Home Explore Help
Sign In
cpp
/
JoltPhysics
mirror of https://github.com/jrouwe/JoltPhysics.git
2
0
Fork 0
Files Issues 0 Wiki
Branch: gh-pages
Branches Tags
JoltPhysics
/
class_dual_axis_constraint_part.html

class_dual_axis_constraint_part.html 30 KB
Permalink History Raw

123456789101112131415161718192021222324252627282930313233343536373839404142434445464748495051525354555657585960616263646566676869707172737475767778798081828384858687888990919293949596979899100101102103104105106107108109110111112113114115116117118119120121122123124125126127128129130131132133134135136137138139140141142143144145146147148149150151152153154155156157158159160161162163164165166167168169170171172173174175176177178179180181182183184185186187188189190191192193194195196197198199200201202203204205206207208209210211212213214215216217218219220221222223224225226227228229230231232233234235236237238239240241242243244245246247248249250251252253254255256257258259260261262263264265266267268269270271272273274275276277278279280281282283284285286287288289290291292293294295296297298299300301302303304305306307308309310311312313314315316317318319320321322323324325326327328329330331332333334335336337338339340341342343344345346347348349350351352353354355356357358359360361362363364365366367368369370371372373374375376377378379380381382383384385386387388389390391392393394395396397398399400401402403404405406407408409410411412413414415416417418419420421422423424425426427428429430431432433434435436437438439440441442443444445446447448449450451452453454455456457458459460461462463464465466467468469470471472473474475476477478479480481482483484485486487488489490491492493494495496497498499500501502503504505506507508509510511512513514515516517518519520521522523524525526527528529530531532533534535536537538539540541542543544545546547548549550551552553554555556557558559560561562563564565566567568569570571572573574575576577578579580581582583584 
  1. <!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "https://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
    2. 

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

  3. <head>
    4. 

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

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

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

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

  8. <title>Jolt Physics: DualAxisConstraintPart Class Reference</title>
    9. 

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

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

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

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

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

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

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

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

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

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

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

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

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

  22. MathJax.Hub.Config({
    23. 

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

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

  25. });
    26. 

  26. </script>
    27. 

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

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

  29. </head>
    30. 

  30. <body>
    31. 

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

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

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

  34.  <tbody>
    35. 

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

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

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

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

  39.    </div>
    40. 

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

  41.   </td>
    42. 

  42.  </tr>
    43. 

  43.  </tbody>
    44. 

  44. </table>
    45. 

  45. </div>
    46. 

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

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

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

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

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

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

  52. </script>
    53. 

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

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

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

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

  57. </script>
    58. 

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

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

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

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

  62. $(function() {
    63. 

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

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

  65. });
    66. 

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

  67. </script>
    68. 

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

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

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

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

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

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

  74.     </div>
    75. 

  75.   </div>
    76. 

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

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

  78.   </div>
    79. 

  79. </div>
    80. 

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

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

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

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

  84. </script>
    85. 

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

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

  87. <div id="MSearchSelectWindow"
    88. 

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

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

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

  91. </div>
    92. 

  92. 

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

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

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

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

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

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

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

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

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

  102. </div>
    103. 

  103. </div>
    104. 

  104. </div>
    105. 

  105. </div>
    106. 

  106. 

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

  108.   <div class="summary">
    109. 

  109. <a href="#pub-types">Public Types</a> &#124;
    110. 

  110. <a href="#pub-methods">Public Member Functions</a> &#124;
    111. 

  111. <a href="class_dual_axis_constraint_part-members.html">List of all members</a>  </div>
    112. 

  112.   <div class="headertitle"><div class="title">DualAxisConstraintPart Class Reference</div></div>
    113. 

  113. </div><!--header-->
    114. 

  114. <div class="contents">
    115. 

  115. 

  116. <p><code>#include &lt;<a class="el" href="_dual_axis_constraint_part_8h_source.html">DualAxisConstraintPart.h</a>&gt;</code></p>
    117. 

  117. <table class="memberdecls">
    118. 

  118. <tr class="heading"><td colspan="2"><h2 class="groupheader"><a id="pub-types" name="pub-types"></a>
    119. 

  119. Public Types</h2></td></tr>
    120. 

  120. <tr class="memitem:a6eab2fd65edd7457de26d07cd77f4797" id="r_a6eab2fd65edd7457de26d07cd77f4797"><td class="memItemLeft" align="right" valign="top">using&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#a6eab2fd65edd7457de26d07cd77f4797">Vec2</a> = <a class="el" href="class_vector.html">Vector</a>&lt;2&gt;</td></tr>
    121. 

  121. <tr class="separator:a6eab2fd65edd7457de26d07cd77f4797"><td class="memSeparator" colspan="2">&#160;</td></tr>
    122. 

