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  109. <a href="#pub-methods">Public Member Functions</a> &#124;
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  111.   <div class="headertitle"><div class="title">AxisConstraintPart Class Reference</div></div>
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  114. 

  115. <p><code>#include &lt;<a class="el" href="_axis_constraint_part_8h_source.html">AxisConstraintPart.h</a>&gt;</code></p>
    116. 

  116. <table class="memberdecls">
    117. 

  117. <tr class="heading"><td colspan="2"><h2 class="groupheader"><a id="pub-methods" name="pub-methods"></a>
    118. 

  118. Public Member Functions</h2></td></tr>
    119. 

  119. <tr class="memitem:a5a8bc2c7a35f60b63e233ed13db1749b" id="r_a5a8bc2c7a35f60b63e233ed13db1749b"><td class="memTemplParams" colspan="2">template&lt;<a class="el" href="_motion_type_8h.html#a328245ddbb758681fad3c44c9d488fd8">EMotionType</a> Type1, <a class="el" href="_motion_type_8h.html#a328245ddbb758681fad3c44c9d488fd8">EMotionType</a> Type2&gt; </td></tr>
    120. 

  120. <tr class="memitem:a5a8bc2c7a35f60b63e233ed13db1749b"><td class="memTemplItemLeft" align="right" valign="top">JPH_INLINE void&#160;</td><td class="memTemplItemRight" valign="bottom"><a class="el" href="#a5a8bc2c7a35f60b63e233ed13db1749b">TemplatedCalculateConstraintProperties</a> (float inInvMass1, <a class="el" href="_math_types_8h.html#af10dd31c5ad4acb62aba8025732597e6">Mat44Arg</a> inInvI1, <a class="el" href="_math_types_8h.html#a6bc57c31f15cea47640b580d03737c68">Vec3Arg</a> inR1PlusU, float inInvMass2, <a class="el" href="_math_types_8h.html#af10dd31c5ad4acb62aba8025732597e6">Mat44Arg</a> inInvI2, <a class="el" href="_math_types_8h.html#a6bc57c31f15cea47640b580d03737c68">Vec3Arg</a> inR2, <a class="el" href="_math_types_8h.html#a6bc57c31f15cea47640b580d03737c68">Vec3Arg</a> inWorldSpaceAxis, float inBias=0.0f)</td></tr>
    121. 

  121. <tr class="memdesc:a5a8bc2c7a35f60b63e233ed13db1749b"><td class="mdescLeft">&#160;</td><td class="mdescRight">Templated form of CalculateConstraintProperties with the motion types baked in.  <br /></td></tr>
    122. 

  122. <tr class="separator:a5a8bc2c7a35f60b63e233ed13db1749b"><td class="memSeparator" colspan="2">&#160;</td></tr>
    123. 

  123. <tr class="memitem:aeff890db41d91de6fddb9a2872d9e146" id="r_aeff890db41d91de6fddb9a2872d9e146"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#aeff890db41d91de6fddb9a2872d9e146">CalculateConstraintProperties</a> (const <a class="el" href="class_body.html">Body</a> &amp;inBody1, <a class="el" href="_math_types_8h.html#a6bc57c31f15cea47640b580d03737c68">Vec3Arg</a> inR1PlusU, const <a class="el" href="class_body.html">Body</a> &amp;inBody2, <a class="el" href="_math_types_8h.html#a6bc57c31f15cea47640b580d03737c68">Vec3Arg</a> inR2, <a class="el" href="_math_types_8h.html#a6bc57c31f15cea47640b580d03737c68">Vec3Arg</a> inWorldSpaceAxis, float inBias=0.0f)</td></tr>
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  124. <tr class="separator:aeff890db41d91de6fddb9a2872d9e146"><td class="memSeparator" colspan="2">&#160;</td></tr>
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  125. <tr class="memitem:a747c6cfe29af60b2e718af65f8066712" id="r_a747c6cfe29af60b2e718af65f8066712"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#a747c6cfe29af60b2e718af65f8066712">CalculateConstraintPropertiesWithMassOverride</a> (const <a class="el" href="class_body.html">Body</a> &amp;inBody1, float inInvMass1, float inInvInertiaScale1, <a class="el" href="_math_types_8h.html#a6bc57c31f15cea47640b580d03737c68">Vec3Arg</a> inR1PlusU, const <a class="el" href="class_body.html">Body</a> &amp;inBody2, float inInvMass2, float inInvInertiaScale2, <a class="el" href="_math_types_8h.html#a6bc57c31f15cea47640b580d03737c68">Vec3Arg</a> inR2, <a class="el" href="_math_types_8h.html#a6bc57c31f15cea47640b580d03737c68">Vec3Arg</a> inWorldSpaceAxis, float inBias=0.0f)</td></tr>
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  126. <tr class="separator:a747c6cfe29af60b2e718af65f8066712"><td class="memSeparator" colspan="2">&#160;</td></tr>
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  127. <tr class="memitem:a5b0fcca001a8673716a9e6acaaf030a4" id="r_a5b0fcca001a8673716a9e6acaaf030a4"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#a5b0fcca001a8673716a9e6acaaf030a4">CalculateConstraintPropertiesWithFrequencyAndDamping</a> (float inDeltaTime, const <a class="el" href="class_body.html">Body</a> &amp;inBody1, <a class="el" href="_math_types_8h.html#a6bc57c31f15cea47640b580d03737c68">Vec3Arg</a> inR1PlusU, const <a class="el" href="class_body.html">Body</a> &amp;inBody2, <a class="el" href="_math_types_8h.html#a6bc57c31f15cea47640b580d03737c68">Vec3Arg</a> inR2, <a class="el" href="_math_types_8h.html#a6bc57c31f15cea47640b580d03737c68">Vec3Arg</a> inWorldSpaceAxis, float inBias, float inC, float inFrequency, float inDamping)</td></tr>
    128. 

  128. <tr class="separator:a5b0fcca001a8673716a9e6acaaf030a4"><td class="memSeparator" colspan="2">&#160;</td></tr>
    129. 

  129. <tr class="memitem:ae8c4a8375c2a6f88e2adf1398743bed3" id="r_ae8c4a8375c2a6f88e2adf1398743bed3"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#ae8c4a8375c2a6f88e2adf1398743bed3">CalculateConstraintPropertiesWithStiffnessAndDamping</a> (float inDeltaTime, const <a class="el" href="class_body.html">Body</a> &amp;inBody1, <a class="el" href="_math_types_8h.html#a6bc57c31f15cea47640b580d03737c68">Vec3Arg</a> inR1PlusU, const <a class="el" href="class_body.html">Body</a> &amp;inBody2, <a class="el" href="_math_types_8h.html#a6bc57c31f15cea47640b580d03737c68">Vec3Arg</a> inR2, <a class="el" href="_math_types_8h.html#a6bc57c31f15cea47640b580d03737c68">Vec3Arg</a> inWorldSpaceAxis, float inBias, float inC, float inStiffness, float inDamping)</td></tr>
    130. 

  130. <tr class="separator:ae8c4a8375c2a6f88e2adf1398743bed3"><td class="memSeparator" colspan="2">&#160;</td></tr>
    131. 

  131. <tr class="memitem:a0fa7dab4d8e1aa0b78e38ba24d926a9b" id="r_a0fa7dab4d8e1aa0b78e38ba24d926a9b"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#a0fa7dab4d8e1aa0b78e38ba24d926a9b">CalculateConstraintPropertiesWithSettings</a> (float inDeltaTime, const <a class="el" href="class_body.html">Body</a> &amp;inBody1, <a class="el" href="_math_types_8h.html#a6bc57c31f15cea47640b580d03737c68">Vec3Arg</a> inR1PlusU, const <a class="el" href="class_body.html">Body</a> &amp;inBody2, <a class="el" href="_math_types_8h.html#a6bc57c31f15cea47640b580d03737c68">Vec3Arg</a> inR2, <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>
    132. 

  132. <tr class="memdesc:a0fa7dab4d8e1aa0b78e38ba24d926a9b"><td class="mdescLeft">&#160;</td><td class="mdescRight">Selects one of the above functions based on the spring settings.  <br /></td></tr>
    133. 

  133. <tr class="separator:a0fa7dab4d8e1aa0b78e38ba24d926a9b"><td class="memSeparator" colspan="2">&#160;</td></tr>
    134. 

  134. <tr class="memitem:a6b2103009bf467876c92689dc3fec29d" id="r_a6b2103009bf467876c92689dc3fec29d"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#a6b2103009bf467876c92689dc3fec29d">Deactivate</a> ()</td></tr>
    135. 

  135. <tr class="memdesc:a6b2103009bf467876c92689dc3fec29d"><td class="mdescLeft">&#160;</td><td class="mdescRight">Deactivate this constraint.  <br /></td></tr>
    136. 

  136. <tr class="separator:a6b2103009bf467876c92689dc3fec29d"><td class="memSeparator" colspan="2">&#160;</td></tr>
    137. 

  137. <tr class="memitem:a20095a523dff24e09134b315841f1fcb" id="r_a20095a523dff24e09134b315841f1fcb"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#a20095a523dff24e09134b315841f1fcb">IsActive</a> () const</td></tr>
    138. 

  138. <tr class="memdesc:a20095a523dff24e09134b315841f1fcb"><td class="mdescLeft">&#160;</td><td class="mdescRight">Check if constraint is active.  <br /></td></tr>
    139. 

  139. <tr class="separator:a20095a523dff24e09134b315841f1fcb"><td class="memSeparator" colspan="2">&#160;</td></tr>
    140. 

  140. <tr class="memitem:adb5b5d041b1261d227b2d657a93cabd9" id="r_adb5b5d041b1261d227b2d657a93cabd9"><td class="memTemplParams" colspan="2">template&lt;<a class="el" href="_motion_type_8h.html#a328245ddbb758681fad3c44c9d488fd8">EMotionType</a> Type1, <a class="el" href="_motion_type_8h.html#a328245ddbb758681fad3c44c9d488fd8">EMotionType</a> Type2&gt; </td></tr>
    141. 

  141. <tr class="memitem:adb5b5d041b1261d227b2d657a93cabd9"><td class="memTemplItemLeft" align="right" valign="top">void&#160;</td><td class="memTemplItemRight" valign="bottom"><a class="el" href="#adb5b5d041b1261d227b2d657a93cabd9">TemplatedWarmStart</a> (<a class="el" href="class_motion_properties.html">MotionProperties</a> *ioMotionProperties1, float inInvMass1, <a class="el" href="class_motion_properties.html">MotionProperties</a> *ioMotionProperties2, float inInvMass2, <a class="el" href="_math_types_8h.html#a6bc57c31f15cea47640b580d03737c68">Vec3Arg</a> inWorldSpaceAxis, float inWarmStartImpulseRatio)</td></tr>
    142. 

  142. <tr class="memdesc:adb5b5d041b1261d227b2d657a93cabd9"><td class="mdescLeft">&#160;</td><td class="mdescRight">Templated form of WarmStart with the motion types baked in.  <br /></td></tr>
    143. 

  143. <tr class="separator:adb5b5d041b1261d227b2d657a93cabd9"><td class="memSeparator" colspan="2">&#160;</td></tr>
    144. 

  144. <tr class="memitem:a60befc8c7707dd567b633ecd7b870446" id="r_a60befc8c7707dd567b633ecd7b870446"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#a60befc8c7707dd567b633ecd7b870446">WarmStart</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 inWarmStartImpulseRatio)</td></tr>
    145. 

  145. <tr class="separator:a60befc8c7707dd567b633ecd7b870446"><td class="memSeparator" colspan="2">&#160;</td></tr>
    146. 

