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JoltPhysics
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<div class="header">
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<a href="#pub-methods">Public Member Functions</a> &#124;
<a href="#pub-static-methods">Static Public Member Functions</a> &#124;
<a href="class_constraint_manager-members.html">List of all members</a>  </div>
  <div class="headertitle"><div class="title">ConstraintManager Class Reference</div></div>
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<p><code>#include &lt;<a class="el" href="_constraint_manager_8h_source.html">ConstraintManager.h</a>&gt;</code></p>
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Inheritance diagram for ConstraintManager:</div>
<div class="dyncontent">
 <div class="center">
  <img src="class_constraint_manager.png" usemap="#ConstraintManager_map" alt=""/>
  <map id="ConstraintManager_map" name="ConstraintManager_map">
<area href="class_non_copyable.html" title="Class that makes another class non-copyable. Usage: Inherit from NonCopyable." alt="NonCopyable" shape="rect" coords="0,0,120,24"/>
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<table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a id="pub-methods" name="pub-methods"></a>
Public Member Functions</h2></td></tr>
<tr class="memitem:ae323401f2d9039dd330b070808c494f7" id="r_ae323401f2d9039dd330b070808c494f7"><td class="memItemLeft" align="right" valign="top"><a class="el" href="_memory_8h.html#a91074fb218fe28954a0938c099ddd9e0">JPH_OVERRIDE_NEW_DELETE</a> void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#ae323401f2d9039dd330b070808c494f7">Add</a> (<a class="el" href="class_constraint.html">Constraint</a> **inConstraints, int inNumber)</td></tr>
<tr class="memdesc:ae323401f2d9039dd330b070808c494f7"><td class="mdescLeft">&#160;</td><td class="mdescRight">Add a new constraint. This is thread safe.  <br /></td></tr>
<tr class="separator:ae323401f2d9039dd330b070808c494f7"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:acb16102f8700cbe29811d38abf913d0a" id="r_acb16102f8700cbe29811d38abf913d0a"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#acb16102f8700cbe29811d38abf913d0a">Remove</a> (<a class="el" href="class_constraint.html">Constraint</a> **inConstraint, int inNumber)</td></tr>
<tr class="memdesc:acb16102f8700cbe29811d38abf913d0a"><td class="mdescLeft">&#160;</td><td class="mdescRight">Remove a constraint. This is thread safe.  <br /></td></tr>
<tr class="separator:acb16102f8700cbe29811d38abf913d0a"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a28696554e9f5f7b0b2169fa523e80440" id="r_a28696554e9f5f7b0b2169fa523e80440"><td class="memItemLeft" align="right" valign="top"><a class="el" href="_constraint_manager_8h.html#aee2917a71c172c61d1e2d77c1fad813b">Constraints</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#a28696554e9f5f7b0b2169fa523e80440">GetConstraints</a> () const</td></tr>
<tr class="memdesc:a28696554e9f5f7b0b2169fa523e80440"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get a list of all constraints.  <br /></td></tr>
<tr class="separator:a28696554e9f5f7b0b2169fa523e80440"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:acd910b293c763c5c5a6f7c29a37721fb" id="r_acd910b293c763c5c5a6f7c29a37721fb"><td class="memItemLeft" align="right" valign="top"><a class="el" href="_core_8h.html#a8f95e75e58492e87412191fabadd8ca8">uint32</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#acd910b293c763c5c5a6f7c29a37721fb">GetNumConstraints</a> () const</td></tr>
<tr class="memdesc:acd910b293c763c5c5a6f7c29a37721fb"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get total number of constraints.  <br /></td></tr>
<tr class="separator:acd910b293c763c5c5a6f7c29a37721fb"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a6620266366dc35c2bf3877530a0d0c2a" id="r_a6620266366dc35c2bf3877530a0d0c2a"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#a6620266366dc35c2bf3877530a0d0c2a">GetActiveConstraints</a> (<a class="el" href="_core_8h.html#a8f95e75e58492e87412191fabadd8ca8">uint32</a> inStartConstraintIdx, <a class="el" href="_core_8h.html#a8f95e75e58492e87412191fabadd8ca8">uint32</a> inEndConstraintIdx, <a class="el" href="class_constraint.html">Constraint</a> **outActiveConstraints, <a class="el" href="_core_8h.html#a8f95e75e58492e87412191fabadd8ca8">uint32</a> &amp;outNumActiveConstraints) const</td></tr>