  122. <tr class="memitem:a435800bba261861cda7de7879cfb7259" id="r_a435800bba261861cda7de7879cfb7259"><td class="memItemLeft" align="right" valign="top">using&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#a435800bba261861cda7de7879cfb7259">Mat22</a> = <a class="el" href="class_matrix.html">Matrix</a>&lt;2, 2&gt;</td></tr>
    123. 

  123. <tr class="separator:a435800bba261861cda7de7879cfb7259"><td class="memSeparator" colspan="2">&#160;</td></tr>
    124. 

  124. </table><table class="memberdecls">
    125. 

  125. <tr class="heading"><td colspan="2"><h2 class="groupheader"><a id="pub-methods" name="pub-methods"></a>
    126. 

  126. Public Member Functions</h2></td></tr>
    127. 

  127. <tr class="memitem:af13f5a570f5b9f26edf310cf4eab5f23" id="r_af13f5a570f5b9f26edf310cf4eab5f23"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#af13f5a570f5b9f26edf310cf4eab5f23">CalculateConstraintProperties</a> (const <a class="el" href="class_body.html">Body</a> &amp;inBody1, <a class="el" href="_math_types_8h.html#af10dd31c5ad4acb62aba8025732597e6">Mat44Arg</a> inRotation1, <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#af10dd31c5ad4acb62aba8025732597e6">Mat44Arg</a> inRotation2, <a class="el" href="_math_types_8h.html#a6bc57c31f15cea47640b580d03737c68">Vec3Arg</a> inR2, <a class="el" href="_math_types_8h.html#a6bc57c31f15cea47640b580d03737c68">Vec3Arg</a> inN1, <a class="el" href="_math_types_8h.html#a6bc57c31f15cea47640b580d03737c68">Vec3Arg</a> inN2)</td></tr>
    128. 

  128. <tr class="separator:af13f5a570f5b9f26edf310cf4eab5f23"><td class="memSeparator" colspan="2">&#160;</td></tr>
    129. 

  129. <tr class="memitem:ad42c35a8c5bd8b609c1a3910a71194f6" id="r_ad42c35a8c5bd8b609c1a3910a71194f6"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#ad42c35a8c5bd8b609c1a3910a71194f6">Deactivate</a> ()</td></tr>
    130. 

  130. <tr class="memdesc:ad42c35a8c5bd8b609c1a3910a71194f6"><td class="mdescLeft">&#160;</td><td class="mdescRight">Deactivate this constraint.  <br /></td></tr>
    131. 

  131. <tr class="separator:ad42c35a8c5bd8b609c1a3910a71194f6"><td class="memSeparator" colspan="2">&#160;</td></tr>
    132. 

  132. <tr class="memitem:abb7c86b1b65526e284e71c3b126a53e1" id="r_abb7c86b1b65526e284e71c3b126a53e1"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#abb7c86b1b65526e284e71c3b126a53e1">IsActive</a> () const</td></tr>
    133. 

  133. <tr class="memdesc:abb7c86b1b65526e284e71c3b126a53e1"><td class="mdescLeft">&#160;</td><td class="mdescRight">Check if constraint is active.  <br /></td></tr>
    134. 

  134. <tr class="separator:abb7c86b1b65526e284e71c3b126a53e1"><td class="memSeparator" colspan="2">&#160;</td></tr>
    135. 

  135. <tr class="memitem:a5eb24d0267626b638b94b33f09efa53b" id="r_a5eb24d0267626b638b94b33f09efa53b"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#a5eb24d0267626b638b94b33f09efa53b">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> inN1, <a class="el" href="_math_types_8h.html#a6bc57c31f15cea47640b580d03737c68">Vec3Arg</a> inN2, float inWarmStartImpulseRatio)</td></tr>
    136. 

  136. <tr class="separator:a5eb24d0267626b638b94b33f09efa53b"><td class="memSeparator" colspan="2">&#160;</td></tr>
    137. 

  137. <tr class="memitem:a05cd7b92a7bdf55e64e1e924fe941a29" id="r_a05cd7b92a7bdf55e64e1e924fe941a29"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#a05cd7b92a7bdf55e64e1e924fe941a29">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> inN1, <a class="el" href="_math_types_8h.html#a6bc57c31f15cea47640b580d03737c68">Vec3Arg</a> inN2)</td></tr>
    138. 

  138. <tr class="separator:a05cd7b92a7bdf55e64e1e924fe941a29"><td class="memSeparator" colspan="2">&#160;</td></tr>
    139. 

  139. <tr class="memitem:a61414f76e664b04fc7b99b4a96cfe032" id="r_a61414f76e664b04fc7b99b4a96cfe032"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#a61414f76e664b04fc7b99b4a96cfe032">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> inU, <a class="el" href="_math_types_8h.html#a6bc57c31f15cea47640b580d03737c68">Vec3Arg</a> inN1, <a class="el" href="_math_types_8h.html#a6bc57c31f15cea47640b580d03737c68">Vec3Arg</a> inN2, float inBaumgarte) const</td></tr>
    140. 