  146. <tr class="memitem:a9f2617fd84fcdd5a77f4502c6e327143" id="r_a9f2617fd84fcdd5a77f4502c6e327143"><td class="memTemplParams" colspan="2">template&lt;<a class="el" href="_motion_type_8h.html#a328245ddbb758681fad3c44c9d488fd8">EMotionType</a> Type1, <a class="el" href="_motion_type_8h.html#a328245ddbb758681fad3c44c9d488fd8">EMotionType</a> Type2&gt; </td></tr>
    147. 

  147. <tr class="memitem:a9f2617fd84fcdd5a77f4502c6e327143"><td class="memTemplItemLeft" align="right" valign="top">JPH_INLINE float&#160;</td><td class="memTemplItemRight" valign="bottom"><a class="el" href="#a9f2617fd84fcdd5a77f4502c6e327143">TemplatedSolveVelocityConstraintGetTotalLambda</a> (const <a class="el" href="class_motion_properties.html">MotionProperties</a> *ioMotionProperties1, const <a class="el" href="class_motion_properties.html">MotionProperties</a> *ioMotionProperties2, <a class="el" href="_math_types_8h.html#a6bc57c31f15cea47640b580d03737c68">Vec3Arg</a> inWorldSpaceAxis) const</td></tr>
    148. 

  148. <tr class="memdesc:a9f2617fd84fcdd5a77f4502c6e327143"><td class="mdescLeft">&#160;</td><td class="mdescRight">Templated form of SolveVelocityConstraint with the motion types baked in, part 1: get the total lambda.  <br /></td></tr>
    149. 

  149. <tr class="separator:a9f2617fd84fcdd5a77f4502c6e327143"><td class="memSeparator" colspan="2">&#160;</td></tr>
    150. 

  150. <tr class="memitem:aaf10ea43c5acaac802523b68dfbaf51d" id="r_aaf10ea43c5acaac802523b68dfbaf51d"><td class="memTemplParams" colspan="2">template&lt;<a class="el" href="_motion_type_8h.html#a328245ddbb758681fad3c44c9d488fd8">EMotionType</a> Type1, <a class="el" href="_motion_type_8h.html#a328245ddbb758681fad3c44c9d488fd8">EMotionType</a> Type2&gt; </td></tr>
    151. 

  151. <tr class="memitem:aaf10ea43c5acaac802523b68dfbaf51d"><td class="memTemplItemLeft" align="right" valign="top">JPH_INLINE bool&#160;</td><td class="memTemplItemRight" valign="bottom"><a class="el" href="#aaf10ea43c5acaac802523b68dfbaf51d">TemplatedSolveVelocityConstraintApplyLambda</a> (<a class="el" href="class_motion_properties.html">MotionProperties</a> *ioMotionProperties1, float inInvMass1, <a class="el" href="class_motion_properties.html">MotionProperties</a> *ioMotionProperties2, float inInvMass2, <a class="el" href="_math_types_8h.html#a6bc57c31f15cea47640b580d03737c68">Vec3Arg</a> inWorldSpaceAxis, float inTotalLambda)</td></tr>
    152. 

  152. <tr class="memdesc:aaf10ea43c5acaac802523b68dfbaf51d"><td class="mdescLeft">&#160;</td><td class="mdescRight">Templated form of SolveVelocityConstraint with the motion types baked in, part 2: apply new lambda.  <br /></td></tr>
    153. 

  153. <tr class="separator:aaf10ea43c5acaac802523b68dfbaf51d"><td class="memSeparator" colspan="2">&#160;</td></tr>
    154. 

  154. <tr class="memitem:a24593248d2181c548e9621817beab264" id="r_a24593248d2181c548e9621817beab264"><td class="memTemplParams" colspan="2">template&lt;<a class="el" href="_motion_type_8h.html#a328245ddbb758681fad3c44c9d488fd8">EMotionType</a> Type1, <a class="el" href="_motion_type_8h.html#a328245ddbb758681fad3c44c9d488fd8">EMotionType</a> Type2&gt; </td></tr>
    155. 

  155. <tr class="memitem:a24593248d2181c548e9621817beab264"><td class="memTemplItemLeft" align="right" valign="top">bool&#160;</td><td class="memTemplItemRight" valign="bottom"><a class="el" href="#a24593248d2181c548e9621817beab264">TemplatedSolveVelocityConstraint</a> (<a class="el" href="class_motion_properties.html">MotionProperties</a> *ioMotionProperties1, float inInvMass1, <a class="el" href="class_motion_properties.html">MotionProperties</a> *ioMotionProperties2, float inInvMass2, <a class="el" href="_math_types_8h.html#a6bc57c31f15cea47640b580d03737c68">Vec3Arg</a> inWorldSpaceAxis, float inMinLambda, float inMaxLambda)</td></tr>
    156. 

  156. <tr class="memdesc:a24593248d2181c548e9621817beab264"><td class="mdescLeft">&#160;</td><td class="mdescRight">Templated form of SolveVelocityConstraint with the motion types baked in.  <br /></td></tr>
    157. 

  157. <tr class="separator:a24593248d2181c548e9621817beab264"><td class="memSeparator" colspan="2">&#160;</td></tr>
    158. 

  158. <tr class="memitem:a0f72dffd609be0cba29f2619c5a2c63a" id="r_a0f72dffd609be0cba29f2619c5a2c63a"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#a0f72dffd609be0cba29f2619c5a2c63a">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>
    159. 

  159. <tr class="separator:a0f72dffd609be0cba29f2619c5a2c63a"><td class="memSeparator" colspan="2">&#160;</td></tr>
    160. 

  160. <tr class="memitem:aac25bbc0f7371f640c6e2af6a94c5cfc" id="r_aac25bbc0f7371f640c6e2af6a94c5cfc"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#aac25bbc0f7371f640c6e2af6a94c5cfc">SolveVelocityConstraintWithMassOverride</a> (<a class="el" href="class_body.html">Body</a> &amp;ioBody1, float inInvMass1, <a class="el" href="class_body.html">Body</a> &amp;ioBody2, float inInvMass2, <a class="el" href="_math_types_8h.html#a6bc57c31f15cea47640b580d03737c68">Vec3Arg</a> inWorldSpaceAxis, float inMinLambda, float inMaxLambda)</td></tr>
    161. 

  161. <tr class="separator:aac25bbc0f7371f640c6e2af6a94c5cfc"><td class="memSeparator" colspan="2">&#160;</td></tr>
    162. 

  162. <tr class="memitem:a12a0588911733208e89fa65de7e2b2fc" id="r_a12a0588911733208e89fa65de7e2b2fc"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#a12a0588911733208e89fa65de7e2b2fc">SolvePositionConstraint</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 inC, float inBaumgarte) const</td></tr>
    163. 

  163. <tr class="separator:a12a0588911733208e89fa65de7e2b2fc"><td class="memSeparator" colspan="2">&#160;</td></tr>
    164. 

  164. <tr class="memitem:a981dad22bd1333ed2147264f3285c112" id="r_a981dad22bd1333ed2147264f3285c112"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#a981dad22bd1333ed2147264f3285c112">SolvePositionConstraintWithMassOverride</a> (<a class="el" href="class_body.html">Body</a> &amp;ioBody1, float inInvMass1, <a class="el" href="class_body.html">Body</a> &amp;ioBody2, float inInvMass2, <a class="el" href="_math_types_8h.html#a6bc57c31f15cea47640b580d03737c68">Vec3Arg</a> inWorldSpaceAxis, float inC, float inBaumgarte) const</td></tr>
    165. 

  165. <tr class="separator:a981dad22bd1333ed2147264f3285c112"><td class="memSeparator" colspan="2">&#160;</td></tr>
    166. 

  166. <tr class="memitem:a21284d5ab7133a4e85f37fcfecb0be8e" id="r_a21284d5ab7133a4e85f37fcfecb0be8e"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#a21284d5ab7133a4e85f37fcfecb0be8e">SetTotalLambda</a> (float inLambda)</td></tr>
    167. 

  167. <tr class="memdesc:a21284d5ab7133a4e85f37fcfecb0be8e"><td class="mdescLeft">&#160;</td><td class="mdescRight">Override total lagrange multiplier, can be used to set the initial value for warm starting.  <br /></td></tr>
    168. 

  168. <tr class="separator:a21284d5ab7133a4e85f37fcfecb0be8e"><td class="memSeparator" colspan="2">&#160;</td></tr>
    169. 

  169. <tr class="memitem:a012581aad01dbf091d9f8e2cf0ea6605" id="r_a012581aad01dbf091d9f8e2cf0ea6605"><td class="memItemLeft" align="right" valign="top">float&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#a012581aad01dbf091d9f8e2cf0ea6605">GetTotalLambda</a> () const</td></tr>
    170. 

  170. <tr class="memdesc:a012581aad01dbf091d9f8e2cf0ea6605"><td class="mdescLeft">&#160;</td><td class="mdescRight">Return lagrange multiplier.  <br /></td></tr>
    171. 

  171. <tr class="separator:a012581aad01dbf091d9f8e2cf0ea6605"><td class="memSeparator" colspan="2">&#160;</td></tr>
    172. 

  172. <tr class="memitem:ad17a6a0c982d958f3e96e3b460315e5f" id="r_ad17a6a0c982d958f3e96e3b460315e5f"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#ad17a6a0c982d958f3e96e3b460315e5f">SaveState</a> (<a class="el" href="class_state_recorder.html">StateRecorder</a> &amp;inStream) const</td></tr>
    173. 

  173. <tr class="memdesc:ad17a6a0c982d958f3e96e3b460315e5f"><td class="mdescLeft">&#160;</td><td class="mdescRight">Save state of this constraint part.  <br /></td></tr>
    174. 

  174. <tr class="separator:ad17a6a0c982d958f3e96e3b460315e5f"><td class="memSeparator" colspan="2">&#160;</td></tr>
    175. 

  175. <tr class="memitem:afdaf8583a278a760eae80b8169ee6989" id="r_afdaf8583a278a760eae80b8169ee6989"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#afdaf8583a278a760eae80b8169ee6989">RestoreState</a> (<a class="el" href="class_state_recorder.html">StateRecorder</a> &amp;inStream)</td></tr>
    176. 

  176. <tr class="memdesc:afdaf8583a278a760eae80b8169ee6989"><td class="mdescLeft">&#160;</td><td class="mdescRight">Restore state of this constraint part.  <br /></td></tr>
    177. 

  177. <tr class="separator:afdaf8583a278a760eae80b8169ee6989"><td class="memSeparator" colspan="2">&#160;</td></tr>
    178. 

  178. </table>
    179. 

  179. <a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
    180. 

  180. <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 motion along 1 axis</p>
    181. 

  181. <dl class="section see"><dt>See also</dt><dd>"Constraints Derivation for Rigid Body Simulation in 3D" - Daniel Chappuis, section 2.1.1 (we're not using the approximation of eq 27 but instead add the U term as in eq 55)</dd></dl>
    182. 

  182. <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 25):</p>
    183. 

  183. <p class="formulaDsp">
    184. 

  184. \[C = (p_2 - p_1) \cdot n\]
    185. 

  185. </p>
    186. 

  186. <p>Jacobian (eq 28):</p>
    187. 

  187. <p class="formulaDsp">
    188. 

  188. \[J = \begin{bmatrix} -n^T &amp; (-(r_1 + u) \times n)^T &amp; n^T &amp; (r_2 \times n)^T \end{bmatrix}\]
    189. 

  189. </p>
    190. 

  190. <p>Used terms (here and below, everything in world space):<br  />
    191. 

  191. n = constraint axis (normalized).<br  />
    192. 

  192. p1, p2 = constraint points.<br  />
    193. 

  193. r1 = p1 - x1.<br  />
    194. 

  194. r2 = p2 - x2.<br  />
    195. 

  195. u = x2 + r2 - x1 - r1 = p2 - p1.<br  />
    196. 

  196. x1, x2 = center of mass for the bodies.<br  />
    197. 

  197. v = [v1, w1, v2, w2].<br  />
    198. 