<tr class="memdesc:a6620266366dc35c2bf3877530a0d0c2a"><td class="mdescLeft">&#160;</td><td class="mdescRight">Determine the active constraints of a subset of the constraints.  <br /></td></tr>
<tr class="separator:a6620266366dc35c2bf3877530a0d0c2a"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:acbfe993a9253a89c1a75f1fa8318a706" id="r_acbfe993a9253a89c1a75f1fa8318a706"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#acbfe993a9253a89c1a75f1fa8318a706">DrawConstraints</a> (<a class="el" href="class_debug_renderer.html">DebugRenderer</a> *inRenderer) const</td></tr>
<tr class="memdesc:acbfe993a9253a89c1a75f1fa8318a706"><td class="mdescLeft">&#160;</td><td class="mdescRight">Draw all constraints.  <br /></td></tr>
<tr class="separator:acbfe993a9253a89c1a75f1fa8318a706"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ada42a650942ca12b4ffef3bc772ccaed" id="r_ada42a650942ca12b4ffef3bc772ccaed"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#ada42a650942ca12b4ffef3bc772ccaed">DrawConstraintLimits</a> (<a class="el" href="class_debug_renderer.html">DebugRenderer</a> *inRenderer) const</td></tr>
<tr class="memdesc:ada42a650942ca12b4ffef3bc772ccaed"><td class="mdescLeft">&#160;</td><td class="mdescRight">Draw all constraint limits.  <br /></td></tr>
<tr class="separator:ada42a650942ca12b4ffef3bc772ccaed"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a8e8f3c781d808b7676cb6a7e8e377a3b" id="r_a8e8f3c781d808b7676cb6a7e8e377a3b"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#a8e8f3c781d808b7676cb6a7e8e377a3b">DrawConstraintReferenceFrame</a> (<a class="el" href="class_debug_renderer.html">DebugRenderer</a> *inRenderer) const</td></tr>
<tr class="memdesc:a8e8f3c781d808b7676cb6a7e8e377a3b"><td class="mdescLeft">&#160;</td><td class="mdescRight">Draw all constraint reference frames.  <br /></td></tr>
<tr class="separator:a8e8f3c781d808b7676cb6a7e8e377a3b"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a77ead63fb9a81614e3a9bede90fbe730" id="r_a77ead63fb9a81614e3a9bede90fbe730"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#a77ead63fb9a81614e3a9bede90fbe730">SaveState</a> (<a class="el" href="class_state_recorder.html">StateRecorder</a> &amp;inStream, const <a class="el" href="class_state_recorder_filter.html">StateRecorderFilter</a> *inFilter) const</td></tr>
<tr class="memdesc:a77ead63fb9a81614e3a9bede90fbe730"><td class="mdescLeft">&#160;</td><td class="mdescRight">Save state of constraints.  <br /></td></tr>
<tr class="separator:a77ead63fb9a81614e3a9bede90fbe730"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:aa6041abc2a70cc411e4d814c9dbf43f2" id="r_aa6041abc2a70cc411e4d814c9dbf43f2"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#aa6041abc2a70cc411e4d814c9dbf43f2">RestoreState</a> (<a class="el" href="class_state_recorder.html">StateRecorder</a> &amp;inStream)</td></tr>
<tr class="memdesc:aa6041abc2a70cc411e4d814c9dbf43f2"><td class="mdescLeft">&#160;</td><td class="mdescRight">Restore the state of constraints. Returns false if failed.  <br /></td></tr>
<tr class="separator:aa6041abc2a70cc411e4d814c9dbf43f2"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ae8d4baabaedc6f26b774d40b71b6bf85" id="r_ae8d4baabaedc6f26b774d40b71b6bf85"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#ae8d4baabaedc6f26b774d40b71b6bf85">LockAllConstraints</a> ()</td></tr>
<tr class="memdesc:ae8d4baabaedc6f26b774d40b71b6bf85"><td class="mdescLeft">&#160;</td><td class="mdescRight">Lock all constraints. This should only be done during <a class="el" href="class_physics_system.html#a4cdc76b2486dfaecfc9319d040e5e5f3">PhysicsSystem::Update()</a>.  <br /></td></tr>
<tr class="separator:ae8d4baabaedc6f26b774d40b71b6bf85"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:aef2a29f192caeb1209dfc1a6db0afb96" id="r_aef2a29f192caeb1209dfc1a6db0afb96"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#aef2a29f192caeb1209dfc1a6db0afb96">UnlockAllConstraints</a> ()</td></tr>