  140. <tr class="separator:a61414f76e664b04fc7b99b4a96cfe032"><td class="memSeparator" colspan="2">&#160;</td></tr>
    141. 

  141. <tr class="memitem:ab75b06acf448414fefc7001524167795" id="r_ab75b06acf448414fefc7001524167795"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#ab75b06acf448414fefc7001524167795">SetTotalLambda</a> (const <a class="el" href="#a6eab2fd65edd7457de26d07cd77f4797">Vec2</a> &amp;inLambda)</td></tr>
    142. 

  142. <tr class="memdesc:ab75b06acf448414fefc7001524167795"><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>
    143. 

  143. <tr class="separator:ab75b06acf448414fefc7001524167795"><td class="memSeparator" colspan="2">&#160;</td></tr>
    144. 

  144. <tr class="memitem:a89e53a1884747a98a2b2e8647f219c2c" id="r_a89e53a1884747a98a2b2e8647f219c2c"><td class="memItemLeft" align="right" valign="top">const <a class="el" href="#a6eab2fd65edd7457de26d07cd77f4797">Vec2</a> &amp;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#a89e53a1884747a98a2b2e8647f219c2c">GetTotalLambda</a> () const</td></tr>
    145. 

  145. <tr class="memdesc:a89e53a1884747a98a2b2e8647f219c2c"><td class="mdescLeft">&#160;</td><td class="mdescRight">Return lagrange multiplier.  <br /></td></tr>
    146. 

  146. <tr class="separator:a89e53a1884747a98a2b2e8647f219c2c"><td class="memSeparator" colspan="2">&#160;</td></tr>
    147. 

  147. <tr class="memitem:a88aa1c3d00a9b0bcdcbbb3fa964dd18f" id="r_a88aa1c3d00a9b0bcdcbbb3fa964dd18f"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#a88aa1c3d00a9b0bcdcbbb3fa964dd18f">SaveState</a> (<a class="el" href="class_state_recorder.html">StateRecorder</a> &amp;inStream) const</td></tr>
    148. 

  148. <tr class="memdesc:a88aa1c3d00a9b0bcdcbbb3fa964dd18f"><td class="mdescLeft">&#160;</td><td class="mdescRight">Save state of this constraint part.  <br /></td></tr>
    149. 

  149. <tr class="separator:a88aa1c3d00a9b0bcdcbbb3fa964dd18f"><td class="memSeparator" colspan="2">&#160;</td></tr>
    150. 

  150. <tr class="memitem:a06562f096c62e631bb4e8571a731ffb0" id="r_a06562f096c62e631bb4e8571a731ffb0"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#a06562f096c62e631bb4e8571a731ffb0">RestoreState</a> (<a class="el" href="class_state_recorder.html">StateRecorder</a> &amp;inStream)</td></tr>
    151. 

  151. <tr class="memdesc:a06562f096c62e631bb4e8571a731ffb0"><td class="mdescLeft">&#160;</td><td class="mdescRight">Restore state of this constraint part.  <br /></td></tr>
    152. 

  152. <tr class="separator:a06562f096c62e631bb4e8571a731ffb0"><td class="memSeparator" colspan="2">&#160;</td></tr>
    153. 

  153. </table>
    154. 

  154. <a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
    155. 

  155. <div class="textblock"><p>Constrains movement on 2 axis</p>
    156. 

  156. <dl class="section see"><dt>See also</dt><dd>"Constraints Derivation for Rigid Body Simulation in 3D" - Daniel Chappuis, section 2.3.1</dd></dl>
    157. 

  157. <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 51):</p>
    158. 

  158. <p class="formulaDsp">
    159. 

  159. \[C = \begin{bmatrix} (p_2 - p_1) \cdot n_1 \\ (p_2 - p_1) \cdot n_2\end{bmatrix}\]
    160. 

  160. </p>
    161. 

  161. <p>Jacobian (transposed) (eq 55):</p>
    162. 

  162. <p class="formulaDsp">
    163. 

  163. \[J^T = \begin{bmatrix}
    164. 

  164. -n_1                    &amp; -n_2                  \\
    165. 

  165. -(r_1 + u) \times n_1   &amp; -(r_1 + u) \times n_2 \\
    166. 

  166. n_1                     &amp; n_2                   \\
    167. 

  167. r_2 \times n_1          &amp; r_2 \times n_2
    168. 

  168. \end{bmatrix}\]
    169. 

  169. </p>
    170. 

  170. <p>Used terms (here and below, everything in world space):<br  />
    171. 

  171. n1, n2 = constraint axis (normalized).<br  />
    172. 

  172. p1, p2 = constraint points.<br  />
    173. 

  173. r1 = p1 - x1.<br  />
    174. 

  174. r2 = p2 - x2.<br  />
    175. 

  175. u = x2 + r2 - x1 - r1 = p2 - p1.<br  />
    176. 

  176. x1, x2 = center of mass for the bodies.<br  />
    177. 

  177. v = [v1, w1, v2, w2].<br  />
    178. 