  198. v1, v2 = linear velocity of body 1 and 2.<br  />
    199. 

  199. w1, w2 = angular velocity of body 1 and 2.<br  />
    200. 

  200. M = mass matrix, a diagonal matrix of the mass and inertia with diagonal [m1, I1, m2, I2].<br  />
    201. 

  201.  \(K^{-1} = \left( J M^{-1} J^T \right)^{-1}\) = effective mass.<br  />
    202. 

  202. b = velocity bias.<br  />
    203. 

  203.  \(\beta\) = baumgarte constant. </p>
    204. 

  204. </div><h2 class="groupheader">Member Function Documentation</h2>
    205. 

  205. <a id="aeff890db41d91de6fddb9a2872d9e146" name="aeff890db41d91de6fddb9a2872d9e146"></a>
    206. 

  206. <h2 class="memtitle"><span class="permalink"><a href="#aeff890db41d91de6fddb9a2872d9e146">&#9670;&#160;</a></span>CalculateConstraintProperties()</h2>
    207. 

  207. 

  208. <div class="memitem">
    209. 

  209. <div class="memproto">
    210. 

  210. <table class="mlabels">
    211. 

  211.   <tr>
    212. 

  212.   <td class="mlabels-left">
    213. 

  213.       <table class="memname">
    214. 

  214.         <tr>
    215. 

  215.           <td class="memname">void AxisConstraintPart::CalculateConstraintProperties </td>
    216. 

  216.           <td>(</td>
    217. 

  217.           <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>
    218. 

  218.         </tr>
    219. 

  219.         <tr>
    220. 

  220.           <td class="paramkey"></td>
    221. 

  221.           <td></td>
    222. 

  222.           <td class="paramtype"><a class="el" href="_math_types_8h.html#a6bc57c31f15cea47640b580d03737c68">Vec3Arg</a></td>          <td class="paramname"><span class="paramname"><em>inR1PlusU</em></span>, </td>
    223. 

  223.         </tr>
    224. 

  224.         <tr>
    225. 

  225.           <td class="paramkey"></td>
    226. 

  226.           <td></td>
    227. 

  227.           <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>
    228. 

  228.         </tr>
    229. 

  229.         <tr>
    230. 

  230.           <td class="paramkey"></td>
    231. 

  231.           <td></td>
    232. 

  232.           <td class="paramtype"><a class="el" href="_math_types_8h.html#a6bc57c31f15cea47640b580d03737c68">Vec3Arg</a></td>          <td class="paramname"><span class="paramname"><em>inR2</em></span>, </td>
    233. 

  233.         </tr>
    234. 

  234.         <tr>
    235. 

  235.           <td class="paramkey"></td>
    236. 

  236.           <td></td>
    237. 

  237.           <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>
    238. 

  238.         </tr>
    239. 

  239.         <tr>
    240. 

  240.           <td class="paramkey"></td>
    241. 

  241.           <td></td>
    242. 

  242.           <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>
    243. 

  243.         </tr>
    244. 

  244.       </table>
    245. 

  245.   </td>
    246. 

  246.   <td class="mlabels-right">
    247. 

  247. <span class="mlabels"><span class="mlabel">inline</span></span>  </td>
    248. 

  248.   </tr>
    249. 

  249. </table>
    250. 

  250. </div><div class="memdoc">
    251. 

  251. <p>Calculate properties used during the functions below </p><dl class="params"><dt>Parameters</dt><dd>
    252. 

  252.   <table class="params">
    253. 

  253.     <tr><td class="paramname">inBody1</td><td>The first body that this constraint is attached to </td></tr>
    254. 

  254.     <tr><td class="paramname">inBody2</td><td>The second body that this constraint is attached to </td></tr>
    255. 

  255.     <tr><td class="paramname">inR1PlusU</td><td>See equations above (r1 + u) </td></tr>
    256. 

  256.     <tr><td class="paramname">inR2</td><td>See equations above (r2) </td></tr>
    257. 

  257.     <tr><td class="paramname">inWorldSpaceAxis</td><td>Axis along which the constraint acts (normalized, pointing from body 1 to 2) </td></tr>
    258. 

  258.     <tr><td class="paramname">inBias</td><td>Bias term (b) for the constraint impulse: lambda = J v + b </td></tr>
    259. 

  259.   </table>
    260. 

  260.   </dd>
    261. 

  261. </dl>
    262. 

  262. 

  263. </div>
    264. 

  264. </div>
    265. 

  265. <a id="a5b0fcca001a8673716a9e6acaaf030a4" name="a5b0fcca001a8673716a9e6acaaf030a4"></a>
    266. 

  266. <h2 class="memtitle"><span class="permalink"><a href="#a5b0fcca001a8673716a9e6acaaf030a4">&#9670;&#160;</a></span>CalculateConstraintPropertiesWithFrequencyAndDamping()</h2>
    267. 

  267. 

  268. <div class="memitem">
    269. 

  269. <div class="memproto">
    270. 

  270. <table class="mlabels">
    271. 

  271.   <tr>
    272. 

  272.   <td class="mlabels-left">
    273. 

  273.       <table class="memname">
    274. 

  274.         <tr>
    275. 

  275.           <td class="memname">void AxisConstraintPart::CalculateConstraintPropertiesWithFrequencyAndDamping </td>
    276. 

  276.           <td>(</td>
    277. 

  277.           <td class="paramtype">float</td>          <td class="paramname"><span class="paramname"><em>inDeltaTime</em></span>, </td>
    278. 

  278.         </tr>
    279. 

  279.         <tr>
    280. 

  280.           <td class="paramkey"></td>
    281. 

  281.           <td></td>
    282. 

  282.           <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>
    283. 

  283.         </tr>
    284. 

  284.         <tr>
    285. 

  285.           <td class="paramkey"></td>
    286. 

  286.           <td></td>
    287. 

  287.           <td class="paramtype"><a class="el" href="_math_types_8h.html#a6bc57c31f15cea47640b580d03737c68">Vec3Arg</a></td>          <td class="paramname"><span class="paramname"><em>inR1PlusU</em></span>, </td>
    288. 

  288.         </tr>
    289. 

  289.         <tr>
    290. 

  290.           <td class="paramkey"></td>
    291. 

  291.           <td></td>
    292. 

  292.           <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>
    293. 

  293.         </tr>
    294. 

  294.         <tr>
    295. 

  295.           <td class="paramkey"></td>
    296. 

  296.           <td></td>
    297. 

  297.           <td class="paramtype"><a class="el" href="_math_types_8h.html#a6bc57c31f15cea47640b580d03737c68">Vec3Arg</a></td>          <td class="paramname"><span class="paramname"><em>inR2</em></span>, </td>
    298. 

  298.         </tr>
    299. 

  299.         <tr>
    300. 

  300.           <td class="paramkey"></td>
    301. 

  301.           <td></td>
    302. 

  302.           <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>
    303. 

  303.         </tr>
    304. 

  304.         <tr>
    305. 

  305.           <td class="paramkey"></td>
    306. 

  306.           <td></td>
    307. 

  307.           <td class="paramtype">float</td>          <td class="paramname"><span class="paramname"><em>inBias</em></span>, </td>
    308. 

  308.         </tr>
    309. 

  309.         <tr>
    310. 

  310.           <td class="paramkey"></td>
    311. 

  311.           <td></td>
    312. 

  312.           <td class="paramtype">float</td>          <td class="paramname"><span class="paramname"><em>inC</em></span>, </td>
    313. 

  313.         </tr>
    314. 

  314.         <tr>
    315. 

  315.           <td class="paramkey"></td>
    316. 

  316.           <td></td>
    317. 

  317.           <td class="paramtype">float</td>          <td class="paramname"><span class="paramname"><em>inFrequency</em></span>, </td>
    318. 

  318.         </tr>
    319. 

  319.         <tr>
    320. 

  320.           <td class="paramkey"></td>
    321. 

  321.           <td></td>
    322. 

  322.           <td class="paramtype">float</td>          <td class="paramname"><span class="paramname"><em>inDamping</em></span>&#160;)</td>
    323. 

  323.         </tr>
    324. 

  324.       </table>
    325. 

  325.   </td>
    326. 

  326.   <td class="mlabels-right">
    327. 

  327. <span class="mlabels"><span class="mlabel">inline</span></span>  </td>
    328. 

  328.   </tr>
    329. 

  329. </table>
    330. 

  330. </div><div class="memdoc">
    331. 

  331. <p>Calculate properties used during the functions below </p><dl class="params"><dt>Parameters</dt><dd>
    332. 

  332.   <table class="params">
    333. 

  333.     <tr><td class="paramname">inDeltaTime</td><td>Time step </td></tr>
    334. 

  334.     <tr><td class="paramname">inBody1</td><td>The first body that this constraint is attached to </td></tr>
    335. 

  335.     <tr><td class="paramname">inBody2</td><td>The second body that this constraint is attached to </td></tr>
    336. 

  336.     <tr><td class="paramname">inR1PlusU</td><td>See equations above (r1 + u) </td></tr>
    337. 

  337.     <tr><td class="paramname">inR2</td><td>See equations above (r2) </td></tr>
    338. 

  338.     <tr><td class="paramname">inWorldSpaceAxis</td><td>Axis along which the constraint acts (normalized, pointing from body 1 to 2) </td></tr>
    339. 

  339.     <tr><td class="paramname">inBias</td><td>Bias term (b) for the constraint impulse: lambda = J v + b </td></tr>
    340. 

  340.     <tr><td class="paramname">inC</td><td>Value of the constraint equation (C). </td></tr>
    341. 

  341.     <tr><td class="paramname">inFrequency</td><td>Oscillation frequency (Hz). </td></tr>
    342. 

  342.     <tr><td class="paramname">inDamping</td><td>Damping factor (0 = no damping, 1 = critical damping). </td></tr>
    343. 

  343.   </table>
    344. 

  344.   </dd>
    345. 

  345. </dl>
    346. 

  346. 

  347. </div>
    348. 

  348. </div>
    349. 

  349. <a id="a747c6cfe29af60b2e718af65f8066712" name="a747c6cfe29af60b2e718af65f8066712"></a>
    350. 

  350. <h2 class="memtitle"><span class="permalink"><a href="#a747c6cfe29af60b2e718af65f8066712">&#9670;&#160;</a></span>CalculateConstraintPropertiesWithMassOverride()</h2>
    351. 

  351. 

  352. <div class="memitem">
    353. 

  353. <div class="memproto">
    354. 

  354. <table class="mlabels">
    355. 

  355.   <tr>
    356. 

  356.   <td class="mlabels-left">
    357. 

  357.       <table class="memname">
    358. 

  358.         <tr>
    359. 

  359.           <td class="memname">void AxisConstraintPart::CalculateConstraintPropertiesWithMassOverride </td>
    360. 

  360.           <td>(</td>
    361. 

  361.           <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>
    362. 

  362.         </tr>
    363. 

  363.         <tr>
    364. 

  364.           <td class="paramkey"></td>
    365. 

  365.           <td></td>
    366. 

  366.           <td class="paramtype">float</td>          <td class="paramname"><span class="paramname"><em>inInvMass1</em></span>, </td>
    367. 

  367.         </tr>
    368. 

  368.         <tr>
    369. 

  369.           <td class="paramkey"></td>
    370. 

  370.           <td></td>
    371. 

  371.           <td class="paramtype">float</td>          <td class="paramname"><span class="paramname"><em>inInvInertiaScale1</em></span>, </td>
    372. 

  372.         </tr>
    373. 

  373.         <tr>
    374. 

  374.           <td class="paramkey"></td>
    375. 

  375.           <td></td>
    376. 

  376.           <td class="paramtype"><a class="el" href="_math_types_8h.html#a6bc57c31f15cea47640b580d03737c68">Vec3Arg</a></td>          <td class="paramname"><span class="paramname"><em>inR1PlusU</em></span>, </td>
    377. 

