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<div class="header">
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<a href="#pub-methods">Public Member Functions</a> &#124;
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  <div class="headertitle"><div class="title">AngleConstraintPart Class Reference</div></div>
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<p><code>#include &lt;<a class="el" href="_angle_constraint_part_8h_source.html">AngleConstraintPart.h</a>&gt;</code></p>
<table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a id="pub-methods" name="pub-methods"></a>
Public Member Functions</h2></td></tr>
<tr class="memitem:a4db6fb3120c161301e04ee92276544d4" id="r_a4db6fb3120c161301e04ee92276544d4"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#a4db6fb3120c161301e04ee92276544d4">CalculateConstraintProperties</a> (const <a class="el" href="class_body.html">Body</a> &amp;inBody1, const <a class="el" href="class_body.html">Body</a> &amp;inBody2, <a class="el" href="_math_types_8h.html#a6bc57c31f15cea47640b580d03737c68">Vec3Arg</a> inWorldSpaceAxis, float inBias=0.0f)</td></tr>
<tr class="separator:a4db6fb3120c161301e04ee92276544d4"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ace82e23e9129e1c30c93134a2d75504e" id="r_ace82e23e9129e1c30c93134a2d75504e"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#ace82e23e9129e1c30c93134a2d75504e">CalculateConstraintPropertiesWithFrequencyAndDamping</a> (float inDeltaTime, const <a class="el" href="class_body.html">Body</a> &amp;inBody1, const <a class="el" href="class_body.html">Body</a> &amp;inBody2, <a class="el" href="_math_types_8h.html#a6bc57c31f15cea47640b580d03737c68">Vec3Arg</a> inWorldSpaceAxis, float inBias, float inC, float inFrequency, float inDamping)</td></tr>
<tr class="separator:ace82e23e9129e1c30c93134a2d75504e"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a13c8d05c1aef17b2edc81da4ea754404" id="r_a13c8d05c1aef17b2edc81da4ea754404"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#a13c8d05c1aef17b2edc81da4ea754404">CalculateConstraintPropertiesWithStiffnessAndDamping</a> (float inDeltaTime, const <a class="el" href="class_body.html">Body</a> &amp;inBody1, const <a class="el" href="class_body.html">Body</a> &amp;inBody2, <a class="el" href="_math_types_8h.html#a6bc57c31f15cea47640b580d03737c68">Vec3Arg</a> inWorldSpaceAxis, float inBias, float inC, float inStiffness, float inDamping)</td></tr>
<tr class="separator:a13c8d05c1aef17b2edc81da4ea754404"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ac8eb562a067ed5596aca09e04ffc32d1" id="r_ac8eb562a067ed5596aca09e04ffc32d1"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#ac8eb562a067ed5596aca09e04ffc32d1">CalculateConstraintPropertiesWithSettings</a> (float inDeltaTime, const <a class="el" href="class_body.html">Body</a> &amp;inBody1, const <a class="el" href="class_body.html">Body</a> &amp;inBody2, <a class="el" href="_math_types_8h.html#a6bc57c31f15cea47640b580d03737c68">Vec3Arg</a> inWorldSpaceAxis, float inBias, float inC, const <a class="el" href="class_spring_settings.html">SpringSettings</a> &amp;inSpringSettings)</td></tr>
<tr class="memdesc:ac8eb562a067ed5596aca09e04ffc32d1"><td class="mdescLeft">&#160;</td><td class="mdescRight">Selects one of the above functions based on the spring settings.  <br /></td></tr>
<tr class="separator:ac8eb562a067ed5596aca09e04ffc32d1"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a27c8bf9c172f0d3867c1a489aa08c840" id="r_a27c8bf9c172f0d3867c1a489aa08c840"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#a27c8bf9c172f0d3867c1a489aa08c840">Deactivate</a> ()</td></tr>
<tr class="memdesc:a27c8bf9c172f0d3867c1a489aa08c840"><td class="mdescLeft">&#160;</td><td class="mdescRight">Deactivate this constraint.  <br /></td></tr>
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<tr class="memitem:a470e2813d397af02acc6bf8e8373431c" id="r_a470e2813d397af02acc6bf8e8373431c"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#a470e2813d397af02acc6bf8e8373431c">IsActive</a> () const</td></tr>
<tr class="memdesc:a470e2813d397af02acc6bf8e8373431c"><td class="mdescLeft">&#160;</td><td class="mdescRight">Check if constraint is active.  <br /></td></tr>
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<tr class="memitem:a8b54544706a1005ac865db7c445b76f1" id="r_a8b54544706a1005ac865db7c445b76f1"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#a8b54544706a1005ac865db7c445b76f1">WarmStart</a> (<a class="el" href="class_body.html">Body</a> &amp;ioBody1, <a class="el" href="class_body.html">Body</a> &amp;ioBody2, float inWarmStartImpulseRatio)</td></tr>