  178. v1, v2 = linear velocity of body 1 and 2.<br  />
    179. 

  179. w1, w2 = angular velocity of body 1 and 2.<br  />
    180. 

  180. M = mass matrix, a diagonal matrix of the mass and inertia with diagonal [m1, I1, m2, I2].<br  />
    181. 

  181.  \(K^{-1} = \left( J M^{-1} J^T \right)^{-1}\) = effective mass.<br  />
    182. 

  182. b = velocity bias.<br  />
    183. 

  183.  \(\beta\) = baumgarte constant. </p>
    184. 

  184. </div><h2 class="groupheader">Member Typedef Documentation</h2>
    185. 

  185. <a id="a435800bba261861cda7de7879cfb7259" name="a435800bba261861cda7de7879cfb7259"></a>
    186. 

  186. <h2 class="memtitle"><span class="permalink"><a href="#a435800bba261861cda7de7879cfb7259">&#9670;&#160;</a></span>Mat22</h2>
    187. 

  187. 

  188. <div class="memitem">
    189. 

  189. <div class="memproto">
    190. 

  190.       <table class="memname">
    191. 

  191.         <tr>
    192. 

  192.           <td class="memname">using <a class="el" href="#a435800bba261861cda7de7879cfb7259">DualAxisConstraintPart::Mat22</a> = <a class="el" href="class_matrix.html">Matrix</a>&lt;2, 2&gt;</td>
    193. 

  193.         </tr>
    194. 

  194.       </table>
    195. 

  195. </div><div class="memdoc">
    196. 

  196. 

  197. </div>
    198. 

  198. </div>
    199. 

  199. <a id="a6eab2fd65edd7457de26d07cd77f4797" name="a6eab2fd65edd7457de26d07cd77f4797"></a>
    200. 

  200. <h2 class="memtitle"><span class="permalink"><a href="#a6eab2fd65edd7457de26d07cd77f4797">&#9670;&#160;</a></span>Vec2</h2>
    201. 

  201. 

  202. <div class="memitem">
    203. 

  203. <div class="memproto">
    204. 

  204.       <table class="memname">
    205. 

  205.         <tr>
    206. 

  206.           <td class="memname">using <a class="el" href="#a6eab2fd65edd7457de26d07cd77f4797">DualAxisConstraintPart::Vec2</a> = <a class="el" href="class_vector.html">Vector</a>&lt;2&gt;</td>
    207. 

  207.         </tr>
    208. 

  208.       </table>
    209. 

  209. </div><div class="memdoc">
    210. 

  210. 

  211. </div>
    212. 

  212. </div>
    213. 

  213. <h2 class="groupheader">Member Function Documentation</h2>
    214. 

  214. <a id="af13f5a570f5b9f26edf310cf4eab5f23" name="af13f5a570f5b9f26edf310cf4eab5f23"></a>
    215. 

  215. <h2 class="memtitle"><span class="permalink"><a href="#af13f5a570f5b9f26edf310cf4eab5f23">&#9670;&#160;</a></span>CalculateConstraintProperties()</h2>
    216. 

  216. 

  217. <div class="memitem">
    218. 

  218. <div class="memproto">
    219. 

  219. <table class="mlabels">
    220. 

  220.   <tr>
    221. 

  221.   <td class="mlabels-left">
    222. 

  222.       <table class="memname">
    223. 

  223.         <tr>
    224. 

  224.           <td class="memname">void DualAxisConstraintPart::CalculateConstraintProperties </td>
    225. 

  225.           <td>(</td>
    226. 

  226.           <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>
    227. 

  227.         </tr>
    228. 

  228.         <tr>
    229. 

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

  230.           <td></td>
    231. 

  231.           <td class="paramtype"><a class="el" href="_math_types_8h.html#af10dd31c5ad4acb62aba8025732597e6">Mat44Arg</a></td>          <td class="paramname"><span class="paramname"><em>inRotation1</em></span>, </td>
    232. 

  232.         </tr>
    233. 

  233.         <tr>
    234. 

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

  235.           <td></td>
    236. 

  236.           <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>
    237. 

  237.         </tr>
    238. 

  238.         <tr>
    239. 

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

  240.           <td></td>
    241. 

  241.           <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>
    242. 

  242.         </tr>
    243. 

  243.         <tr>
    244. 

  244.           <td class="paramkey"></td>
    245. 

  245.           <td></td>
    246. 

  246.           <td class="paramtype"><a class="el" href="_math_types_8h.html#af10dd31c5ad4acb62aba8025732597e6">Mat44Arg</a></td>          <td class="paramname"><span class="paramname"><em>inRotation2</em></span>, </td>
    247. 

  247.         </tr>
    248. 

  248.         <tr>
    249. 

  249.           <td class="paramkey"></td>
    250. 

  250.           <td></td>
    251. 

  251.           <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>
    252. 

  252.         </tr>
    253. 