  377.         </tr>
    378. 

  378.         <tr>
    379. 

  379.           <td class="paramkey"></td>
    380. 

  380.           <td></td>
    381. 

  381.           <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>
    382. 

  382.         </tr>
    383. 

  383.         <tr>
    384. 

  384.           <td class="paramkey"></td>
    385. 

  385.           <td></td>
    386. 

  386.           <td class="paramtype">float</td>          <td class="paramname"><span class="paramname"><em>inInvMass2</em></span>, </td>
    387. 

  387.         </tr>
    388. 

  388.         <tr>
    389. 

  389.           <td class="paramkey"></td>
    390. 

  390.           <td></td>
    391. 

  391.           <td class="paramtype">float</td>          <td class="paramname"><span class="paramname"><em>inInvInertiaScale2</em></span>, </td>
    392. 

  392.         </tr>
    393. 

  393.         <tr>
    394. 

  394.           <td class="paramkey"></td>
    395. 

  395.           <td></td>
    396. 

  396.           <td class="paramtype"><a class="el" href="_math_types_8h.html#a6bc57c31f15cea47640b580d03737c68">Vec3Arg</a></td>          <td class="paramname"><span class="paramname"><em>inR2</em></span>, </td>
    397. 

  397.         </tr>
    398. 

  398.         <tr>
    399. 

  399.           <td class="paramkey"></td>
    400. 

  400.           <td></td>
    401. 

  401.           <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>
    402. 

  402.         </tr>
    403. 

  403.         <tr>
    404. 

  404.           <td class="paramkey"></td>
    405. 

  405.           <td></td>
    406. 

  406.           <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>
    407. 

  407.         </tr>
    408. 

  408.       </table>
    409. 

  409.   </td>
    410. 

  410.   <td class="mlabels-right">
    411. 

  411. <span class="mlabels"><span class="mlabel">inline</span></span>  </td>
    412. 

  412.   </tr>
    413. 

  413. </table>
    414. 

  414. </div><div class="memdoc">
    415. 

  415. <p>Calculate properties used during the functions below, version that supports mass scaling </p><dl class="params"><dt>Parameters</dt><dd>
    416. 

  416.   <table class="params">
    417. 

  417.     <tr><td class="paramname">inBody1</td><td>The first body that this constraint is attached to </td></tr>
    418. 

  418.     <tr><td class="paramname">inBody2</td><td>The second body that this constraint is attached to </td></tr>
    419. 

  419.     <tr><td class="paramname">inInvMass1</td><td>The inverse mass of body 1 (only used when body 1 is dynamic) </td></tr>
    420. 

  420.     <tr><td class="paramname">inInvMass2</td><td>The inverse mass of body 2 (only used when body 2 is dynamic) </td></tr>
    421. 

  421.     <tr><td class="paramname">inInvInertiaScale1</td><td>Scale factor for the inverse inertia of body 1 </td></tr>
    422. 

  422.     <tr><td class="paramname">inInvInertiaScale2</td><td>Scale factor for the inverse inertia of body 2 </td></tr>
    423. 

  423.     <tr><td class="paramname">inR1PlusU</td><td>See equations above (r1 + u) </td></tr>
    424. 

  424.     <tr><td class="paramname">inR2</td><td>See equations above (r2) </td></tr>
    425. 

  425.     <tr><td class="paramname">inWorldSpaceAxis</td><td>Axis along which the constraint acts (normalized, pointing from body 1 to 2) </td></tr>
    426. 

  426.     <tr><td class="paramname">inBias</td><td>Bias term (b) for the constraint impulse: lambda = J v + b </td></tr>
    427. 

  427.   </table>
    428. 

  428.   </dd>
    429. 

  429. </dl>
    430. 

  430. 

  431. </div>
    432. 

  432. </div>
    433. 

  433. <a id="a0fa7dab4d8e1aa0b78e38ba24d926a9b" name="a0fa7dab4d8e1aa0b78e38ba24d926a9b"></a>
    434. 

  434. <h2 class="memtitle"><span class="permalink"><a href="#a0fa7dab4d8e1aa0b78e38ba24d926a9b">&#9670;&#160;</a></span>CalculateConstraintPropertiesWithSettings()</h2>
    435. 

  435. 

  436. <div class="memitem">
    437. 

  437. <div class="memproto">
    438. 

  438. <table class="mlabels">
    439. 

  439.   <tr>
    440. 

  440.   <td class="mlabels-left">
    441. 

  441.       <table class="memname">
    442. 

  442.         <tr>
    443. 

  443.           <td class="memname">void AxisConstraintPart::CalculateConstraintPropertiesWithSettings </td>
    444. 

  444.           <td>(</td>
    445. 

  445.           <td class="paramtype">float</td>          <td class="paramname"><span class="paramname"><em>inDeltaTime</em></span>, </td>
    446. 

  446.         </tr>
    447. 

  447.         <tr>
    448. 

  448.           <td class="paramkey"></td>
    449. 

  449.           <td></td>
    450. 

  450.           <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>
    451. 

  451.         </tr>
    452. 

  452.         <tr>
    453. 

  453.           <td class="paramkey"></td>
    454. 

  454.           <td></td>
    455. 

  455.           <td class="paramtype"><a class="el" href="_math_types_8h.html#a6bc57c31f15cea47640b580d03737c68">Vec3Arg</a></td>          <td class="paramname"><span class="paramname"><em>inR1PlusU</em></span>, </td>
    456. 

  456.         </tr>
    457. 

  457.         <tr>
    458. 

  458.           <td class="paramkey"></td>
    459. 

  459.           <td></td>
    460. 

  460.           <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>
    461. 

  461.         </tr>
    462. 

  462.         <tr>
    463. 

  463.           <td class="paramkey"></td>
    464. 

  464.           <td></td>
    465. 

  465.           <td class="paramtype"><a class="el" href="_math_types_8h.html#a6bc57c31f15cea47640b580d03737c68">Vec3Arg</a></td>          <td class="paramname"><span class="paramname"><em>inR2</em></span>, </td>
    466. 

  466.         </tr>
    467. 

  467.         <tr>
    468. 

  468.           <td class="paramkey"></td>
    469. 

  469.           <td></td>
    470. 

  470.           <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>
    471. 

  471.         </tr>
    472. 

  472.         <tr>
    473. 

  473.           <td class="paramkey"></td>
    474. 

  474.           <td></td>
    475. 

  475.           <td class="paramtype">float</td>          <td class="paramname"><span class="paramname"><em>inBias</em></span>, </td>
    476. 

  476.         </tr>
    477. 

  477.         <tr>
    478. 

  478.           <td class="paramkey"></td>
    479. 

  479.           <td></td>
    480. 

  480.           <td class="paramtype">float</td>          <td class="paramname"><span class="paramname"><em>inC</em></span>, </td>
    481. 

  481.         </tr>
    482. 

  482.         <tr>
    483. 

  483.           <td class="paramkey"></td>
    484. 

  484.           <td></td>
    485. 

  485.           <td class="paramtype">const <a class="el" href="class_spring_settings.html">SpringSettings</a> &amp;</td>          <td class="paramname"><span class="paramname"><em>inSpringSettings</em></span>&#160;)</td>
    486. 

  486.         </tr>
    487. 

  487.       </table>
    488. 

  488.   </td>
    489. 

  489.   <td class="mlabels-right">
    490. 

  490. <span class="mlabels"><span class="mlabel">inline</span></span>  </td>
    491. 

  491.   </tr>
    492. 

  492. </table>
    493. 

  493. </div><div class="memdoc">
    494. 

  494. 

  495. <p>Selects one of the above functions based on the spring settings. </p>
    496. 

  496. 

  497. </div>
    498. 

  498. </div>
    499. 

  499. <a id="ae8c4a8375c2a6f88e2adf1398743bed3" name="ae8c4a8375c2a6f88e2adf1398743bed3"></a>
    500. 

  500. <h2 class="memtitle"><span class="permalink"><a href="#ae8c4a8375c2a6f88e2adf1398743bed3">&#9670;&#160;</a></span>CalculateConstraintPropertiesWithStiffnessAndDamping()</h2>
    501. 

  501. 

  502. <div class="memitem">
    503. 

  503. <div class="memproto">
    504. 

  504. <table class="mlabels">
    505. 

  505.   <tr>
    506. 

  506.   <td class="mlabels-left">
    507. 

  507.       <table class="memname">
    508. 

  508.         <tr>
    509. 

  509.           <td class="memname">void AxisConstraintPart::CalculateConstraintPropertiesWithStiffnessAndDamping </td>
    510. 

  510.           <td>(</td>
    511. 

  511.           <td class="paramtype">float</td>          <td class="paramname"><span class="paramname"><em>inDeltaTime</em></span>, </td>
    512. 

  512.         </tr>
    513. 

  513.         <tr>
    514. 

  514.           <td class="paramkey"></td>
    515. 

  515.           <td></td>
    516. 

  516.           <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>
    517. 

  517.         </tr>
    518. 

  518.         <tr>
    519. 

  519.           <td class="paramkey"></td>
    520. 

  520.           <td></td>
    521. 

  521.           <td class="paramtype"><a class="el" href="_math_types_8h.html#a6bc57c31f15cea47640b580d03737c68">Vec3Arg</a></td>          <td class="paramname"><span class="paramname"><em>inR1PlusU</em></span>, </td>
    522. 

  522.         </tr>
    523. 

  523.         <tr>
    524. 

  524.           <td class="paramkey"></td>
    525. 

  525.           <td></td>
    526. 

  526.           <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>
    527. 

  527.         </tr>
    528. 

  528.         <tr>
    529. 

  529.           <td class="paramkey"></td>
    530. 

  530.           <td></td>
    531. 

  531.           <td class="paramtype"><a class="el" href="_math_types_8h.html#a6bc57c31f15cea47640b580d03737c68">Vec3Arg</a></td>          <td class="paramname"><span class="paramname"><em>inR2</em></span>, </td>
    532. 

  532.         </tr>
    533. 

  533.         <tr>
    534. 

  534.           <td class="paramkey"></td>
    535. 

  535.           <td></td>
    536. 

  536.           <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>
    537. 

  537.         </tr>
    538. 

  538.         <tr>
    539. 

  539.           <td class="paramkey"></td>
    540. 

  540.           <td></td>
    541. 

  541.           <td class="paramtype">float</td>          <td class="paramname"><span class="paramname"><em>inBias</em></span>, </td>
    542. 

  542.         </tr>
    543. 

  543.         <tr>
    544. 

  544.           <td class="paramkey"></td>
    545. 

  545.           <td></td>
    546. 

  546.           <td class="paramtype">float</td>          <td class="paramname"><span class="paramname"><em>inC</em></span>, </td>
    547. 

  547.         </tr>
    548. 

  548.         <tr>
    549. 

  549.           <td class="paramkey"></td>
    550. 

  550.           <td></td>
    551. 

  551.           <td class="paramtype">float</td>          <td class="paramname"><span class="paramname"><em>inStiffness</em></span>, </td>
    552. 

  552.         </tr>
    553. 

  553.         <tr>
    554. 

  554.           <td class="paramkey"></td>
    555. 

  555.           <td></td>
    556. 

  556.           <td class="paramtype">float</td>          <td class="paramname"><span class="paramname"><em>inDamping</em></span>&#160;)</td>
    557. 

  557.         </tr>
    558. 

  558.       </table>
    559. 

  559.   </td>
    560. 

  560.   <td class="mlabels-right">
    561. 

  561. <span class="mlabels"><span class="mlabel">inline</span></span>  </td>
    562. 

  562.   </tr>
    563. 

  563. </table>
    564. 

  564. </div><div class="memdoc">
    565. 

  565. <p>Calculate properties used during the functions below </p><dl class="params"><dt>Parameters</dt><dd>
    566. 