<tr class="separator:a8b54544706a1005ac865db7c445b76f1"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:aab9cd08fa77ca04f5ab6a6d5cfd78538" id="r_aab9cd08fa77ca04f5ab6a6d5cfd78538"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#aab9cd08fa77ca04f5ab6a6d5cfd78538">SolveVelocityConstraint</a> (<a class="el" href="class_body.html">Body</a> &amp;ioBody1, <a class="el" href="class_body.html">Body</a> &amp;ioBody2, <a class="el" href="_math_types_8h.html#a6bc57c31f15cea47640b580d03737c68">Vec3Arg</a> inWorldSpaceAxis, float inMinLambda, float inMaxLambda)</td></tr>
<tr class="separator:aab9cd08fa77ca04f5ab6a6d5cfd78538"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:af482295498d9ca4f6fcdd0c034d0fb90" id="r_af482295498d9ca4f6fcdd0c034d0fb90"><td class="memItemLeft" align="right" valign="top">float&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#af482295498d9ca4f6fcdd0c034d0fb90">GetTotalLambda</a> () const</td></tr>
<tr class="memdesc:af482295498d9ca4f6fcdd0c034d0fb90"><td class="mdescLeft">&#160;</td><td class="mdescRight">Return lagrange multiplier.  <br /></td></tr>
<tr class="separator:af482295498d9ca4f6fcdd0c034d0fb90"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a11bb8ed0daf36021dc407fd13cbfde90" id="r_a11bb8ed0daf36021dc407fd13cbfde90"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#a11bb8ed0daf36021dc407fd13cbfde90">SolvePositionConstraint</a> (<a class="el" href="class_body.html">Body</a> &amp;ioBody1, <a class="el" href="class_body.html">Body</a> &amp;ioBody2, float inC, float inBaumgarte) const</td></tr>
<tr class="separator:a11bb8ed0daf36021dc407fd13cbfde90"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ab75081badd77c6854423f45825ff36ce" id="r_ab75081badd77c6854423f45825ff36ce"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#ab75081badd77c6854423f45825ff36ce">SaveState</a> (<a class="el" href="class_state_recorder.html">StateRecorder</a> &amp;inStream) const</td></tr>
<tr class="memdesc:ab75081badd77c6854423f45825ff36ce"><td class="mdescLeft">&#160;</td><td class="mdescRight">Save state of this constraint part.  <br /></td></tr>
<tr class="separator:ab75081badd77c6854423f45825ff36ce"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a80bd3ee7db86967d1a55100ab244d01c" id="r_a80bd3ee7db86967d1a55100ab244d01c"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#a80bd3ee7db86967d1a55100ab244d01c">RestoreState</a> (<a class="el" href="class_state_recorder.html">StateRecorder</a> &amp;inStream)</td></tr>
<tr class="memdesc:a80bd3ee7db86967d1a55100ab244d01c"><td class="mdescLeft">&#160;</td><td class="mdescRight">Restore state of this constraint part.  <br /></td></tr>
<tr class="separator:a80bd3ee7db86967d1a55100ab244d01c"><td class="memSeparator" colspan="2">&#160;</td></tr>
</table>
<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
<div class="textblock"><p><a class="el" href="class_constraint.html" title="Base class for all physics constraints. A constraint removes one or more degrees of freedom for a rig...">Constraint</a> that constrains rotation along 1 axis</p>
<p>Based on: "Constraints Derivation for Rigid Body Simulation in 3D" - Daniel Chappuis, see section 2.4.5</p>
<p><a class="el" href="class_constraint.html" title="Base class for all physics constraints. A constraint removes one or more degrees of freedom for a rig...">Constraint</a> equation (eq 108):</p>
<p class="formulaDsp">
\[C = \theta(t) - \theta_{min}\]
</p>
<p>Jacobian (eq 109):</p>
<p class="formulaDsp">
\[J = \begin{bmatrix}0 &amp; -a^T &amp; 0 &amp; a^T\end{bmatrix}\]
</p>
<p>Used terms (here and below, everything in world space):<br  />
a = axis around which rotation is constrained (normalized).<br  />
x1, x2 = center of mass for the bodies.<br  />
v = [v1, w1, v2, w2].<br  />
v1, v2 = linear velocity of body 1 and 2.<br  />
w1, w2 = angular velocity of body 1 and 2.<br  />
M = mass matrix, a diagonal matrix of the mass and inertia with diagonal [m1, I1, m2, I2].<br  />
 \(K^{-1} = \left( J M^{-1} J^T \right)^{-1}\) = effective mass.<br  />
b = velocity bias.<br  />
 \(\beta\) = baumgarte constant. </p>
</div><h2 class="groupheader">Member Function Documentation</h2>
<a id="a4db6fb3120c161301e04ee92276544d4" name="a4db6fb3120c161301e04ee92276544d4"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a4db6fb3120c161301e04ee92276544d4">&#9670;&#160;</a></span>CalculateConstraintProperties()</h2>