  253.         <tr>
    254. 

  254.           <td class="paramkey"></td>
    255. 

  255.           <td></td>
    256. 

  256.           <td class="paramtype"><a class="el" href="_math_types_8h.html#a6bc57c31f15cea47640b580d03737c68">Vec3Arg</a></td>          <td class="paramname"><span class="paramname"><em>inN1</em></span>, </td>
    257. 

  257.         </tr>
    258. 

  258.         <tr>
    259. 

  259.           <td class="paramkey"></td>
    260. 

  260.           <td></td>
    261. 

  261.           <td class="paramtype"><a class="el" href="_math_types_8h.html#a6bc57c31f15cea47640b580d03737c68">Vec3Arg</a></td>          <td class="paramname"><span class="paramname"><em>inN2</em></span>&#160;)</td>
    262. 

  262.         </tr>
    263. 

  263.       </table>
    264. 

  264.   </td>
    265. 

  265.   <td class="mlabels-right">
    266. 

  266. <span class="mlabels"><span class="mlabel">inline</span></span>  </td>
    267. 

  267.   </tr>
    268. 

  268. </table>
    269. 

  269. </div><div class="memdoc">
    270. 

  270. <p>Calculate properties used during the functions below All input vectors are in world space </p>
    271. 

  271. 

  272. </div>
    273. 

  273. </div>
    274. 

  274. <a id="ad42c35a8c5bd8b609c1a3910a71194f6" name="ad42c35a8c5bd8b609c1a3910a71194f6"></a>
    275. 

  275. <h2 class="memtitle"><span class="permalink"><a href="#ad42c35a8c5bd8b609c1a3910a71194f6">&#9670;&#160;</a></span>Deactivate()</h2>
    276. 

  276. 

  277. <div class="memitem">
    278. 

  278. <div class="memproto">
    279. 

  279. <table class="mlabels">
    280. 

  280.   <tr>
    281. 

  281.   <td class="mlabels-left">
    282. 

  282.       <table class="memname">
    283. 

  283.         <tr>
    284. 

  284.           <td class="memname">void DualAxisConstraintPart::Deactivate </td>
    285. 

  285.           <td>(</td>
    286. 

  286.           <td class="paramname"><span class="paramname"><em></em></span></td><td>)</td>
    287. 

  287.           <td></td>
    288. 

  288.         </tr>
    289. 

  289.       </table>
    290. 

  290.   </td>
    291. 

  291.   <td class="mlabels-right">
    292. 

  292. <span class="mlabels"><span class="mlabel">inline</span></span>  </td>
    293. 

  293.   </tr>
    294. 

  294. </table>
    295. 

  295. </div><div class="memdoc">
    296. 

  296. 

  297. <p>Deactivate this constraint. </p>
    298. 

  298. 

  299. </div>
    300. 

  300. </div>
    301. 

  301. <a id="a89e53a1884747a98a2b2e8647f219c2c" name="a89e53a1884747a98a2b2e8647f219c2c"></a>
    302. 

  302. <h2 class="memtitle"><span class="permalink"><a href="#a89e53a1884747a98a2b2e8647f219c2c">&#9670;&#160;</a></span>GetTotalLambda()</h2>
    303. 

  303. 

  304. <div class="memitem">
    305. 

  305. <div class="memproto">
    306. 

  306. <table class="mlabels">
    307. 

  307.   <tr>
    308. 

  308.   <td class="mlabels-left">
    309. 

  309.       <table class="memname">
    310. 

  310.         <tr>
    311. 

  311.           <td class="memname">const <a class="el" href="#a6eab2fd65edd7457de26d07cd77f4797">Vec2</a> &amp; DualAxisConstraintPart::GetTotalLambda </td>
    312. 

  312.           <td>(</td>
    313. 

  313.           <td class="paramname"><span class="paramname"><em></em></span></td><td>)</td>
    314. 

  314.           <td> const</td>
    315. 

  315.         </tr>
    316. 

  316.       </table>
    317. 

  317.   </td>
    318. 

  318.   <td class="mlabels-right">
    319. 

  319. <span class="mlabels"><span class="mlabel">inline</span></span>  </td>
    320. 

  320.   </tr>
    321. 

  321. </table>
    322. 

  322. </div><div class="memdoc">
    323. 

  323. 

  324. <p>Return lagrange multiplier. </p>
    325. 

  325. 

  326. </div>
    327. 

  327. </div>
    328. 

  328. <a id="abb7c86b1b65526e284e71c3b126a53e1" name="abb7c86b1b65526e284e71c3b126a53e1"></a>
    329. 

  329. <h2 class="memtitle"><span class="permalink"><a href="#abb7c86b1b65526e284e71c3b126a53e1">&#9670;&#160;</a></span>IsActive()</h2>
    330. 

  330. 

  331. <div class="memitem">
    332. 

  332. <div class="memproto">
    333. 

  333. <table class="mlabels">
    334. 

  334.   <tr>
    335. 