  566.   <table class="params">
    567. 

  567.     <tr><td class="paramname">inDeltaTime</td><td>Time step </td></tr>
    568. 

  568.     <tr><td class="paramname">inBody1</td><td>The first body that this constraint is attached to </td></tr>
    569. 

  569.     <tr><td class="paramname">inBody2</td><td>The second body that this constraint is attached to </td></tr>
    570. 

  570.     <tr><td class="paramname">inR1PlusU</td><td>See equations above (r1 + u) </td></tr>
    571. 

  571.     <tr><td class="paramname">inR2</td><td>See equations above (r2) </td></tr>
    572. 

  572.     <tr><td class="paramname">inWorldSpaceAxis</td><td>Axis along which the constraint acts (normalized, pointing from body 1 to 2) </td></tr>
    573. 

  573.     <tr><td class="paramname">inBias</td><td>Bias term (b) for the constraint impulse: lambda = J v + b </td></tr>
    574. 

  574.     <tr><td class="paramname">inC</td><td>Value of the constraint equation (C). </td></tr>
    575. 

  575.     <tr><td class="paramname">inStiffness</td><td>Spring stiffness k. </td></tr>
    576. 

  576.     <tr><td class="paramname">inDamping</td><td>Spring damping coefficient c. </td></tr>
    577. 

  577.   </table>
    578. 

  578.   </dd>
    579. 

  579. </dl>
    580. 

  580. 

  581. </div>
    582. 

  582. </div>
    583. 

  583. <a id="a6b2103009bf467876c92689dc3fec29d" name="a6b2103009bf467876c92689dc3fec29d"></a>
    584. 

  584. <h2 class="memtitle"><span class="permalink"><a href="#a6b2103009bf467876c92689dc3fec29d">&#9670;&#160;</a></span>Deactivate()</h2>
    585. 

  585. 

  586. <div class="memitem">
    587. 

  587. <div class="memproto">
    588. 

  588. <table class="mlabels">
    589. 

  589.   <tr>
    590. 

  590.   <td class="mlabels-left">
    591. 

  591.       <table class="memname">
    592. 

  592.         <tr>
    593. 

  593.           <td class="memname">void AxisConstraintPart::Deactivate </td>
    594. 

  594.           <td>(</td>
    595. 

  595.           <td class="paramname"><span class="paramname"><em></em></span></td><td>)</td>
    596. 

  596.           <td></td>
    597. 

  597.         </tr>
    598. 

  598.       </table>
    599. 

  599.   </td>
    600. 

  600.   <td class="mlabels-right">
    601. 

  601. <span class="mlabels"><span class="mlabel">inline</span></span>  </td>
    602. 

  602.   </tr>
    603. 

  603. </table>
    604. 

  604. </div><div class="memdoc">
    605. 

  605. 

  606. <p>Deactivate this constraint. </p>
    607. 

  607. 

  608. </div>
    609. 

  609. </div>
    610. 

  610. <a id="a012581aad01dbf091d9f8e2cf0ea6605" name="a012581aad01dbf091d9f8e2cf0ea6605"></a>
    611. 

  611. <h2 class="memtitle"><span class="permalink"><a href="#a012581aad01dbf091d9f8e2cf0ea6605">&#9670;&#160;</a></span>GetTotalLambda()</h2>
    612. 

  612. 

  613. <div class="memitem">
    614. 

  614. <div class="memproto">
    615. 

  615. <table class="mlabels">
    616. 

  616.   <tr>
    617. 

  617.   <td class="mlabels-left">
    618. 

  618.       <table class="memname">
    619. 

  619.         <tr>
    620. 

  620.           <td class="memname">float AxisConstraintPart::GetTotalLambda </td>
    621. 

  621.           <td>(</td>
    622. 

  622.           <td class="paramname"><span class="paramname"><em></em></span></td><td>)</td>
    623. 

  623.           <td> const</td>
    624. 

  624.         </tr>
    625. 

  625.       </table>
    626. 

  626.   </td>
    627. 

  627.   <td class="mlabels-right">
    628. 

  628. <span class="mlabels"><span class="mlabel">inline</span></span>  </td>
    629. 

  629.   </tr>
    630. 

  630. </table>
    631. 

  631. </div><div class="memdoc">
    632. 

  632. 

  633. <p>Return lagrange multiplier. </p>
    634. 

  634. 

  635. </div>
    636. 

  636. </div>
    637. 

  637. <a id="a20095a523dff24e09134b315841f1fcb" name="a20095a523dff24e09134b315841f1fcb"></a>
    638. 

  638. <h2 class="memtitle"><span class="permalink"><a href="#a20095a523dff24e09134b315841f1fcb">&#9670;&#160;</a></span>IsActive()</h2>
    639. 

  639. 

  640. <div class="memitem">
    641. 

  641. <div class="memproto">
    642. 

  642. <table class="mlabels">
    643. 

  643.   <tr>
    644. 

  644.   <td class="mlabels-left">
    645. 

  645.       <table class="memname">
    646. 

  646.         <tr>
    647. 

  647.           <td class="memname">bool AxisConstraintPart::IsActive </td>
    648. 

  648.           <td>(</td>
    649. 

  649.           <td class="paramname"><span class="paramname"><em></em></span></td><td>)</td>
    650. 

  650.           <td> const</td>
    651. 

  651.         </tr>
    652. 

  652.       </table>
    653. 

  653.   </td>
    654. 

  654.   <td class="mlabels-right">
    655. 

  655. <span class="mlabels"><span class="mlabel">inline</span></span>  </td>
    656. 

  656.   </tr>
    657. 

  657. </table>
    658. 

  658. </div><div class="memdoc">
    659. 

  659. 

  660. <p>Check if constraint is active. </p>
    661. 

  661. 

  662. </div>
    663. 

  663. </div>
    664. 

  664. <a id="afdaf8583a278a760eae80b8169ee6989" name="afdaf8583a278a760eae80b8169ee6989"></a>
    665. 

  665. <h2 class="memtitle"><span class="permalink"><a href="#afdaf8583a278a760eae80b8169ee6989">&#9670;&#160;</a></span>RestoreState()</h2>
    666. 

  666. 

  667. <div class="memitem">
    668. 

  668. <div class="memproto">
    669. 

  669. <table class="mlabels">
    670. 

  670.   <tr>
    671. 

  671.   <td class="mlabels-left">
    672. 

  672.       <table class="memname">
    673. 

  673.         <tr>
    674. 

  674.           <td class="memname">void AxisConstraintPart::RestoreState </td>
    675. 

  675.           <td>(</td>
    676. 

  676.           <td class="paramtype"><a class="el" href="class_state_recorder.html">StateRecorder</a> &amp;</td>          <td class="paramname"><span class="paramname"><em>inStream</em></span></td><td>)</td>
    677. 

  677.           <td></td>
    678. 

  678.         </tr>
    679. 

  679.       </table>
    680. 

  680.   </td>
    681. 

  681.   <td class="mlabels-right">
    682. 

  682. <span class="mlabels"><span class="mlabel">inline</span></span>  </td>
    683. 

  683.   </tr>
    684. 

  684. </table>
    685. 

  685. </div><div class="memdoc">
    686. 

  686. 

  687. <p>Restore state of this constraint part. </p>
    688. 

  688. 

  689. </div>
    690. 

  690. </div>
    691. 

  691. <a id="ad17a6a0c982d958f3e96e3b460315e5f" name="ad17a6a0c982d958f3e96e3b460315e5f"></a>
    692. 

  692. <h2 class="memtitle"><span class="permalink"><a href="#ad17a6a0c982d958f3e96e3b460315e5f">&#9670;&#160;</a></span>SaveState()</h2>
    693. 

  693. 

  694. <div class="memitem">
    695. 

  695. <div class="memproto">
    696. 

  696. <table class="mlabels">
    697. 

  697.   <tr>
    698. 

  698.   <td class="mlabels-left">
    699. 

  699.       <table class="memname">
    700. 

  700.         <tr>
    701. 

  701.           <td class="memname">void AxisConstraintPart::SaveState </td>
    702. 

  702.           <td>(</td>
    703. 

  703.           <td class="paramtype"><a class="el" href="class_state_recorder.html">StateRecorder</a> &amp;</td>          <td class="paramname"><span class="paramname"><em>inStream</em></span></td><td>)</td>
    704. 

  704.           <td> const</td>
    705. 

  705.         </tr>
    706. 

  706.       </table>
    707. 

  707.   </td>
    708. 

  708.   <td class="mlabels-right">
    709. 

  709. <span class="mlabels"><span class="mlabel">inline</span></span>  </td>
    710. 

  710.   </tr>
    711. 

  711. </table>
    712. 

  712. </div><div class="memdoc">
    713. 

  713. 

  714. <p>Save state of this constraint part. </p>
    715. 

  715. 

  716. </div>
    717. 

  717. </div>
    718. 

  718. <a id="a21284d5ab7133a4e85f37fcfecb0be8e" name="a21284d5ab7133a4e85f37fcfecb0be8e"></a>
    719. 

  719. <h2 class="memtitle"><span class="permalink"><a href="#a21284d5ab7133a4e85f37fcfecb0be8e">&#9670;&#160;</a></span>SetTotalLambda()</h2>
    720. 

  720. 

  721. <div class="memitem">
    722. 

  722. <div class="memproto">
    723. 

  723. <table class="mlabels">
    724. 

  724.   <tr>
    725. 

  725.   <td class="mlabels-left">
    726. 

  726.       <table class="memname">
    727. 

  727.         <tr>
    728. 

  728.           <td class="memname">void AxisConstraintPart::SetTotalLambda </td>
    729. 

  729.           <td>(</td>
    730. 

  730.           <td class="paramtype">float</td>          <td class="paramname"><span class="paramname"><em>inLambda</em></span></td><td>)</td>
    731. 

  731.           <td></td>
    732. 

  732.         </tr>
    733. 

  733.       </table>
    734. 

  734.   </td>
    735. 

  735.   <td class="mlabels-right">
    736. 

  736. <span class="mlabels"><span class="mlabel">inline</span></span>  </td>
    737. 

  737.   </tr>
    738. 

  738. </table>
    739. 

  739. </div><div class="memdoc">
    740. 

  740. 

  741. <p>Override total lagrange multiplier, can be used to set the initial value for warm starting. </p>
    742. 

  742. 

  743. </div>
    744. 

  744. </div>
    745. 

  745. <a id="a12a0588911733208e89fa65de7e2b2fc" name="a12a0588911733208e89fa65de7e2b2fc"></a>
    746. 

  746. <h2 class="memtitle"><span class="permalink"><a href="#a12a0588911733208e89fa65de7e2b2fc">&#9670;&#160;</a></span>SolvePositionConstraint()</h2>
    747. 

  747. 

  748. <div class="memitem">
    749. 

  749. <div class="memproto">
    750. 

  750. <table class="mlabels">
    751. 

  751.   <tr>
    752. 

  752.   <td class="mlabels-left">
    753. 

  753.       <table class="memname">
    754. 

  754.         <tr>
    755. 

  755.           <td class="memname">bool AxisConstraintPart::SolvePositionConstraint </td>
    756. 

  756.           <td>(</td>
    757. 

  757.           <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>
    758. 

  758.         </tr>
    759. 

  759.         <tr>
    760. 

  760.           <td class="paramkey"></td>
    761. 

  761.           <td></td>
    762. 

  762.           <td class="paramtype"><a class="el" href="class_body.html">Body</a> &amp;</td>          <td class="paramname"><span class="paramname"><em>ioBody2</em></span>, </td>
    763. 

  763.         </tr>
    764. 

  764.         <tr>
    765. 

  765.           <td class="paramkey"></td>
    766. 

  766.           <td></td>
    767. 

  767.           <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>
    768. 

  768.         </tr>
    769. 

  769.         <tr>
    770. 

  770.           <td class="paramkey"></td>
    771. 