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          <td class="memname">void AngleConstraintPart::CalculateConstraintProperties </td>
          <td>(</td>
          <td class="paramtype">const <a class="el" href="class_body.html">Body</a> &amp;</td>          <td class="paramname"><span class="paramname"><em>inBody1</em></span>, </td>
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          <td></td>
          <td class="paramtype">const <a class="el" href="class_body.html">Body</a> &amp;</td>          <td class="paramname"><span class="paramname"><em>inBody2</em></span>, </td>
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          <td class="paramtype"><a class="el" href="_math_types_8h.html#a6bc57c31f15cea47640b580d03737c68">Vec3Arg</a></td>          <td class="paramname"><span class="paramname"><em>inWorldSpaceAxis</em></span>, </td>
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          <td class="paramkey"></td>
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          <td class="paramtype">float</td>          <td class="paramname"><span class="paramname"><em>inBias</em></span><span class="paramdefsep"> = </span><span class="paramdefval">0.0f</span>&#160;)</td>
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<p>Calculate properties used during the functions below </p><dl class="params"><dt>Parameters</dt><dd>
  <table class="params">
    <tr><td class="paramname">inBody1</td><td>The first body that this constraint is attached to </td></tr>
    <tr><td class="paramname">inBody2</td><td>The second body that this constraint is attached to </td></tr>
    <tr><td class="paramname">inWorldSpaceAxis</td><td>The axis of rotation along which the constraint acts (normalized) Set the following terms to zero if you don't want to drive the constraint to zero with a spring: </td></tr>
    <tr><td class="paramname">inBias</td><td>Bias term (b) for the constraint impulse: lambda = J v + b </td></tr>
  </table>
  </dd>
</dl>

