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  109. <a href="#pub-methods">Public Member Functions</a> &#124;
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  110. <a href="class_gear_constraint_part-members.html">List of all members</a>  </div>
    111. 

  111.   <div class="headertitle"><div class="title">GearConstraintPart Class Reference</div></div>
    112. 

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

  114. 

  115. <p><code>#include &lt;<a class="el" href="_gear_constraint_part_8h_source.html">GearConstraintPart.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:aa3a9c219aa2baf19edc577265ae2404f" id="r_aa3a9c219aa2baf19edc577265ae2404f"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#aa3a9c219aa2baf19edc577265ae2404f">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> inWorldSpaceHingeAxis1, const <a class="el" href="class_body.html">Body</a> &amp;inBody2, <a class="el" href="_math_types_8h.html#a6bc57c31f15cea47640b580d03737c68">Vec3Arg</a> inWorldSpaceHingeAxis2, float inRatio)</td></tr>
    120. 

  120. <tr class="separator:aa3a9c219aa2baf19edc577265ae2404f"><td class="memSeparator" colspan="2">&#160;</td></tr>
    121. 

  121. <tr class="memitem:ab05807faf3573b42a9a7a0a280aed05c" id="r_ab05807faf3573b42a9a7a0a280aed05c"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#ab05807faf3573b42a9a7a0a280aed05c">Deactivate</a> ()</td></tr>
    122. 

  122. <tr class="memdesc:ab05807faf3573b42a9a7a0a280aed05c"><td class="mdescLeft">&#160;</td><td class="mdescRight">Deactivate this constraint.  <br /></td></tr>
    123. 

  123. <tr class="separator:ab05807faf3573b42a9a7a0a280aed05c"><td class="memSeparator" colspan="2">&#160;</td></tr>
    124. 

  124. <tr class="memitem:a5e5f8097c8a062b98d9bedcfa37859c5" id="r_a5e5f8097c8a062b98d9bedcfa37859c5"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#a5e5f8097c8a062b98d9bedcfa37859c5">IsActive</a> () const</td></tr>
    125. 

  125. <tr class="memdesc:a5e5f8097c8a062b98d9bedcfa37859c5"><td class="mdescLeft">&#160;</td><td class="mdescRight">Check if constraint is active.  <br /></td></tr>
    126. 

  126. <tr class="separator:a5e5f8097c8a062b98d9bedcfa37859c5"><td class="memSeparator" colspan="2">&#160;</td></tr>
    127. 

  127. <tr class="memitem:a3886e068476d7e0d700dcec934ac6250" id="r_a3886e068476d7e0d700dcec934ac6250"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#a3886e068476d7e0d700dcec934ac6250">WarmStart</a> (<a class="el" href="class_body.html">Body</a> &amp;ioBody1, <a class="el" href="class_body.html">Body</a> &amp;ioBody2, float inWarmStartImpulseRatio)</td></tr>
    128. 

  128. <tr class="separator:a3886e068476d7e0d700dcec934ac6250"><td class="memSeparator" colspan="2">&#160;</td></tr>
    129. 

  129. <tr class="memitem:a59066c4f97a31d73d74dc5ec277ca43e" id="r_a59066c4f97a31d73d74dc5ec277ca43e"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#a59066c4f97a31d73d74dc5ec277ca43e">SolveVelocityConstraint</a> (<a class="el" href="class_body.html">Body</a> &amp;ioBody1, <a class="el" href="_math_types_8h.html#a6bc57c31f15cea47640b580d03737c68">Vec3Arg</a> inWorldSpaceHingeAxis1, <a class="el" href="class_body.html">Body</a> &amp;ioBody2, <a class="el" href="_math_types_8h.html#a6bc57c31f15cea47640b580d03737c68">Vec3Arg</a> inWorldSpaceHingeAxis2, float inRatio)</td></tr>
    130. 

  130. <tr class="separator:a59066c4f97a31d73d74dc5ec277ca43e"><td class="memSeparator" colspan="2">&#160;</td></tr>
    131. 

  131. <tr class="memitem:a0884cffe567c6cfe93e555996ba8bad9" id="r_a0884cffe567c6cfe93e555996ba8bad9"><td class="memItemLeft" align="right" valign="top">float&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#a0884cffe567c6cfe93e555996ba8bad9">GetTotalLambda</a> () const</td></tr>
    132. 

  132. <tr class="memdesc:a0884cffe567c6cfe93e555996ba8bad9"><td class="mdescLeft">&#160;</td><td class="mdescRight">Return lagrange multiplier.  <br /></td></tr>
    133. 

