b994ea1efe3cf9944"><div class="ttname"><a href="class_swing_twist_constraint_part.html#a848425a649ffd87b994ea1efe3cf9944">SwingTwistConstraintPart::SetSwingType</a></div><div class="ttdeci">void SetSwingType(ESwingType inSwingType)</div><div class="ttdoc">Override the swing type.</div><div class="ttdef"><b>Definition</b> SwingTwistConstraintPart.h:36</div></div>
    765. 

  765. <div class="ttc" id="aclass_swing_twist_constraint_part_html_a901f23c5450f15ee2c8979776fcdbf15"><div class="ttname"><a href="class_swing_twist_constraint_part.html#a901f23c5450f15ee2c8979776fcdbf15">SwingTwistConstraintPart::SaveState</a></div><div class="ttdeci">void SaveState(StateRecorder &amp;inStream) const</div><div class="ttdoc">Save state of this constraint part.</div><div class="ttdef"><b>Definition</b> SwingTwistConstraintPart.h:531</div></div>
    766. 

  766. <div class="ttc" id="aclass_swing_twist_constraint_part_html_a9b80a201af6ea27d2d35b485c88c9b0e"><div class="ttname"><a href="class_swing_twist_constraint_part.html#a9b80a201af6ea27d2d35b485c88c9b0e">SwingTwistConstraintPart::cClampedSwingYMin</a></div><div class="ttdeci">static constexpr uint cClampedSwingYMin</div><div class="ttdef"><b>Definition</b> SwingTwistConstraintPart.h:154</div></div>
    767. 

  767. <div class="ttc" id="aclass_swing_twist_constraint_part_html_aad526f8386b3e605f88fddf583ec215b"><div class="ttname"><a href="class_swing_twist_constraint_part.html#aad526f8386b3e605f88fddf583ec215b">SwingTwistConstraintPart::SetLimits</a></div><div class="ttdeci">void SetLimits(float inTwistMinAngle, float inTwistMaxAngle, float inSwingYMinAngle, float inSwingYMaxAngle, float inSwingZMinAngle, float inSwingZMaxAngle)</div><div class="ttdoc">Set limits for this constraint (see description above for parameters)</div><div class="ttdef"><b>Definition</b> SwingTwistConstraintPart.h:48</div></div>
    768. 

  768. <div class="ttc" id="aclass_swing_twist_constraint_part_html_aaf0e7de8bc6c556f7d1a1d2ef4c32317"><div class="ttname"><a href="class_swing_twist_constraint_part.html#aaf0e7de8bc6c556f7d1a1d2ef4c32317">SwingTwistConstraintPart::CalculateConstraintProperties</a></div><div class="ttdeci">void CalculateConstraintProperties(const Body &amp;inBody1, const Body &amp;inBody2, QuatArg inConstraintRotation, QuatArg inConstraintToWorld)</div><div class="ttdef"><b>Definition</b> SwingTwistConstraintPart.h:337</div></div>
    769. 

  769. <div class="ttc" id="aclass_swing_twist_constraint_part_html_ac96e6d6e42458d8ca8d230763c451321"><div class="ttname"><a href="class_swing_twist_constraint_part.html#ac96e6d6e42458d8ca8d230763c451321">SwingTwistConstraintPart::cClampedSwingZMax</a></div><div class="ttdeci">static constexpr uint cClampedSwingZMax</div><div class="ttdef"><b>Definition</b> SwingTwistConstraintPart.h:157</div></div>
    770. 

  770. <div class="ttc" id="aclass_swing_twist_constraint_part_html_ad62155a6ac18bfc95a038b72df927e02"><div class="ttname"><a href="class_swing_twist_constraint_part.html#ad62155a6ac18bfc95a038b72df927e02">SwingTwistConstraintPart::SolveVelocityConstraint</a></div><div class="ttdeci">bool SolveVelocityConstraint(Body &amp;ioBody1, Body &amp;ioBody2)</div><div class="ttdoc">Iteratively update the velocity constraint. Makes sure d/dt C(...) = 0, where C is the constraint equ...</div><div class="ttdef"><b>Definition</b> SwingTwistConstraintPart.h:469</div></div>
    771. 

  771. <div class="ttc" id="aclass_swing_twist_constraint_part_html_ae76162c3dfe72782a020162752a7ccf5"><div class="ttname"><a href="class_swing_twist_constraint_part.html#ae76162c3dfe72782a020162752a7ccf5">SwingTwistConstraintPart::Deactivate</a></div><div class="ttdeci">void Deactivate()</div><div class="ttdoc">Deactivate this constraint.</div><div class="ttdef"><b>Definition</b> SwingTwistConstraintPart.h:447</div></div>
    772. 