  771.           <td></td>
    772. 

  772.           <td class="paramtype">float</td>          <td class="paramname"><span class="paramname"><em>inC</em></span>, </td>
    773. 

  773.         </tr>
    774. 

  774.         <tr>
    775. 

  775.           <td class="paramkey"></td>
    776. 

  776.           <td></td>
    777. 

  777.           <td class="paramtype">float</td>          <td class="paramname"><span class="paramname"><em>inBaumgarte</em></span>&#160;) const</td>
    778. 

  778.         </tr>
    779. 

  779.       </table>
    780. 

  780.   </td>
    781. 

  781.   <td class="mlabels-right">
    782. 

  782. <span class="mlabels"><span class="mlabel">inline</span></span>  </td>
    783. 

  783.   </tr>
    784. 

  784. </table>
    785. 

  785. </div><div class="memdoc">
    786. 

  786. <p>Iteratively update the position constraint. Makes sure C(...) = 0. </p><dl class="params"><dt>Parameters</dt><dd>
    787. 

  787.   <table class="params">
    788. 

  788.     <tr><td class="paramname">ioBody1</td><td>The first body that this constraint is attached to </td></tr>
    789. 

  789.     <tr><td class="paramname">ioBody2</td><td>The second body that this constraint is attached to </td></tr>
    790. 

  790.     <tr><td class="paramname">inWorldSpaceAxis</td><td>Axis along which the constraint acts (normalized) </td></tr>
    791. 

  791.     <tr><td class="paramname">inC</td><td>Value of the constraint equation (C) </td></tr>
    792. 

  792.     <tr><td class="paramname">inBaumgarte</td><td>Baumgarte constant (fraction of the error to correct) </td></tr>
    793. 

  793.   </table>
    794. 

  794.   </dd>
    795. 

  795. </dl>
    796. 

  796. 

  797. </div>
    798. 

  798. </div>
    799. 

  799. <a id="a981dad22bd1333ed2147264f3285c112" name="a981dad22bd1333ed2147264f3285c112"></a>
    800. 

  800. <h2 class="memtitle"><span class="permalink"><a href="#a981dad22bd1333ed2147264f3285c112">&#9670;&#160;</a></span>SolvePositionConstraintWithMassOverride()</h2>
    801. 

  801. 

  802. <div class="memitem">
    803. 

  803. <div class="memproto">
    804. 

  804. <table class="mlabels">
    805. 

  805.   <tr>
    806. 

  806.   <td class="mlabels-left">
    807. 

  807.       <table class="memname">
    808. 

  808.         <tr>
    809. 

  809.           <td class="memname">bool AxisConstraintPart::SolvePositionConstraintWithMassOverride </td>
    810. 

  810.           <td>(</td>
    811. 

  811.           <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>
    812. 

  812.         </tr>
    813. 

  813.         <tr>
    814. 

  814.           <td class="paramkey"></td>
    815. 

  815.           <td></td>
    816. 

  816.           <td class="paramtype">float</td>          <td class="paramname"><span class="paramname"><em>inInvMass1</em></span>, </td>
    817. 

  817.         </tr>
    818. 

  818.         <tr>
    819. 

  819.           <td class="paramkey"></td>
    820. 

  820.           <td></td>
    821. 

  821.           <td class="paramtype"><a class="el" href="class_body.html">Body</a> &amp;</td>          <td class="paramname"><span class="paramname"><em>ioBody2</em></span>, </td>
    822. 

  822.         </tr>
    823. 

  823.         <tr>
    824. 

  824.           <td class="paramkey"></td>
    825. 

  825.           <td></td>
    826. 

  826.           <td class="paramtype">float</td>          <td class="paramname"><span class="paramname"><em>inInvMass2</em></span>, </td>
    827. 

  827.         </tr>
    828. 

  828.         <tr>
    829. 

  829.           <td class="paramkey"></td>
    830. 

  830.           <td></td>
    831. 

  831.           <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>
    832. 

  832.         </tr>
    833. 

  833.         <tr>
    834. 

  834.           <td class="paramkey"></td>
    835. 

  835.           <td></td>
    836. 

  836.           <td class="paramtype">float</td>          <td class="paramname"><span class="paramname"><em>inC</em></span>, </td>
    837. 

  837.         </tr>
    838. 

  838.         <tr>
    839. 

  839.           <td class="paramkey"></td>
    840. 

  840.           <td></td>
    841. 

  841.           <td class="paramtype">float</td>          <td class="paramname"><span class="paramname"><em>inBaumgarte</em></span>&#160;) const</td>
    842. 

  842.         </tr>
    843. 

  843.       </table>
    844. 

  844.   </td>
    845. 

  845.   <td class="mlabels-right">
    846. 

  846. <span class="mlabels"><span class="mlabel">inline</span></span>  </td>
    847. 

  847.   </tr>
    848. 

  848. </table>
    849. 

  849. </div><div class="memdoc">
    850. 

  850. <p>Iteratively update the position constraint. Makes sure C(...) = 0. </p><dl class="params"><dt>Parameters</dt><dd>
    851. 

  851.   <table class="params">
    852. 

  852.     <tr><td class="paramname">ioBody1</td><td>The first body that this constraint is attached to </td></tr>
    853. 

  853.     <tr><td class="paramname">ioBody2</td><td>The second body that this constraint is attached to </td></tr>
    854. 

  854.     <tr><td class="paramname">inInvMass1</td><td>The inverse mass of body 1 (only used when body 1 is dynamic) </td></tr>
    855. 

  855.     <tr><td class="paramname">inInvMass2</td><td>The inverse mass of body 2 (only used when body 2 is dynamic) </td></tr>
    856. 

  856.     <tr><td class="paramname">inWorldSpaceAxis</td><td>Axis along which the constraint acts (normalized) </td></tr>
    857. 

  857.     <tr><td class="paramname">inC</td><td>Value of the constraint equation (C) </td></tr>
    858. 

  858.     <tr><td class="paramname">inBaumgarte</td><td>Baumgarte constant (fraction of the error to correct) </td></tr>
    859. 

  859.   </table>
    860. 

  860.   </dd>
    861. 

  861. </dl>
    862. 

  862. 

  863. </div>
    864. 

  864. </div>
    865. 

  865. <a id="a0f72dffd609be0cba29f2619c5a2c63a" name="a0f72dffd609be0cba29f2619c5a2c63a"></a>
    866. 

  866. <h2 class="memtitle"><span class="permalink"><a href="#a0f72dffd609be0cba29f2619c5a2c63a">&#9670;&#160;</a></span>SolveVelocityConstraint()</h2>
    867. 

  867. 

  868. <div class="memitem">
    869. 

  869. <div class="memproto">
    870. 

  870. <table class="mlabels">
    871. 

  871.   <tr>
    872. 

  872.   <td class="mlabels-left">
    873. 

  873.       <table class="memname">
    874. 

  874.         <tr>
    875. 

  875.           <td class="memname">bool AxisConstraintPart::SolveVelocityConstraint </td>
    876. 

  876.           <td>(</td>
    877. 

  877.           <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>
    878. 

  878.         </tr>
    879. 

  879.         <tr>
    880. 

  880.           <td class="paramkey"></td>
    881. 

  881.           <td></td>
    882. 

  882.           <td class="paramtype"><a class="el" href="class_body.html">Body</a> &amp;</td>          <td class="paramname"><span class="paramname"><em>ioBody2</em></span>, </td>
    883. 

  883.         </tr>
    884. 

  884.         <tr>
    885. 

  885.           <td class="paramkey"></td>
    886. 

  886.           <td></td>
    887. 

  887.           <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>
    888. 

  888.         </tr>
    889. 

  889.         <tr>
    890. 

  890.           <td class="paramkey"></td>
    891. 

  891.           <td></td>
    892. 

  892.           <td class="paramtype">float</td>          <td class="paramname"><span class="paramname"><em>inMinLambda</em></span>, </td>
    893. 

  893.         </tr>
    894. 

  894.         <tr>
    895. 

  895.           <td class="paramkey"></td>
    896. 

  896.           <td></td>
    897. 

  897.           <td class="paramtype">float</td>          <td class="paramname"><span class="paramname"><em>inMaxLambda</em></span>&#160;)</td>
    898. 

  898.         </tr>
    899. 

  899.       </table>
    900. 

  900.   </td>
    901. 

  901.   <td class="mlabels-right">
    902. 

  902. <span class="mlabels"><span class="mlabel">inline</span></span>  </td>
    903. 

  903.   </tr>
    904. 

  904. </table>
    905. 

  905. </div><div class="memdoc">
    906. 

  906. <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>
    907. 

  907.   <table class="params">
    908. 

  908.     <tr><td class="paramname">ioBody1</td><td>The first body that this constraint is attached to </td></tr>
    909. 

  909.     <tr><td class="paramname">ioBody2</td><td>The second body that this constraint is attached to </td></tr>
    910. 

  910.     <tr><td class="paramname">inWorldSpaceAxis</td><td>Axis along which the constraint acts (normalized) </td></tr>
    911. 

  911.     <tr><td class="paramname">inMinLambda</td><td>Minimum value of constraint impulse to apply (N s) </td></tr>
    912. 

  912.     <tr><td class="paramname">inMaxLambda</td><td>Maximum value of constraint impulse to apply (N s) </td></tr>
    913. 

  913.   </table>
    914. 

  914.   </dd>
    915. 

  915. </dl>
    916. 

  916. 

  917. </div>
    918. 

  918. </div>
    919. 

  919. <a id="aac25bbc0f7371f640c6e2af6a94c5cfc" name="aac25bbc0f7371f640c6e2af6a94c5cfc"></a>
    920. 

  920. <h2 class="memtitle"><span class="permalink"><a href="#aac25bbc0f7371f640c6e2af6a94c5cfc">&#9670;&#160;</a></span>SolveVelocityConstraintWithMassOverride()</h2>
    921. 

  921. 

  922. <div class="memitem">
    923. 

  923. <div class="memproto">
    924. 

  924. <table class="mlabels">
    925. 

  925.   <tr>
    926. 

  926.   <td class="mlabels-left">
    927. 

  927.       <table class="memname">
    928. 

  928.         <tr>
    929. 

  929.           <td class="memname">bool AxisConstraintPart::SolveVelocityConstraintWithMassOverride </td>
    930. 

  930.           <td>(</td>
    931. 

  931.           <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>
    932. 

  932.         </tr>
    933. 

  933.         <tr>
    934. 

  934.           <td class="paramkey"></td>
    935. 

  935.           <td></td>
    936. 

  936.           <td class="paramtype">float</td>          <td class="paramname"><span class="paramname"><em>inInvMass1</em></span>, </td>
    937. 

  937.         </tr>
    938. 

  938.         <tr>
    939. 

  939.           <td class="paramkey"></td>
    940. 

  940.           <td></td>
    941. 

  941.           <td class="paramtype"><a class="el" href="class_body.html">Body</a> &amp;</td>          <td class="paramname"><span class="paramname"><em>ioBody2</em></span>, </td>
    942. 

  942.         </tr>
    943. 

  943.         <tr>
    944. 

  944.           <td class="paramkey"></td>
    945. 

  945.           <td></td>
    946. 

  946.           <td class="paramtype">float</td>          <td class="paramname"><span class="paramname"><em>inInvMass2</em></span>, </td>
    947. 

  947.         </tr>
    948. 

  948.         <tr>
    949. 

  949.           <td class="paramkey"></td>
    950. 

  950.           <td></td>
    951. 

  951.           <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>
    952. 

  952.         </tr>
    953. 

  953.         <tr>
    954. 

  954.           <td class="paramkey"></td>
    955. 

  955.           <td></td>
    956. 

  956.           <td class="paramtype">float</td>          <td class="paramname"><span class="paramname"><em>inMinLambda</em></span>, </td>
    957. 

  957.         </tr>
    958. 