  335.   <td class="mlabels-left">
    336. 

  336.       <table class="memname">
    337. 

  337.         <tr>
    338. 

  338.           <td class="memname">bool DualAxisConstraintPart::IsActive </td>
    339. 

  339.           <td>(</td>
    340. 

  340.           <td class="paramname"><span class="paramname"><em></em></span></td><td>)</td>
    341. 

  341.           <td> const</td>
    342. 

  342.         </tr>
    343. 

  343.       </table>
    344. 

  344.   </td>
    345. 

  345.   <td class="mlabels-right">
    346. 

  346. <span class="mlabels"><span class="mlabel">inline</span></span>  </td>
    347. 

  347.   </tr>
    348. 

  348. </table>
    349. 

  349. </div><div class="memdoc">
    350. 

  350. 

  351. <p>Check if constraint is active. </p>
    352. 

  352. 

  353. </div>
    354. 

  354. </div>
    355. 

  355. <a id="a06562f096c62e631bb4e8571a731ffb0" name="a06562f096c62e631bb4e8571a731ffb0"></a>
    356. 

  356. <h2 class="memtitle"><span class="permalink"><a href="#a06562f096c62e631bb4e8571a731ffb0">&#9670;&#160;</a></span>RestoreState()</h2>
    357. 

  357. 

  358. <div class="memitem">
    359. 

  359. <div class="memproto">
    360. 

  360. <table class="mlabels">
    361. 

  361.   <tr>
    362. 

  362.   <td class="mlabels-left">
    363. 

  363.       <table class="memname">
    364. 

  364.         <tr>
    365. 

  365.           <td class="memname">void DualAxisConstraintPart::RestoreState </td>
    366. 

  366.           <td>(</td>
    367. 

  367.           <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>
    368. 

  368.           <td></td>
    369. 

  369.         </tr>
    370. 

  370.       </table>
    371. 

  371.   </td>
    372. 

  372.   <td class="mlabels-right">
    373. 

  373. <span class="mlabels"><span class="mlabel">inline</span></span>  </td>
    374. 

  374.   </tr>
    375. 

  375. </table>
    376. 

  376. </div><div class="memdoc">
    377. 

  377. 

  378. <p>Restore state of this constraint part. </p>
    379. 

  379. 

  380. </div>
    381. 

  381. </div>
    382. 

  382. <a id="a88aa1c3d00a9b0bcdcbbb3fa964dd18f" name="a88aa1c3d00a9b0bcdcbbb3fa964dd18f"></a>
    383. 

  383. <h2 class="memtitle"><span class="permalink"><a href="#a88aa1c3d00a9b0bcdcbbb3fa964dd18f">&#9670;&#160;</a></span>SaveState()</h2>
    384. 

  384. 

  385. <div class="memitem">
    386. 

  386. <div class="memproto">
    387. 

  387. <table class="mlabels">
    388. 

  388.   <tr>
    389. 

  389.   <td class="mlabels-left">
    390. 

  390.       <table class="memname">
    391. 

  391.         <tr>
    392. 

  392.           <td class="memname">void DualAxisConstraintPart::SaveState </td>
    393. 

  393.           <td>(</td>
    394. 

  394.           <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>
    395. 

  395.           <td> const</td>
    396. 

  396.         </tr>
    397. 

  397.       </table>
    398. 

  398.   </td>
    399. 

  399.   <td class="mlabels-right">
    400. 

  400. <span class="mlabels"><span class="mlabel">inline</span></span>  </td>
    401. 

  401.   </tr>
    402. 

  402. </table>
    403. 

  403. </div><div class="memdoc">
    404. 

  404. 

  405. <p>Save state of this constraint part. </p>
    406. 

  406. 

  407. </div>
    408. 

  408. </div>
    409. 

  409. <a id="ab75b06acf448414fefc7001524167795" name="ab75b06acf448414fefc7001524167795"></a>
    410. 

  410. <h2 class="memtitle"><span class="permalink"><a href="#ab75b06acf448414fefc7001524167795">&#9670;&#160;</a></span>SetTotalLambda()</h2>
    411. 

  411. 

  412. <div class="memitem">
    413. 

  413. <div class="memproto">
    414. 

  414. <table class="mlabels">
    415. 

  415.   <tr>
    416. 

  416.   <td class="mlabels-left">
    417. 

  417.       <table class="memname">
    418. 

  418.         <tr>
    419. 

  419.           <td class="memname">void DualAxisConstraintPart::SetTotalLambda </td>
    420. 

  420.           <td>(</td>
    421. 

  421.           <td class="paramtype">const <a class="el" href="#a6eab2fd65edd7457de26d07cd77f4797">Vec2</a> &amp;</td>          <td class="paramname"><span class="paramname"><em>inLambda</em></span></td><td>)</td>
    422. 

  422.           <td></td>
    423. 

  423.         </tr>
    424. 

  424.       </table>
    425. 

  425.   </td>
    426. 