  772. <div class="ttc" id="aclass_swing_twist_constraint_part_html_ae8a947eca657db9a653b0d3de921e7c1"><div class="ttname"><a href="class_swing_twist_constraint_part.html#ae8a947eca657db9a653b0d3de921e7c1">SwingTwistConstraintPart::SolvePositionConstraint</a></div><div class="ttdeci">bool SolvePositionConstraint(Body &amp;ioBody1, Body &amp;ioBody2, QuatArg inConstraintRotation, QuatArg inConstraintToBody1, QuatArg inConstraintToBody2, float inBaumgarte) const</div><div class="ttdef"><b>Definition</b> SwingTwistConstraintPart.h:493</div></div>
    773. 

  773. <div class="ttc" id="aclass_swing_twist_constraint_part_html_af3c12b4e902bc93120df5ec5a706de99"><div class="ttname"><a href="class_swing_twist_constraint_part.html#af3c12b4e902bc93120df5ec5a706de99">SwingTwistConstraintPart::IsActive</a></div><div class="ttdeci">bool IsActive() const</div><div class="ttdoc">Check if constraint is active.</div><div class="ttdef"><b>Definition</b> SwingTwistConstraintPart.h:455</div></div>
    774. 

  774. <div class="ttc" id="aclass_u_vec4_html"><div class="ttname"><a href="class_u_vec4.html">UVec4</a></div><div class="ttdef"><b>Definition</b> UVec4.h:12</div></div>
    775. 

  775. <div class="ttc" id="aclass_u_vec4_html_a48549afaeaba00fc4b45a10c50656c9f"><div class="ttname"><a href="class_u_vec4.html#a48549afaeaba00fc4b45a10c50656c9f">UVec4::TestAllTrue</a></div><div class="ttdeci">JPH_INLINE bool TestAllTrue() const</div><div class="ttdoc">Test if all components are true (true is when highest bit of component is set)</div><div class="ttdef"><b>Definition</b> UVec4.inl:463</div></div>
    776. 

  776. <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>
    777. 

  777. <div class="ttc" id="aclass_vec3_html_a224811af391ccfd1e05282eda22d1de8"><div class="ttname"><a href="class_vec3.html#a224811af391ccfd1e05282eda22d1de8">Vec3::Cross</a></div><div class="ttdeci">JPH_INLINE Vec3 Cross(Vec3Arg inV2) const</div><div class="ttdoc">Cross product.</div><div class="ttdef"><b>Definition</b> Vec3.inl:595</div></div>
    778. 

  778. <div class="ttc" id="aclass_vec3_html_a38a9efffc3f9413f3dd702abc73eb9a2"><div class="ttname"><a href="class_vec3.html#a38a9efffc3f9413f3dd702abc73eb9a2">Vec3::Length</a></div><div class="ttdeci">JPH_INLINE float Length() const</div><div class="ttdoc">Length of vector.</div><div class="ttdef"><b>Definition</b> Vec3.inl:682</div></div>
    779. 

  779. <div class="ttc" id="aclass_vec4_html"><div class="ttname"><a href="class_vec4.html">Vec4</a></div><div class="ttdef"><b>Definition</b> Vec4.h:14</div></div>
    780. 

  780. <div class="ttc" id="aclass_vec4_html_a276178476f7db15b1925cae464f136cf"><div class="ttname"><a href="class_vec4.html#a276178476f7db15b1925cae464f136cf">Vec4::sATan2</a></div><div class="ttdeci">static Vec4 sATan2(Vec4Arg inY, Vec4Arg inX)</div><div class="ttdoc">Calculate the arc tangent of y / x using the signs of the arguments to determine the correct quadrant...</div><div class="ttdef"><b>Definition</b> Vec4.inl:1037</div></div>
    781. 

  781. <div class="ttc" id="aclass_vec4_html_a3779a0a05de85b286afeb12f65d08090"><div class="ttname"><a href="class_vec4.html#a3779a0a05de85b286afeb12f65d08090">Vec4::GetW</a></div><div class="ttdeci">JPH_INLINE float GetW() const</div><div class="ttdef"><b>Definition</b> Vec4.h:122</div></div>
    782. 

  782. <div class="ttc" id="aclass_vec4_html_a698a4e6c270545046633b043eb36d21f"><div class="ttname"><a href="class_vec4.html#a698a4e6c270545046633b043eb36d21f">Vec4::sEquals</a></div><div class="ttdeci">static JPH_INLINE UVec4 sEquals(Vec4Arg inV1, Vec4Arg inV2)</div><div class="ttdoc">Equals (component wise)</div><div class="ttdef"><b>Definition</b> Vec4.inl:176</div></div>
    783. 