  133. <tr class="separator:a0884cffe567c6cfe93e555996ba8bad9"><td class="memSeparator" colspan="2">&#160;</td></tr>
    134. 

  134. <tr class="memitem:ad9da946340f02066a9031124bec183af" id="r_ad9da946340f02066a9031124bec183af"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#ad9da946340f02066a9031124bec183af">SolvePositionConstraint</a> (<a class="el" href="class_body.html">Body</a> &amp;ioBody1, <a class="el" href="class_body.html">Body</a> &amp;ioBody2, float inC, float inBaumgarte) const</td></tr>
    135. 

  135. <tr class="separator:ad9da946340f02066a9031124bec183af"><td class="memSeparator" colspan="2">&#160;</td></tr>
    136. 

  136. <tr class="memitem:afa8089c72687df9833186a2078cd1aa5" id="r_afa8089c72687df9833186a2078cd1aa5"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#afa8089c72687df9833186a2078cd1aa5">SaveState</a> (<a class="el" href="class_state_recorder.html">StateRecorder</a> &amp;inStream) const</td></tr>
    137. 

  137. <tr class="memdesc:afa8089c72687df9833186a2078cd1aa5"><td class="mdescLeft">&#160;</td><td class="mdescRight">Save state of this constraint part.  <br /></td></tr>
    138. 

  138. <tr class="separator:afa8089c72687df9833186a2078cd1aa5"><td class="memSeparator" colspan="2">&#160;</td></tr>
    139. 

  139. <tr class="memitem:ad3fc3cde9a29f5bbbba7db738f5715a3" id="r_ad3fc3cde9a29f5bbbba7db738f5715a3"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#ad3fc3cde9a29f5bbbba7db738f5715a3">RestoreState</a> (<a class="el" href="class_state_recorder.html">StateRecorder</a> &amp;inStream)</td></tr>
    140. 

  140. <tr class="memdesc:ad3fc3cde9a29f5bbbba7db738f5715a3"><td class="mdescLeft">&#160;</td><td class="mdescRight">Restore state of this constraint part.  <br /></td></tr>
    141. 

  141. <tr class="separator:ad3fc3cde9a29f5bbbba7db738f5715a3"><td class="memSeparator" colspan="2">&#160;</td></tr>
    142. 

  142. </table>
    143. 

  143. <a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
    144. 

  144. <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 two rotations using a gear (rotating in opposite direction)</p>
    145. 

  145. <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:</p>
    146. 

  146. <p>C = Rotation1(t) + r Rotation2(t)</p>
    147. 

  147. <p>Derivative:</p>
    148. 

  148. <p>d/dt C = 0 &lt;=&gt; w1 . a + r w2 . b = 0</p>
    149. 

  149. <p>Jacobian:</p>
    150. 

  150. <p class="formulaDsp">
    151. 

  151. \[J = \begin{bmatrix}0 &amp; a^T &amp; 0 &amp; r b^T\end{bmatrix}\]
    152. 

  152. </p>
    153. 

  153. <p>Used terms (here and below, everything in world space):<br  />
    154. 

  154. a = axis around which body 1 rotates (normalized).<br  />
    155. 

  155. b = axis along which body 2 slides (normalized).<br  />
    156. 

  156. Rotation1(t) = rotation around a of body 1.<br  />
    157. 

  157. Rotation2(t) = rotation around b of body 2.<br  />
    158. 

  158. r = ratio between rotation for body 1 and 2.<br  />
    159. 

  159. v = [v1, w1, v2, w2].<br  />
    160. 

  160. v1, v2 = linear velocity of body 1 and 2.<br  />
    161. 

  161. w1, w2 = angular velocity of body 1 and 2.<br  />
    162. 

  162. M = mass matrix, a diagonal matrix of the mass and inertia with diagonal [m1, I1, m2, I2].<br  />
    163. 

  163.  \(K^{-1} = \left( J M^{-1} J^T \right)^{-1}\) = effective mass.<br  />
    164. 

  164.  \(\beta\) = baumgarte constant. </p>
    165. 

  165. </div><h2 class="groupheader">Member Function Documentation</h2>
    166. 

  166. <a id="aa3a9c219aa2baf19edc577265ae2404f" name="aa3a9c219aa2baf19edc577265ae2404f"></a>
    167. 