  426.   <td class="mlabels-right">
    427. 

  427. <span class="mlabels"><span class="mlabel">inline</span></span>  </td>
    428. 

  428.   </tr>
    429. 

  429. </table>
    430. 

  430. </div><div class="memdoc">
    431. 

  431. 

  432. <p>Override total lagrange multiplier, can be used to set the initial value for warm starting. </p>
    433. 

  433. 

  434. </div>
    435. 

  435. </div>
    436. 

  436. <a id="a61414f76e664b04fc7b99b4a96cfe032" name="a61414f76e664b04fc7b99b4a96cfe032"></a>
    437. 

  437. <h2 class="memtitle"><span class="permalink"><a href="#a61414f76e664b04fc7b99b4a96cfe032">&#9670;&#160;</a></span>SolvePositionConstraint()</h2>
    438. 

  438. 

  439. <div class="memitem">
    440. 

  440. <div class="memproto">
    441. 

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

  442.   <tr>
    443. 

  443.   <td class="mlabels-left">
    444. 

  444.       <table class="memname">
    445. 

  445.         <tr>
    446. 

  446.           <td class="memname">bool DualAxisConstraintPart::SolvePositionConstraint </td>
    447. 

  447.           <td>(</td>
    448. 

  448.           <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>
    449. 

  449.         </tr>
    450. 

  450.         <tr>
    451. 

  451.           <td class="paramkey"></td>
    452. 

  452.           <td></td>
    453. 

  453.           <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>
    454. 

  454.         </tr>
    455. 

  455.         <tr>
    456. 

  456.           <td class="paramkey"></td>
    457. 

  457.           <td></td>
    458. 

  458.           <td class="paramtype"><a class="el" href="_math_types_8h.html#a6bc57c31f15cea47640b580d03737c68">Vec3Arg</a></td>          <td class="paramname"><span class="paramname"><em>inU</em></span>, </td>
    459. 

  459.         </tr>
    460. 

  460.         <tr>
    461. 

  461.           <td class="paramkey"></td>
    462. 

  462.           <td></td>
    463. 

  463.           <td class="paramtype"><a class="el" href="_math_types_8h.html#a6bc57c31f15cea47640b580d03737c68">Vec3Arg</a></td>          <td class="paramname"><span class="paramname"><em>inN1</em></span>, </td>
    464. 

  464.         </tr>
    465. 

  465.         <tr>
    466. 

  466.           <td class="paramkey"></td>
    467. 

  467.           <td></td>
    468. 

  468.           <td class="paramtype"><a class="el" href="_math_types_8h.html#a6bc57c31f15cea47640b580d03737c68">Vec3Arg</a></td>          <td class="paramname"><span class="paramname"><em>inN2</em></span>, </td>
    469. 

  469.         </tr>
    470. 

  470.         <tr>
    471. 

  471.           <td class="paramkey"></td>
    472. 

  472.           <td></td>
    473. 

  473.           <td class="paramtype">float</td>          <td class="paramname"><span class="paramname"><em>inBaumgarte</em></span>&#160;) const</td>
    474. 

  474.         </tr>
    475. 

  475.       </table>
    476. 

  476.   </td>
    477. 

  477.   <td class="mlabels-right">
    478. 

  478. <span class="mlabels"><span class="mlabel">inline</span></span>  </td>
    479. 

  479.   </tr>
    480. 

  480. </table>
    481. 

  481. </div><div class="memdoc">
    482. 

  482. <p>Iteratively update the position constraint. Makes sure C(...) = 0. All input vectors are in world space </p>
    483. 

  483. 

  484. </div>
    485. 

  485. </div>
    486. 

  486. <a id="a05cd7b92a7bdf55e64e1e924fe941a29" name="a05cd7b92a7bdf55e64e1e924fe941a29"></a>
    487. 

  487. <h2 class="memtitle"><span class="permalink"><a href="#a05cd7b92a7bdf55e64e1e924fe941a29">&#9670;&#160;</a></span>SolveVelocityConstraint()</h2>
    488. 

  488. 

  489. <div class="memitem">
    490. 

  490. <div class="memproto">
    491. 

  491. <table class="mlabels">
    492. 

  492.   <tr>
    493. 

  493.   <td class="mlabels-left">
    494. 

  494.       <table class="memname">
    495. 

  495.         <tr>
    496. 

  496.           <td class="memname">bool DualAxisConstraintPart::SolveVelocityConstraint </td>
    497. 

  497.           <td>(</td>
    498. 

  498.           <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>
    499. 

  499.         </tr>
    500. 

  500.         <tr>
    501. 

  501.           <td class="paramkey"></td>
    502. 

  502.           <td></td>
    503. 

  503.           <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>
    504. 

  504.         </tr>
    505. 

  505.         <tr>
    506. 

  506.           <td class="paramkey"></td>
    507. 

  507.           <td></td>
    508. 