<tr class="separator:aef2a29f192caeb1209dfc1a6db0afb96"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="inherit_header pub_methods_class_non_copyable"><td colspan="2" onclick="javascript:dynsection.toggleInherit('pub_methods_class_non_copyable')"><img src="closed.png" alt="-"/>&#160;Public Member Functions inherited from <a class="el" href="class_non_copyable.html">NonCopyable</a></td></tr>
<tr class="memitem:a809b6e4ade7ae32f6d248f2a3b783d45 inherit pub_methods_class_non_copyable" id="r_a809b6e4ade7ae32f6d248f2a3b783d45"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_non_copyable.html#a809b6e4ade7ae32f6d248f2a3b783d45">NonCopyable</a> ()=default</td></tr>
<tr class="separator:a809b6e4ade7ae32f6d248f2a3b783d45 inherit pub_methods_class_non_copyable"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a501d34ffcc34b30de6d541887a901057 inherit pub_methods_class_non_copyable" id="r_a501d34ffcc34b30de6d541887a901057"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_non_copyable.html#a501d34ffcc34b30de6d541887a901057">NonCopyable</a> (const <a class="el" href="class_non_copyable.html">NonCopyable</a> &amp;)=delete</td></tr>
<tr class="separator:a501d34ffcc34b30de6d541887a901057 inherit pub_methods_class_non_copyable"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:aaf9b12dcaae80c9d304df7a941d4e21f inherit pub_methods_class_non_copyable" id="r_aaf9b12dcaae80c9d304df7a941d4e21f"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_non_copyable.html#aaf9b12dcaae80c9d304df7a941d4e21f">operator=</a> (const <a class="el" href="class_non_copyable.html">NonCopyable</a> &amp;)=delete</td></tr>
<tr class="separator:aaf9b12dcaae80c9d304df7a941d4e21f inherit pub_methods_class_non_copyable"><td class="memSeparator" colspan="2">&#160;</td></tr>
</table><table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a id="pub-static-methods" name="pub-static-methods"></a>
Static Public Member Functions</h2></td></tr>
<tr class="memitem:a8d25eeed84ba6551c00751925af42d78" id="r_a8d25eeed84ba6551c00751925af42d78"><td class="memItemLeft" align="right" valign="top">static void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#a8d25eeed84ba6551c00751925af42d78">sBuildIslands</a> (<a class="el" href="class_constraint.html">Constraint</a> **inActiveConstraints, <a class="el" href="_core_8h.html#a8f95e75e58492e87412191fabadd8ca8">uint32</a> inNumActiveConstraints, <a class="el" href="class_island_builder.html">IslandBuilder</a> &amp;ioBuilder, <a class="el" href="class_body_manager.html">BodyManager</a> &amp;inBodyManager)</td></tr>
<tr class="memdesc:a8d25eeed84ba6551c00751925af42d78"><td class="mdescLeft">&#160;</td><td class="mdescRight">Link bodies to form islands.  <br /></td></tr>
<tr class="separator:a8d25eeed84ba6551c00751925af42d78"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a2757e3b3d0529dc17e18f973962189a0" id="r_a2757e3b3d0529dc17e18f973962189a0"><td class="memItemLeft" align="right" valign="top">static void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#a2757e3b3d0529dc17e18f973962189a0">sSortConstraints</a> (<a class="el" href="class_constraint.html">Constraint</a> **inActiveConstraints, <a class="el" href="_core_8h.html#a8f95e75e58492e87412191fabadd8ca8">uint32</a> *inConstraintIdxBegin, <a class="el" href="_core_8h.html#a8f95e75e58492e87412191fabadd8ca8">uint32</a> *inConstraintIdxEnd)</td></tr>
<tr class="memdesc:a2757e3b3d0529dc17e18f973962189a0"><td class="mdescLeft">&#160;</td><td class="mdescRight">In order to have a deterministic simulation, we need to sort the constraints of an island before solving them.  <br /></td></tr>
<tr class="separator:a2757e3b3d0529dc17e18f973962189a0"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:afe238a7b8236da9b32ab8f5d2805a9b0" id="r_afe238a7b8236da9b32ab8f5d2805a9b0"><td class="memItemLeft" align="right" valign="top">static void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#afe238a7b8236da9b32ab8f5d2805a9b0">sSetupVelocityConstraints</a> (<a class="el" href="class_constraint.html">Constraint</a> **inActiveConstraints, <a class="el" href="_core_8h.html#a8f95e75e58492e87412191fabadd8ca8">uint32</a> inNumActiveConstraints, float inDeltaTime)</td></tr>