  958.         <tr>
    959. 

  959.           <td class="paramkey"></td>
    960. 

  960.           <td></td>
    961. 

  961.           <td class="paramtype">float</td>          <td class="paramname"><span class="paramname"><em>inMaxLambda</em></span>&#160;)</td>
    962. 

  962.         </tr>
    963. 

  963.       </table>
    964. 

  964.   </td>
    965. 

  965.   <td class="mlabels-right">
    966. 

  966. <span class="mlabels"><span class="mlabel">inline</span></span>  </td>
    967. 

  967.   </tr>
    968. 

  968. </table>
    969. 

  969. </div><div class="memdoc">
    970. 

  970. <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>
    971. 

  971.   <table class="params">
    972. 

  972.     <tr><td class="paramname">ioBody1</td><td>The first body that this constraint is attached to </td></tr>
    973. 

  973.     <tr><td class="paramname">ioBody2</td><td>The second body that this constraint is attached to </td></tr>
    974. 

  974.     <tr><td class="paramname">inInvMass1</td><td>The inverse mass of body 1 (only used when body 1 is dynamic) </td></tr>
    975. 

  975.     <tr><td class="paramname">inInvMass2</td><td>The inverse mass of body 2 (only used when body 2 is dynamic) </td></tr>
    976. 

  976.     <tr><td class="paramname">inWorldSpaceAxis</td><td>Axis along which the constraint acts (normalized) </td></tr>
    977. 

  977.     <tr><td class="paramname">inMinLambda</td><td>Minimum value of constraint impulse to apply (N s) </td></tr>
    978. 

  978.     <tr><td class="paramname">inMaxLambda</td><td>Maximum value of constraint impulse to apply (N s) </td></tr>
    979. 

  979.   </table>
    980. 

  980.   </dd>
    981. 

  981. </dl>
    982. 

  982. 

  983. </div>
    984. 

  984. </div>
    985. 

  985. <a id="a5a8bc2c7a35f60b63e233ed13db1749b" name="a5a8bc2c7a35f60b63e233ed13db1749b"></a>
    986. 

  986. <h2 class="memtitle"><span class="permalink"><a href="#a5a8bc2c7a35f60b63e233ed13db1749b">&#9670;&#160;</a></span>TemplatedCalculateConstraintProperties()</h2>
    987. 

  987. 

  988. <div class="memitem">
    989. 

  989. <div class="memproto">
    990. 

  990. <div class="memtemplate">
    991. 

  991. template&lt;<a class="el" href="_motion_type_8h.html#a328245ddbb758681fad3c44c9d488fd8">EMotionType</a> Type1, <a class="el" href="_motion_type_8h.html#a328245ddbb758681fad3c44c9d488fd8">EMotionType</a> Type2&gt; </div>
    992. 

  992. <table class="mlabels">
    993. 

  993.   <tr>
    994. 

  994.   <td class="mlabels-left">
    995. 

  995.       <table class="memname">
    996. 

  996.         <tr>
    997. 

  997.           <td class="memname">JPH_INLINE void AxisConstraintPart::TemplatedCalculateConstraintProperties </td>
    998. 

  998.           <td>(</td>
    999. 

  999.           <td class="paramtype">float</td>          <td class="paramname"><span class="paramname"><em>inInvMass1</em></span>, </td>
    1000. 

  1000.         </tr>
    1001. 

  1001.         <tr>
    1002. 

  1002.           <td class="paramkey"></td>
    1003. 

  1003.           <td></td>
    1004. 

  1004.           <td class="paramtype"><a class="el" href="_math_types_8h.html#af10dd31c5ad4acb62aba8025732597e6">Mat44Arg</a></td>          <td class="paramname"><span class="paramname"><em>inInvI1</em></span>, </td>
    1005. 

  1005.         </tr>
    1006. 

  1006.         <tr>
    1007. 

  1007.           <td class="paramkey"></td>
    1008. 

  1008.           <td></td>
    1009. 

  1009.           <td class="paramtype"><a class="el" href="_math_types_8h.html#a6bc57c31f15cea47640b580d03737c68">Vec3Arg</a></td>          <td class="paramname"><span class="paramname"><em>inR1PlusU</em></span>, </td>
    1010. 

  1010.         </tr>
    1011. 

  1011.         <tr>
    1012. 

  1012.           <td class="paramkey"></td>
    1013. 

  1013.           <td></td>
    1014. 

  1014.           <td class="paramtype">float</td>          <td class="paramname"><span class="paramname"><em>inInvMass2</em></span>, </td>
    1015. 

  1015.         </tr>
    1016. 

  1016.         <tr>
    1017. 

  1017.           <td class="paramkey"></td>
    1018. 

  1018.           <td></td>
    1019. 

  1019.           <td class="paramtype"><a class="el" href="_math_types_8h.html#af10dd31c5ad4acb62aba8025732597e6">Mat44Arg</a></td>          <td class="paramname"><span class="paramname"><em>inInvI2</em></span>, </td>
    1020. 

  1020.         </tr>
    1021. 

  1021.         <tr>
    1022. 

  1022.           <td class="paramkey"></td>
    1023. 

  1023.           <td></td>
    1024. 

  1024.           <td class="paramtype"><a class="el" href="_math_types_8h.html#a6bc57c31f15cea47640b580d03737c68">Vec3Arg</a></td>          <td class="paramname"><span class="paramname"><em>inR2</em></span>, </td>
    1025. 

  1025.         </tr>
    1026. 

  1026.         <tr>
    1027. 

  1027.           <td class="paramkey"></td>
    1028. 

  1028.           <td></td>
    1029. 

  1029.           <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>
    1030. 

  1030.         </tr>
    1031. 

  1031.         <tr>
    1032. 

  1032.           <td class="paramkey"></td>
    1033. 

  1033.           <td></td>
    1034. 

  1034.           <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>
    1035. 

  1035.         </tr>
    1036. 

  1036.       </table>
    1037. 

  1037.   </td>
    1038. 

  1038.   <td class="mlabels-right">
    1039. 

  1039. <span class="mlabels"><span class="mlabel">inline</span></span>  </td>
    1040. 

  1040.   </tr>
    1041. 

  1041. </table>
    1042. 

  1042. </div><div class="memdoc">
    1043. 

  1043. 

  1044. <p>Templated form of CalculateConstraintProperties with the motion types baked in. </p>
    1045. 

  1045. 

  1046. </div>
    1047. 

  1047. </div>
    1048. 

  1048. <a id="a24593248d2181c548e9621817beab264" name="a24593248d2181c548e9621817beab264"></a>
    1049. 

  1049. <h2 class="memtitle"><span class="permalink"><a href="#a24593248d2181c548e9621817beab264">&#9670;&#160;</a></span>TemplatedSolveVelocityConstraint()</h2>
    1050. 

  1050. 

  1051. <div class="memitem">
    1052. 

  1052. <div class="memproto">
    1053. 

  1053. <div class="memtemplate">
    1054. 

  1054. template&lt;<a class="el" href="_motion_type_8h.html#a328245ddbb758681fad3c44c9d488fd8">EMotionType</a> Type1, <a class="el" href="_motion_type_8h.html#a328245ddbb758681fad3c44c9d488fd8">EMotionType</a> Type2&gt; </div>
    1055. 

  1055. <table class="mlabels">
    1056. 

  1056.   <tr>
    1057. 

  1057.   <td class="mlabels-left">
    1058. 

  1058.       <table class="memname">
    1059. 

  1059.         <tr>
    1060. 

  1060.           <td class="memname">bool AxisConstraintPart::TemplatedSolveVelocityConstraint </td>
    1061. 

  1061.           <td>(</td>
    1062. 

  1062.           <td class="paramtype"><a class="el" href="class_motion_properties.html">MotionProperties</a> *</td>          <td class="paramname"><span class="paramname"><em>ioMotionProperties1</em></span>, </td>
    1063. 

  1063.         </tr>
    1064. 

  1064.         <tr>
    1065. 

  1065.           <td class="paramkey"></td>
    1066. 

  1066.           <td></td>
    1067. 

  1067.           <td class="paramtype">float</td>          <td class="paramname"><span class="paramname"><em>inInvMass1</em></span>, </td>
    1068. 

  1068.         </tr>
    1069. 

  1069.         <tr>
    1070. 

  1070.           <td class="paramkey"></td>
    1071. 

  1071.           <td></td>
    1072. 

  1072.           <td class="paramtype"><a class="el" href="class_motion_properties.html">MotionProperties</a> *</td>          <td class="paramname"><span class="paramname"><em>ioMotionProperties2</em></span>, </td>
    1073. 

  1073.         </tr>
    1074. 

  1074.         <tr>
    1075. 

  1075.           <td class="paramkey"></td>
    1076. 

  1076.           <td></td>
    1077. 

  1077.           <td class="paramtype">float</td>          <td class="paramname"><span class="paramname"><em>inInvMass2</em></span>, </td>
    1078. 

  1078.         </tr>
    1079. 

  1079.         <tr>
    1080. 

  1080.           <td class="paramkey"></td>
    1081. 

  1081.           <td></td>
    1082. 

  1082.           <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>
    1083. 

  1083.         </tr>
    1084. 

  1084.         <tr>
    1085. 

  1085.           <td class="paramkey"></td>
    1086. 

  1086.           <td></td>
    1087. 

  1087.           <td class="paramtype">float</td>          <td class="paramname"><span class="paramname"><em>inMinLambda</em></span>, </td>
    1088. 

  1088.         </tr>
    1089. 

  1089.         <tr>
    1090. 

  1090.           <td class="paramkey"></td>
    1091. 

  1091.           <td></td>
    1092. 

  1092.           <td class="paramtype">float</td>          <td class="paramname"><span class="paramname"><em>inMaxLambda</em></span>&#160;)</td>
    1093. 

  1093.         </tr>
    1094. 

  1094.       </table>
    1095. 

  1095.   </td>
    1096. 

  1096.   <td class="mlabels-right">
    1097. 

  1097. <span class="mlabels"><span class="mlabel">inline</span></span>  </td>
    1098. 

  1098.   </tr>
    1099. 

  1099. </table>
    1100. 

  1100. </div><div class="memdoc">
    1101. 

  1101. 

  1102. <p>Templated form of SolveVelocityConstraint with the motion types baked in. </p>
    1103. 

  1103. 

  1104. </div>
    1105. 

  1105. </div>
    1106. 

  1106. <a id="aaf10ea43c5acaac802523b68dfbaf51d" name="aaf10ea43c5acaac802523b68dfbaf51d"></a>
    1107. 

  1107. <h2 class="memtitle"><span class="permalink"><a href="#aaf10ea43c5acaac802523b68dfbaf51d">&#9670;&#160;</a></span>TemplatedSolveVelocityConstraintApplyLambda()</h2>
    1108. 

  1108. 

  1109. <div class="memitem">
    1110. 

  1110. <div class="memproto">
    1111. 

  1111. <div class="memtemplate">
    1112. 

  1112. template&lt;<a class="el" href="_motion_type_8h.html#a328245ddbb758681fad3c44c9d488fd8">EMotionType</a> Type1, <a class="el" href="_motion_type_8h.html#a328245ddbb758681fad3c44c9d488fd8">EMotionType</a> Type2&gt; </div>
    1113. 

  1113. <table class="mlabels">
    1114. 

  1114.   <tr>
    1115. 

  1115.   <td class="mlabels-left">
    1116. 

  1116.       <table class="memname">
    1117. 

  1117.         <tr>
    1118. 

  1118.           <td class="memname">JPH_INLINE bool AxisConstraintPart::TemplatedSolveVelocityConstraintApplyLambda </td>
    1119. 

  1119.           <td>(</td>
    1120. 

  1120.           <td class="paramtype"><a class="el" href="class_motion_properties.html">MotionProperties</a> *</td>          <td class="paramname"><span class="paramname"><em>ioMotionProperties1</em></span>, </td>
    1121. 