  508.           <td class="paramtype"><a class="el" href="_math_types_8h.html#a6bc57c31f15cea47640b580d03737c68">Vec3Arg</a></td>          <td class="paramname"><span class="paramname"><em>inN1</em></span>, </td>
    509. 

  509.         </tr>
    510. 

  510.         <tr>
    511. 

  511.           <td class="paramkey"></td>
    512. 

  512.           <td></td>
    513. 

  513.           <td class="paramtype"><a class="el" href="_math_types_8h.html#a6bc57c31f15cea47640b580d03737c68">Vec3Arg</a></td>          <td class="paramname"><span class="paramname"><em>inN2</em></span>&#160;)</td>
    514. 

  514.         </tr>
    515. 

  515.       </table>
    516. 

  516.   </td>
    517. 

  517.   <td class="mlabels-right">
    518. 

  518. <span class="mlabels"><span class="mlabel">inline</span></span>  </td>
    519. 

  519.   </tr>
    520. 

  520. </table>
    521. 

  521. </div><div class="memdoc">
    522. 

  522. <p>Iteratively update the velocity constraint. Makes sure d/dt C(...) = 0, where C is the constraint equation. All input vectors are in world space </p>
    523. 

  523. 

  524. </div>
    525. 

  525. </div>
    526. 

  526. <a id="a5eb24d0267626b638b94b33f09efa53b" name="a5eb24d0267626b638b94b33f09efa53b"></a>
    527. 

  527. <h2 class="memtitle"><span class="permalink"><a href="#a5eb24d0267626b638b94b33f09efa53b">&#9670;&#160;</a></span>WarmStart()</h2>
    528. 

  528. 

  529. <div class="memitem">
    530. 

  530. <div class="memproto">
    531. 

  531. <table class="mlabels">
    532. 

  532.   <tr>
    533. 

  533.   <td class="mlabels-left">
    534. 

  534.       <table class="memname">
    535. 

  535.         <tr>
    536. 

  536.           <td class="memname">void DualAxisConstraintPart::WarmStart </td>
    537. 

  537.           <td>(</td>
    538. 

  538.           <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>
    539. 

  539.         </tr>
    540. 

  540.         <tr>
    541. 

  541.           <td class="paramkey"></td>
    542. 

  542.           <td></td>
    543. 

  543.           <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>
    544. 

  544.         </tr>
    545. 

  545.         <tr>
    546. 

  546.           <td class="paramkey"></td>
    547. 

  547.           <td></td>
    548. 

  548.           <td class="paramtype"><a class="el" href="_math_types_8h.html#a6bc57c31f15cea47640b580d03737c68">Vec3Arg</a></td>          <td class="paramname"><span class="paramname"><em>inN1</em></span>, </td>
    549. 

  549.         </tr>
    550. 

  550.         <tr>
    551. 

  551.           <td class="paramkey"></td>
    552. 

  552.           <td></td>
    553. 

  553.           <td class="paramtype"><a class="el" href="_math_types_8h.html#a6bc57c31f15cea47640b580d03737c68">Vec3Arg</a></td>          <td class="paramname"><span class="paramname"><em>inN2</em></span>, </td>
    554. 

  554.         </tr>
    555. 

  555.         <tr>
    556. 

  556.           <td class="paramkey"></td>
    557. 

  557.           <td></td>
    558. 

  558.           <td class="paramtype">float</td>          <td class="paramname"><span class="paramname"><em>inWarmStartImpulseRatio</em></span>&#160;)</td>
    559. 

  559.         </tr>
    560. 

  560.       </table>
    561. 

  561.   </td>
    562. 

  562.   <td class="mlabels-right">
    563. 

  563. <span class="mlabels"><span class="mlabel">inline</span></span>  </td>
    564. 

  564.   </tr>
    565. 

  565. </table>
    566. 

  566. </div><div class="memdoc">
    567. 

  567. <p>Must be called from the WarmStartVelocityConstraint call to apply the previous frame's impulses All input vectors are in world space </p>
    568. 

  568. 

  569. </div>
    570. 

  570. </div>
    571. 

  571. <hr/>The documentation for this class was generated from the following file:<ul>
    572. 

  572. <li>Jolt/Physics/Constraints/ConstraintPart/<a class="el" href="_dual_axis_constraint_part_8h_source.html">DualAxisConstraintPart.h</a></li>
    573. 

  573. </ul>
    574. 

  574. </div><!-- contents -->
    575. 

  575. </div><!-- doc-content -->
    576. 

  576. <!-- start footer part -->
    577. 

  577. <div id="nav-path" class="navpath"><!-- id is needed for treeview function! -->
    578. 

  578.   <ul>
    579. 

  579.     <li class="navelem"><a class="el" href="class_dual_axis_constraint_part.html">DualAxisConstraintPart</a></li>
    580. 

  580.     <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>
    581. 

  581.   </ul>
    582. 

  582. </div>
    583. 

  583. </body>
    584. 

  584. </html>
    585.