<tr class="memdesc:afe238a7b8236da9b32ab8f5d2805a9b0"><td class="mdescLeft">&#160;</td><td class="mdescRight">Prior to solving the velocity constraints, you must call SetupVelocityConstraints once to precalculate values that are independent of velocity.  <br /></td></tr>
<tr class="separator:afe238a7b8236da9b32ab8f5d2805a9b0"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ae6bcface0a71b17d95c48e2dddac5741" id="r_ae6bcface0a71b17d95c48e2dddac5741"><td class="memTemplParams" colspan="2">template&lt;class ConstraintCallback &gt; </td></tr>
<tr class="memitem:ae6bcface0a71b17d95c48e2dddac5741"><td class="memTemplItemLeft" align="right" valign="top">static void&#160;</td><td class="memTemplItemRight" valign="bottom"><a class="el" href="#ae6bcface0a71b17d95c48e2dddac5741">sWarmStartVelocityConstraints</a> (<a class="el" href="class_constraint.html">Constraint</a> **inActiveConstraints, const <a class="el" href="_core_8h.html#a8f95e75e58492e87412191fabadd8ca8">uint32</a> *inConstraintIdxBegin, const <a class="el" href="_core_8h.html#a8f95e75e58492e87412191fabadd8ca8">uint32</a> *inConstraintIdxEnd, float inWarmStartImpulseRatio, ConstraintCallback &amp;ioCallback)</td></tr>
<tr class="memdesc:ae6bcface0a71b17d95c48e2dddac5741"><td class="mdescLeft">&#160;</td><td class="mdescRight">Apply last frame's impulses, must be called prior to SolveVelocityConstraints.  <br /></td></tr>
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<tr class="memitem:ac5b062e8c716c39c1ab6a9596cf38e27" id="r_ac5b062e8c716c39c1ab6a9596cf38e27"><td class="memItemLeft" align="right" valign="top">static bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#ac5b062e8c716c39c1ab6a9596cf38e27">sSolveVelocityConstraints</a> (<a class="el" href="class_constraint.html">Constraint</a> **inActiveConstraints, const <a class="el" href="_core_8h.html#a8f95e75e58492e87412191fabadd8ca8">uint32</a> *inConstraintIdxBegin, const <a class="el" href="_core_8h.html#a8f95e75e58492e87412191fabadd8ca8">uint32</a> *inConstraintIdxEnd, float inDeltaTime)</td></tr>
<tr class="memdesc:ac5b062e8c716c39c1ab6a9596cf38e27"><td class="mdescLeft">&#160;</td><td class="mdescRight">This function is called multiple times to iteratively come to a solution that meets all velocity constraints.  <br /></td></tr>
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<tr class="memitem:a4229723017436afa53da329e916f35be" id="r_a4229723017436afa53da329e916f35be"><td class="memItemLeft" align="right" valign="top">static bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#a4229723017436afa53da329e916f35be">sSolvePositionConstraints</a> (<a class="el" href="class_constraint.html">Constraint</a> **inActiveConstraints, const <a class="el" href="_core_8h.html#a8f95e75e58492e87412191fabadd8ca8">uint32</a> *inConstraintIdxBegin, const <a class="el" href="_core_8h.html#a8f95e75e58492e87412191fabadd8ca8">uint32</a> *inConstraintIdxEnd, float inDeltaTime, float inBaumgarte)</td></tr>
<tr class="memdesc:a4229723017436afa53da329e916f35be"><td class="mdescLeft">&#160;</td><td class="mdescRight">This function is called multiple times to iteratively come to a solution that meets all position constraints.  <br /></td></tr>
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<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
<div class="textblock"><p>A constraint manager manages all constraints of the same type</p>
<p>WARNING: This class is an internal part of <a class="el" href="class_physics_system.html">PhysicsSystem</a>, it has no functions that can be called by users of the library. Its functionality is exposed through <a class="el" href="class_physics_system.html">PhysicsSystem</a> and <a class="el" href="class_body_interface.html">BodyInterface</a>. </p>
</div><h2 class="groupheader">Member Function Documentation</h2>
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<h2 class="memtitle"><span class="permalink"><a href="#ae323401f2d9039dd330b070808c494f7">&#9670;&#160;</a></span>Add()</h2>