  1121.         </tr>
    1122. 

  1122.         <tr>
    1123. 

  1123.           <td class="paramkey"></td>
    1124. 

  1124.           <td></td>
    1125. 

  1125.           <td class="paramtype">float</td>          <td class="paramname"><span class="paramname"><em>inInvMass1</em></span>, </td>
    1126. 

  1126.         </tr>
    1127. 

  1127.         <tr>
    1128. 

  1128.           <td class="paramkey"></td>
    1129. 

  1129.           <td></td>
    1130. 

  1130.           <td class="paramtype"><a class="el" href="class_motion_properties.html">MotionProperties</a> *</td>          <td class="paramname"><span class="paramname"><em>ioMotionProperties2</em></span>, </td>
    1131. 

  1131.         </tr>
    1132. 

  1132.         <tr>
    1133. 

  1133.           <td class="paramkey"></td>
    1134. 

  1134.           <td></td>
    1135. 

  1135.           <td class="paramtype">float</td>          <td class="paramname"><span class="paramname"><em>inInvMass2</em></span>, </td>
    1136. 

  1136.         </tr>
    1137. 

  1137.         <tr>
    1138. 

  1138.           <td class="paramkey"></td>
    1139. 

  1139.           <td></td>
    1140. 

  1140.           <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>
    1141. 

  1141.         </tr>
    1142. 

  1142.         <tr>
    1143. 

  1143.           <td class="paramkey"></td>
    1144. 

  1144.           <td></td>
    1145. 

  1145.           <td class="paramtype">float</td>          <td class="paramname"><span class="paramname"><em>inTotalLambda</em></span>&#160;)</td>
    1146. 

  1146.         </tr>
    1147. 

  1147.       </table>
    1148. 

  1148.   </td>
    1149. 

  1149.   <td class="mlabels-right">
    1150. 

  1150. <span class="mlabels"><span class="mlabel">inline</span></span>  </td>
    1151. 

  1151.   </tr>
    1152. 

  1152. </table>
    1153. 

  1153. </div><div class="memdoc">
    1154. 

  1154. 

  1155. <p>Templated form of SolveVelocityConstraint with the motion types baked in, part 2: apply new lambda. </p>
    1156. 

  1156. 

  1157. </div>
    1158. 

  1158. </div>
    1159. 

  1159. <a id="a9f2617fd84fcdd5a77f4502c6e327143" name="a9f2617fd84fcdd5a77f4502c6e327143"></a>
    1160. 

  1160. <h2 class="memtitle"><span class="permalink"><a href="#a9f2617fd84fcdd5a77f4502c6e327143">&#9670;&#160;</a></span>TemplatedSolveVelocityConstraintGetTotalLambda()</h2>
    1161. 

  1161. 

  1162. <div class="memitem">
    1163. 

  1163. <div class="memproto">
    1164. 

  1164. <div class="memtemplate">
    1165. 

  1165. template&lt;<a class="el" href="_motion_type_8h.html#a328245ddbb758681fad3c44c9d488fd8">EMotionType</a> Type1, <a class="el" href="_motion_type_8h.html#a328245ddbb758681fad3c44c9d488fd8">EMotionType</a> Type2&gt; </div>
    1166. 

  1166. <table class="mlabels">
    1167. 

  1167.   <tr>
    1168. 

  1168.   <td class="mlabels-left">
    1169. 

  1169.       <table class="memname">
    1170. 

  1170.         <tr>
    1171. 

  1171.           <td class="memname">JPH_INLINE float AxisConstraintPart::TemplatedSolveVelocityConstraintGetTotalLambda </td>
    1172. 

  1172.           <td>(</td>
    1173. 

  1173.           <td class="paramtype">const <a class="el" href="class_motion_properties.html">MotionProperties</a> *</td>          <td class="paramname"><span class="paramname"><em>ioMotionProperties1</em></span>, </td>
    1174. 

  1174.         </tr>
    1175. 

  1175.         <tr>
    1176. 

  1176.           <td class="paramkey"></td>
    1177. 

  1177.           <td></td>
    1178. 

  1178.           <td class="paramtype">const <a class="el" href="class_motion_properties.html">MotionProperties</a> *</td>          <td class="paramname"><span class="paramname"><em>ioMotionProperties2</em></span>, </td>
    1179. 

  1179.         </tr>
    1180. 

  1180.         <tr>
    1181. 

  1181.           <td class="paramkey"></td>
    1182. 

  1182.           <td></td>
    1183. 

  1183.           <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>&#160;) const</td>
    1184. 

  1184.         </tr>
    1185. 

  1185.       </table>
    1186. 

  1186.   </td>
    1187. 

  1187.   <td class="mlabels-right">
    1188. 

  1188. <span class="mlabels"><span class="mlabel">inline</span></span>  </td>
    1189. 

  1189.   </tr>
    1190. 

  1190. </table>
    1191. 

  1191. </div><div class="memdoc">
    1192. 

  1192. 

  1193. <p>Templated form of SolveVelocityConstraint with the motion types baked in, part 1: get the total lambda. </p>
    1194. 

  1194. 

  1195. </div>
    1196. 

  1196. </div>
    1197. 

  1197. <a id="adb5b5d041b1261d227b2d657a93cabd9" name="adb5b5d041b1261d227b2d657a93cabd9"></a>
    1198. 

  1198. <h2 class="memtitle"><span class="permalink"><a href="#adb5b5d041b1261d227b2d657a93cabd9">&#9670;&#160;</a></span>TemplatedWarmStart()</h2>
    1199. 

  1199. 

  1200. <div class="memitem">
    1201. 

  1201. <div class="memproto">
    1202. 

  1202. <div class="memtemplate">
    1203. 

  1203. template&lt;<a class="el" href="_motion_type_8h.html#a328245ddbb758681fad3c44c9d488fd8">EMotionType</a> Type1, <a class="el" href="_motion_type_8h.html#a328245ddbb758681fad3c44c9d488fd8">EMotionType</a> Type2&gt; </div>
    1204. 

  1204. <table class="mlabels">
    1205. 

  1205.   <tr>
    1206. 

  1206.   <td class="mlabels-left">
    1207. 

  1207.       <table class="memname">
    1208. 

  1208.         <tr>
    1209. 

  1209.           <td class="memname">void AxisConstraintPart::TemplatedWarmStart </td>
    1210. 

  1210.           <td>(</td>
    1211. 

  1211.           <td class="paramtype"><a class="el" href="class_motion_properties.html">MotionProperties</a> *</td>          <td class="paramname"><span class="paramname"><em>ioMotionProperties1</em></span>, </td>
    1212. 

  1212.         </tr>
    1213. 

  1213.         <tr>
    1214. 

  1214.           <td class="paramkey"></td>
    1215. 

  1215.           <td></td>
    1216. 

  1216.           <td class="paramtype">float</td>          <td class="paramname"><span class="paramname"><em>inInvMass1</em></span>, </td>
    1217. 

  1217.         </tr>
    1218. 

  1218.         <tr>
    1219. 

  1219.           <td class="paramkey"></td>
    1220. 

  1220.           <td></td>
    1221. 

  1221.           <td class="paramtype"><a class="el" href="class_motion_properties.html">MotionProperties</a> *</td>          <td class="paramname"><span class="paramname"><em>ioMotionProperties2</em></span>, </td>
    1222. 

  1222.         </tr>
    1223. 

  1223.         <tr>
    1224. 

  1224.           <td class="paramkey"></td>
    1225. 

  1225.           <td></td>
    1226. 

  1226.           <td class="paramtype">float</td>          <td class="paramname"><span class="paramname"><em>inInvMass2</em></span>, </td>
    1227. 

  1227.         </tr>
    1228. 

  1228.         <tr>
    1229. 

  1229.           <td class="paramkey"></td>
    1230. 

  1230.           <td></td>
    1231. 

  1231.           <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>
    1232. 

  1232.         </tr>
    1233. 

  1233.         <tr>
    1234. 

  1234.           <td class="paramkey"></td>
    1235. 

  1235.           <td></td>
    1236. 

  1236.           <td class="paramtype">float</td>          <td class="paramname"><span class="paramname"><em>inWarmStartImpulseRatio</em></span>&#160;)</td>
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  1237.         </tr>
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  1239.   </td>
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  1243. </table>
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  1244. </div><div class="memdoc">
    1245. 

  1245. 

  1246. <p>Templated form of WarmStart with the motion types baked in. </p>
    1247. 

  1247. 

  1248. </div>
    1249. 

  1249. </div>
    1250. 

  1250. <a id="a60befc8c7707dd567b633ecd7b870446" name="a60befc8c7707dd567b633ecd7b870446"></a>
    1251. 

  1251. <h2 class="memtitle"><span class="permalink"><a href="#a60befc8c7707dd567b633ecd7b870446">&#9670;&#160;</a></span>WarmStart()</h2>
    1252. 

  1252. 

  1253. <div class="memitem">
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  1254. <div class="memproto">
    1255. 

  1255. <table class="mlabels">
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  1259.         <tr>
    1260. 

  1260.           <td class="memname">void AxisConstraintPart::WarmStart </td>
    1261. 

  1261.           <td>(</td>
    1262. 

  1262.           <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>
    1263. 

  1263.         </tr>
    1264. 

  1264.         <tr>
    1265. 

  1265.           <td class="paramkey"></td>
    1266. 

  1266.           <td></td>
    1267. 

  1267.           <td class="paramtype"><a class="el" href="class_body.html">Body</a> &amp;</td>          <td class="paramname"><span class="paramname"><em>ioBody2</em></span>, </td>
    1268. 

  1268.         </tr>
    1269. 

  1269.         <tr>
    1270. 

  1270.           <td class="paramkey"></td>
    1271. 

  1271.           <td></td>
    1272. 

  1272.           <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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    1274. 

  1274.         <tr>
    1275. 

  1275.           <td class="paramkey"></td>
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  1276.           <td></td>
    1277. 

  1277.           <td class="paramtype">float</td>          <td class="paramname"><span class="paramname"><em>inWarmStartImpulseRatio</em></span>&#160;)</td>
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  1282. <span class="mlabels"><span class="mlabel">inline</span></span>  </td>
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  1285. </div><div class="memdoc">
    1286. 

  1286. <p>Must be called from the WarmStartVelocityConstraint call to apply the previous frame's impulses </p><dl class="params"><dt>Parameters</dt><dd>
    1287. 

  1287.   <table class="params">
    1288. 

  1288.     <tr><td class="paramname">ioBody1</td><td>The first body that this constraint is attached to </td></tr>
    1289. 

  1289.     <tr><td class="paramname">ioBody2</td><td>The second body that this constraint is attached to </td></tr>
    1290. 

  1290.     <tr><td class="paramname">inWorldSpaceAxis</td><td>Axis along which the constraint acts (normalized) </td></tr>
    1291. 

  1291.     <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>
    1292. 

  1292.   </table>
    1293. 

  1293.   </dd>
    1294. 

  1294. </dl>
    1295. 

  1295. 

  1296. </div>
    1297. 

  1297. </div>
    1298. 

  1298. <hr/>The documentation for this class was generated from the following file:<ul>
    1299. 

  1299. <li>Jolt/Physics/Constraints/ConstraintPart/<a class="el" href="_axis_constraint_part_8h_source.html">AxisConstraintPart.h</a></li>
    1300. 

  1300. </ul>
    1301. 

  1301. </div><!-- contents -->
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  1304. <div id="nav-path" class="navpath"><!-- id is needed for treeview function! -->
    1305. 

  1305.   <ul>
    1306. 

  1306.     <li class="navelem"><a class="el" href="class_axis_constraint_part.html">AxisConstraintPart</a></li>
    1307. 

  1307.     <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>
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  1309. </div>
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  1310. </body>
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  1311. </html>
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