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<a id="ace82e23e9129e1c30c93134a2d75504e" name="ace82e23e9129e1c30c93134a2d75504e"></a>
<h2 class="memtitle"><span class="permalink"><a href="#ace82e23e9129e1c30c93134a2d75504e">&#9670;&#160;</a></span>CalculateConstraintPropertiesWithFrequencyAndDamping()</h2>

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          <td class="memname">void AngleConstraintPart::CalculateConstraintPropertiesWithFrequencyAndDamping </td>
          <td>(</td>
          <td class="paramtype">float</td>          <td class="paramname"><span class="paramname"><em>inDeltaTime</em></span>, </td>
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          <td class="paramtype">const <a class="el" href="class_body.html">Body</a> &amp;</td>          <td class="paramname"><span class="paramname"><em>inBody1</em></span>, </td>
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          <td class="paramkey"></td>
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          <td class="paramtype">const <a class="el" href="class_body.html">Body</a> &amp;</td>          <td class="paramname"><span class="paramname"><em>inBody2</em></span>, </td>
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          <td class="paramkey"></td>
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          <td class="paramtype"><a class="el" href="_math_types_8h.html#a6bc57c31f15cea47640b580d03737c68">Vec3Arg</a></td>          <td class="paramname"><span class="paramname"><em>inWorldSpaceAxis</em></span>, </td>
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          <td class="paramtype">float</td>          <td class="paramname"><span class="paramname"><em>inBias</em></span>, </td>
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          <td class="paramtype">float</td>          <td class="paramname"><span class="paramname"><em>inC</em></span>, </td>
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          <td class="paramtype">float</td>          <td class="paramname"><span class="paramname"><em>inFrequency</em></span>, </td>
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          <td class="paramtype">float</td>          <td class="paramname"><span class="paramname"><em>inDamping</em></span>&#160;)</td>
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<p>Calculate properties used during the functions below </p><dl class="params"><dt>Parameters</dt><dd>
  <table class="params">
    <tr><td class="paramname">inDeltaTime</td><td>Time step </td></tr>
    <tr><td class="paramname">inBody1</td><td>The first body that this constraint is attached to </td></tr>
    <tr><td class="paramname">inBody2</td><td>The second body that this constraint is attached to </td></tr>
    <tr><td class="paramname">inWorldSpaceAxis</td><td>The axis of rotation along which the constraint acts (normalized) Set the following terms to zero if you don't want to drive the constraint to zero with a spring: </td></tr>
    <tr><td class="paramname">inBias</td><td>Bias term (b) for the constraint impulse: lambda = J v + b </td></tr>
    <tr><td class="paramname">inC</td><td>Value of the constraint equation (C) </td></tr>
    <tr><td class="paramname">inFrequency</td><td>Oscillation frequency (Hz) </td></tr>
    <tr><td class="paramname">inDamping</td><td>Damping factor (0 = no damping, 1 = critical damping) </td></tr>
  </table>
  </dd>
</dl>

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<h2 class="memtitle"><span class="permalink"><a href="#ac8eb562a067ed5596aca09e04ffc32d1">&#9670;&#160;</a></span>CalculateConstraintPropertiesWithSettings()</h2>

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          <td class="paramtype">float</td>          <td class="paramname"><span class="paramname"><em>inDeltaTime</em></span>, </td>
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<p>Selects one of the above functions based on the spring settings. </p>

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<h2 class="memtitle"><span class="permalink"><a href="#a13c8d05c1aef17b2edc81da4ea754404">&#9670;&#160;</a></span>CalculateConstraintPropertiesWithStiffnessAndDamping()</h2>

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<p>Calculate properties used during the functions below </p><dl class="params"><dt>Parameters</dt><dd>
  <table class="params">
    <tr><td class="paramname">inDeltaTime</td><td>Time step </td></tr>
    <tr><td class="paramname">inBody1</td><td>The first body that this constraint is attached to </td></tr>
    <tr><td class="paramname">inBody2</td><td>The second body that this constraint is attached to </td></tr>
    <tr><td class="paramname">inWorldSpaceAxis</td><td>The axis of rotation along which the constraint acts (normalized) Set the following terms to zero if you don't want to drive the constraint to zero with a spring: </td></tr>
    <tr><td class="paramname">inBias</td><td>Bias term (b) for the constraint impulse: lambda = J v + b </td></tr>
    <tr><td class="paramname">inC</td><td>Value of the constraint equation (C) </td></tr>
    <tr><td class="paramname">inStiffness</td><td>Spring stiffness k. </td></tr>
    <tr><td class="paramname">inDamping</td><td>Spring damping coefficient c. </td></tr>
  </table>
  </dd>
</dl>

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<h2 class="memtitle"><span class="permalink"><a href="#a27c8bf9c172f0d3867c1a489aa08c840">&#9670;&#160;</a></span>Deactivate()</h2>

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<p>Deactivate this constraint. </p>

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<h2 class="memtitle"><span class="permalink"><a href="#af482295498d9ca4f6fcdd0c034d0fb90">&#9670;&#160;</a></span>GetTotalLambda()</h2>

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<p>Return lagrange multiplier. </p>

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<h2 class="memtitle"><span class="permalink"><a href="#a470e2813d397af02acc6bf8e8373431c">&#9670;&#160;</a></span>IsActive()</h2>