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          <td class="memname"><a class="el" href="_core_8h.html#ad14098b68b8c44ea6112601031268405">JPH_NAMESPACE_BEGIN</a> void ConstraintManager::Add </td>
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<p>Add a new constraint. This is thread safe. </p>

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<h2 class="memtitle"><span class="permalink"><a href="#ada42a650942ca12b4ffef3bc772ccaed">&#9670;&#160;</a></span>DrawConstraintLimits()</h2>

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          <td class="memname">void ConstraintManager::DrawConstraintLimits </td>
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<p>Draw all constraint limits. </p>

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<h2 class="memtitle"><span class="permalink"><a href="#a8e8f3c781d808b7676cb6a7e8e377a3b">&#9670;&#160;</a></span>DrawConstraintReferenceFrame()</h2>

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          <td class="memname">void ConstraintManager::DrawConstraintReferenceFrame </td>
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<p>Draw all constraint reference frames. </p>

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<h2 class="memtitle"><span class="permalink"><a href="#acbfe993a9253a89c1a75f1fa8318a706">&#9670;&#160;</a></span>DrawConstraints()</h2>

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          <td class="memname">void ConstraintManager::DrawConstraints </td>
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<p>Draw all constraints. </p>

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<h2 class="memtitle"><span class="permalink"><a href="#a6620266366dc35c2bf3877530a0d0c2a">&#9670;&#160;</a></span>GetActiveConstraints()</h2>

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          <td class="paramtype"><a class="el" href="_core_8h.html#a8f95e75e58492e87412191fabadd8ca8">uint32</a></td>          <td class="paramname"><span class="paramname"><em>inEndConstraintIdx</em></span>, </td>
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<p>Determine the active constraints of a subset of the constraints. </p>

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<h2 class="memtitle"><span class="permalink"><a href="#a28696554e9f5f7b0b2169fa523e80440">&#9670;&#160;</a></span>GetConstraints()</h2>

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          <td class="memname"><a class="el" href="_constraint_manager_8h.html#aee2917a71c172c61d1e2d77c1fad813b">Constraints</a> ConstraintManager::GetConstraints </td>
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<p>Get a list of all constraints. </p>

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<h2 class="memtitle"><span class="permalink"><a href="#acd910b293c763c5c5a6f7c29a37721fb">&#9670;&#160;</a></span>GetNumConstraints()</h2>

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<p>Get total number of constraints. </p>

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<h2 class="memtitle"><span class="permalink"><a href="#ae8d4baabaedc6f26b774d40b71b6bf85">&#9670;&#160;</a></span>LockAllConstraints()</h2>

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<p>Lock all constraints. This should only be done during <a class="el" href="class_physics_system.html#a4cdc76b2486dfaecfc9319d040e5e5f3">PhysicsSystem::Update()</a>. </p>

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<h2 class="memtitle"><span class="permalink"><a href="#acb16102f8700cbe29811d38abf913d0a">&#9670;&#160;</a></span>Remove()</h2>

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<p>Remove a constraint. This is thread safe. </p>

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<h2 class="memtitle"><span class="permalink"><a href="#aa6041abc2a70cc411e4d814c9dbf43f2">&#9670;&#160;</a></span>RestoreState()</h2>

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<p>Restore the state of constraints. Returns false if failed. </p>

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<h2 class="memtitle"><span class="permalink"><a href="#a77ead63fb9a81614e3a9bede90fbe730">&#9670;&#160;</a></span>SaveState()</h2>

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<p>Save state of constraints. </p>

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<h2 class="memtitle"><span class="permalink"><a href="#a8d25eeed84ba6551c00751925af42d78">&#9670;&#160;</a></span>sBuildIslands()</h2>