  783. <div class="ttc" id="aclass_vec4_html_a85510ae45bcc02e079547de4bf4b6983"><div class="ttname"><a href="class_vec4.html#a85510ae45bcc02e079547de4bf4b6983">Vec4::sMin</a></div><div class="ttdeci">static JPH_INLINE Vec4 sMin(Vec4Arg inV1, Vec4Arg inV2)</div><div class="ttdoc">Return the minimum value of each of the components.</div><div class="ttdef"><b>Definition</b> Vec4.inl:143</div></div>
    784. 

  784. <div class="ttc" id="aclass_vec4_html_aa890d45169669b6845a2770a72166fcf"><div class="ttname"><a href="class_vec4.html#aa890d45169669b6845a2770a72166fcf">Vec4::SplatW</a></div><div class="ttdeci">JPH_INLINE Vec4 SplatW() const</div><div class="ttdoc">Replicate the W component to all components.</div><div class="ttdef"><b>Definition</b> Vec4.inl:606</div></div>
    785. 

  785. <div class="ttc" id="aclass_vec4_html_aad89aa3a9c4215f45c0dbe1fb65830c3"><div class="ttname"><a href="class_vec4.html#aad89aa3a9c4215f45c0dbe1fb65830c3">Vec4::GetX</a></div><div class="ttdeci">JPH_INLINE float GetX() const</div><div class="ttdoc">Get individual components.</div><div class="ttdef"><b>Definition</b> Vec4.h:119</div></div>
    786. 

  786. <div class="ttc" id="aclass_vec4_html_abc7417303ad93e9bbe7506e7cd045724"><div class="ttname"><a href="class_vec4.html#abc7417303ad93e9bbe7506e7cd045724">Vec4::Swizzle</a></div><div class="ttdeci">JPH_INLINE Vec4 Swizzle() const</div><div class="ttdoc">Swizzle the elements in inV.</div></div>
    787. 

  787. <div class="ttc" id="aclass_vec4_html_ad41f746bf922376846050d932c0de23d"><div class="ttname"><a href="class_vec4.html#ad41f746bf922376846050d932c0de23d">Vec4::sMax</a></div><div class="ttdeci">static JPH_INLINE Vec4 sMax(Vec4Arg inV1, Vec4Arg inV2)</div><div class="ttdoc">Return the maximum of each of the components.</div><div class="ttdef"><b>Definition</b> Vec4.inl:157</div></div>
    788. 

  788. <div class="ttc" id="aclass_vec4_html_ae5f0ef8f9fd4deb1359806fac122f309"><div class="ttname"><a href="class_vec4.html#ae5f0ef8f9fd4deb1359806fac122f309">Vec4::GetZ</a></div><div class="ttdeci">JPH_INLINE float GetZ() const</div><div class="ttdef"><b>Definition</b> Vec4.h:121</div></div>
    789. 

  789. <div class="ttc" id="aclass_vec4_html_aee5a8598cce851f687263d9b3a163989"><div class="ttname"><a href="class_vec4.html#aee5a8598cce851f687263d9b3a163989">Vec4::GetY</a></div><div class="ttdeci">JPH_INLINE float GetY() const</div><div class="ttdef"><b>Definition</b> Vec4.h:120</div></div>
    790. 

  790. <div class="ttc" id="aclass_vec4_html_af7e7da5ada5c3e85aac45d62871a867c"><div class="ttname"><a href="class_vec4.html#af7e7da5ada5c3e85aac45d62871a867c">Vec4::SinCos</a></div><div class="ttdeci">void SinCos(Vec4 &amp;outSin, Vec4 &amp;outCos) const</div><div class="ttdoc">Calculate the sine and cosine for each element of this vector (input in radians)</div><div class="ttdef"><b>Definition</b> Vec4.inl:867</div></div>
    791. 

  791. </div><!-- fragment --></div><!-- contents -->
    792. 

  792. </div><!-- doc-content -->
    793. 

  793. <!-- start footer part -->
    794. 

  794. <div id="nav-path" class="navpath"><!-- id is needed for treeview function! -->
    795. 

  795.   <ul>
    796. 

  796.     <li class="navelem"><a class="el" href="dir_d99289a5d3c46cf26f14ff6c90658d9f.html">Jolt</a></li><li class="navelem"><a class="el" href="dir_a0f33af92addde396fc27b064c5eb8a9.html">Physics</a></li><li class="navelem"><a class="el" href="dir_166975991df1b4ecc6dd5a6639d45e50.html">Constraints</a></li><li class="navelem"><a class="el" href="dir_e6c5fb27ccbee0305acd3bb7c27d0472.html">ConstraintPart</a></li><li class="navelem"><a class="el" href="_swing_twist_constraint_part_8h.html">SwingTwistConstraintPart.h</a></li>
    797. 

  797.     <li class="footer">Generated by <a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.12.0 </li>
    798. 

  798.   </ul>
    799. 

  799. </div>
    800. 

  800. </body>
    801. 

  801. </html>
    802.