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<p>Check if constraint is active. </p>

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<h2 class="memtitle"><span class="permalink"><a href="#a80bd3ee7db86967d1a55100ab244d01c">&#9670;&#160;</a></span>RestoreState()</h2>

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<p>Restore state of this constraint part. </p>

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<h2 class="memtitle"><span class="permalink"><a href="#ab75081badd77c6854423f45825ff36ce">&#9670;&#160;</a></span>SaveState()</h2>

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<p>Save state of this constraint part. </p>

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<h2 class="memtitle"><span class="permalink"><a href="#a11bb8ed0daf36021dc407fd13cbfde90">&#9670;&#160;</a></span>SolvePositionConstraint()</h2>

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<p>Iteratively update the position constraint. Makes sure C(...) == 0. </p><dl class="params"><dt>Parameters</dt><dd>
  <table class="params">
    <tr><td class="paramname">ioBody1</td><td>The first body that this constraint is attached to </td></tr>
    <tr><td class="paramname">ioBody2</td><td>The second body that this constraint is attached to </td></tr>
    <tr><td class="paramname">inC</td><td>Value of the constraint equation (C) </td></tr>
    <tr><td class="paramname">inBaumgarte</td><td>Baumgarte constant (fraction of the error to correct) </td></tr>
  </table>
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</dl>

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<h2 class="memtitle"><span class="permalink"><a href="#aab9cd08fa77ca04f5ab6a6d5cfd78538">&#9670;&#160;</a></span>SolveVelocityConstraint()</h2>

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          <td class="paramtype"><a class="el" href="_math_types_8h.html#a6bc57c31f15cea47640b580d03737c68">Vec3Arg</a></td>          <td class="paramname"><span class="paramname"><em>inWorldSpaceAxis</em></span>, </td>
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          <td class="paramtype">float</td>          <td class="paramname"><span class="paramname"><em>inMinLambda</em></span>, </td>
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          <td class="paramtype">float</td>          <td class="paramname"><span class="paramname"><em>inMaxLambda</em></span>&#160;)</td>
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<p>Iteratively update the velocity constraint. Makes sure d/dt C(...) = 0, where C is the constraint equation. </p><dl class="params"><dt>Parameters</dt><dd>
  <table class="params">
    <tr><td class="paramname">ioBody1</td><td>The first body that this constraint is attached to </td></tr>
    <tr><td class="paramname">ioBody2</td><td>The second body that this constraint is attached to </td></tr>
    <tr><td class="paramname">inWorldSpaceAxis</td><td>The axis of rotation along which the constraint acts (normalized) </td></tr>
    <tr><td class="paramname">inMinLambda</td><td>Minimum angular impulse to apply (N m s) </td></tr>
    <tr><td class="paramname">inMaxLambda</td><td>Maximum angular impulse to apply (N m s) </td></tr>
  </table>
  </dd>
</dl>

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<h2 class="memtitle"><span class="permalink"><a href="#a8b54544706a1005ac865db7c445b76f1">&#9670;&#160;</a></span>WarmStart()</h2>

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          <td class="paramtype"><a class="el" href="class_body.html">Body</a> &amp;</td>          <td class="paramname"><span class="paramname"><em>ioBody1</em></span>, </td>
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          <td class="paramtype">float</td>          <td class="paramname"><span class="paramname"><em>inWarmStartImpulseRatio</em></span>&#160;)</td>
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<p>Must be called from the WarmStartVelocityConstraint call to apply the previous frame's impulses </p><dl class="params"><dt>Parameters</dt><dd>
  <table class="params">
    <tr><td class="paramname">ioBody1</td><td>The first body that this constraint is attached to </td></tr>
    <tr><td class="paramname">ioBody2</td><td>The second body that this constraint is attached to </td></tr>
    <tr><td class="paramname">inWarmStartImpulseRatio</td><td>Ratio of new step to old time step (dt_new / dt_old) for scaling the lagrange multiplier of the previous frame </td></tr>
  </table>
  </dd>
</dl>

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<hr/>The documentation for this class was generated from the following file:<ul>
<li>Jolt/Physics/Constraints/ConstraintPart/<a class="el" href="_angle_constraint_part_8h_source.html">AngleConstraintPart.h</a></li>
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