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          <td class="paramtype"><a class="el" href="_core_8h.html#a8f95e75e58492e87412191fabadd8ca8">uint32</a></td>          <td class="paramname"><span class="paramname"><em>inNumActiveConstraints</em></span>, </td>
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          <td class="paramtype"><a class="el" href="class_body_manager.html">BodyManager</a> &amp;</td>          <td class="paramname"><span class="paramname"><em>inBodyManager</em></span>&#160;)</td>
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<p>Link bodies to form islands. </p>

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<h2 class="memtitle"><span class="permalink"><a href="#afe238a7b8236da9b32ab8f5d2805a9b0">&#9670;&#160;</a></span>sSetupVelocityConstraints()</h2>

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          <td class="paramtype"><a class="el" href="_core_8h.html#a8f95e75e58492e87412191fabadd8ca8">uint32</a></td>          <td class="paramname"><span class="paramname"><em>inNumActiveConstraints</em></span>, </td>
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<p>Prior to solving the velocity constraints, you must call SetupVelocityConstraints once to precalculate values that are independent of velocity. </p>

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<h2 class="memtitle"><span class="permalink"><a href="#a4229723017436afa53da329e916f35be">&#9670;&#160;</a></span>sSolvePositionConstraints()</h2>

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<p>This function is called multiple times to iteratively come to a solution that meets all position constraints. </p>

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<h2 class="memtitle"><span class="permalink"><a href="#ac5b062e8c716c39c1ab6a9596cf38e27">&#9670;&#160;</a></span>sSolveVelocityConstraints()</h2>

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<p>This function is called multiple times to iteratively come to a solution that meets all velocity constraints. </p>

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<h2 class="memtitle"><span class="permalink"><a href="#a2757e3b3d0529dc17e18f973962189a0">&#9670;&#160;</a></span>sSortConstraints()</h2>

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          <td class="memname">void ConstraintManager::sSortConstraints </td>
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          <td class="paramtype"><a class="el" href="class_constraint.html">Constraint</a> **</td>          <td class="paramname"><span class="paramname"><em>inActiveConstraints</em></span>, </td>
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          <td class="paramtype"><a class="el" href="_core_8h.html#a8f95e75e58492e87412191fabadd8ca8">uint32</a> *</td>          <td class="paramname"><span class="paramname"><em>inConstraintIdxBegin</em></span>, </td>
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          <td class="paramtype"><a class="el" href="_core_8h.html#a8f95e75e58492e87412191fabadd8ca8">uint32</a> *</td>          <td class="paramname"><span class="paramname"><em>inConstraintIdxEnd</em></span>&#160;)</td>
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<p>In order to have a deterministic simulation, we need to sort the constraints of an island before solving them. </p>

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<h2 class="memtitle"><span class="permalink"><a href="#ae6bcface0a71b17d95c48e2dddac5741">&#9670;&#160;</a></span>sWarmStartVelocityConstraints()</h2>

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template&lt;class ConstraintCallback &gt; </div>
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          <td class="memname">template void ConstraintManager::sWarmStartVelocityConstraints&lt; DummyCalculateSolverSteps &gt; </td>
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          <td class="paramtype">const <a class="el" href="_core_8h.html#a8f95e75e58492e87412191fabadd8ca8">uint32</a> *</td>          <td class="paramname"><span class="paramname"><em>inConstraintIdxBegin</em></span>, </td>
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          <td class="paramtype">const <a class="el" href="_core_8h.html#a8f95e75e58492e87412191fabadd8ca8">uint32</a> *</td>          <td class="paramname"><span class="paramname"><em>inConstraintIdxEnd</em></span>, </td>
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          <td class="paramtype">float</td>          <td class="paramname"><span class="paramname"><em>inWarmStartImpulseRatio</em></span>, </td>
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<p>Apply last frame's impulses, must be called prior to SolveVelocityConstraints. </p>

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<h2 class="memtitle"><span class="permalink"><a href="#aef2a29f192caeb1209dfc1a6db0afb96">&#9670;&#160;</a></span>UnlockAllConstraints()</h2>

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          <td class="memname">void ConstraintManager::UnlockAllConstraints </td>
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<hr/>The documentation for this class was generated from the following files:<ul>
<li>Jolt/Physics/Constraints/<a class="el" href="_constraint_manager_8h_source.html">ConstraintManager.h</a></li>
<li>Jolt/Physics/Constraints/<a class="el" href="_constraint_manager_8cpp.html">ConstraintManager.cpp</a></li>
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