  167. <h2 class="memtitle"><span class="permalink"><a href="#aa3a9c219aa2baf19edc577265ae2404f">&#9670;&#160;</a></span>CalculateConstraintProperties()</h2>
    168. 

  168. 

  169. <div class="memitem">
    170. 

  170. <div class="memproto">
    171. 

  171. <table class="mlabels">
    172. 

  172.   <tr>
    173. 

  173.   <td class="mlabels-left">
    174. 

  174.       <table class="memname">
    175. 

  175.         <tr>
    176. 

  176.           <td class="memname">void GearConstraintPart::CalculateConstraintProperties </td>
    177. 

  177.           <td>(</td>
    178. 

  178.           <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>
    179. 

  179.         </tr>
    180. 

  180.         <tr>
    181. 

  181.           <td class="paramkey"></td>
    182. 

  182.           <td></td>
    183. 

  183.           <td class="paramtype"><a class="el" href="_math_types_8h.html#a6bc57c31f15cea47640b580d03737c68">Vec3Arg</a></td>          <td class="paramname"><span class="paramname"><em>inWorldSpaceHingeAxis1</em></span>, </td>
    184. 

  184.         </tr>
    185. 

  185.         <tr>
    186. 

  186.           <td class="paramkey"></td>
    187. 

  187.           <td></td>
    188. 

  188.           <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>
    189. 

  189.         </tr>
    190. 

  190.         <tr>
    191. 

  191.           <td class="paramkey"></td>
    192. 

  192.           <td></td>
    193. 

  193.           <td class="paramtype"><a class="el" href="_math_types_8h.html#a6bc57c31f15cea47640b580d03737c68">Vec3Arg</a></td>          <td class="paramname"><span class="paramname"><em>inWorldSpaceHingeAxis2</em></span>, </td>
    194. 

  194.         </tr>
    195. 

  195.         <tr>
    196. 

  196.           <td class="paramkey"></td>
    197. 

  197.           <td></td>
    198. 

  198.           <td class="paramtype">float</td>          <td class="paramname"><span class="paramname"><em>inRatio</em></span>&#160;)</td>
    199. 

  199.         </tr>
    200. 

  200.       </table>
    201. 

  201.   </td>
    202. 

  202.   <td class="mlabels-right">
    203. 

  203. <span class="mlabels"><span class="mlabel">inline</span></span>  </td>
    204. 

  204.   </tr>
    205. 

  205. </table>
    206. 

  206. </div><div class="memdoc">
    207. 

  207. <p>Calculate properties used during the functions below </p><dl class="params"><dt>Parameters</dt><dd>
    208. 

  208.   <table class="params">
    209. 

  209.     <tr><td class="paramname">inBody1</td><td>The first body that this constraint is attached to </td></tr>
    210. 

  210.     <tr><td class="paramname">inBody2</td><td>The second body that this constraint is attached to </td></tr>
    211. 

  211.     <tr><td class="paramname">inWorldSpaceHingeAxis1</td><td>The axis around which body 1 rotates </td></tr>
    212. 

  212.     <tr><td class="paramname">inWorldSpaceHingeAxis2</td><td>The axis around which body 2 rotates </td></tr>
    213. 

  213.     <tr><td class="paramname">inRatio</td><td>The ratio between rotation and translation </td></tr>
    214. 

  214.   </table>
    215. 

  215.   </dd>
    216. 

  216. </dl>
    217. 

  217. 

  218. </div>
    219. 

  219. </div>
    220. 

  220. <a id="ab05807faf3573b42a9a7a0a280aed05c" name="ab05807faf3573b42a9a7a0a280aed05c"></a>
    221. 

  221. <h2 class="memtitle"><span class="permalink"><a href="#ab05807faf3573b42a9a7a0a280aed05c">&#9670;&#160;</a></span>Deactivate()</h2>
    222. 

  222. 

  223. <div class="memitem">
    224. 

  224. <div class="memproto">
    225. 

  225. <table class="mlabels">
    226. 

  226.   <tr>
    227. 

  227.   <td class="mlabels-left">
    228. 

  228.       <table class="memname">
    229. 

  229.         <tr>
    230. 

  230.           <td class="memname">void GearConstraintPart::Deactivate </td>
    231. 

  231.           <td>(</td>
    232. 

  232.           <td class="paramname"><span class="paramname"><em></em></span></td><td>)</td>
    233. 

  233.           <td></td>
    234. 

  234.         </tr>
    235. 

  235.       </table>
    236. 

  236.   </td>
    237. 

  237.   <td class="mlabels-right">
    238. 

  238. <span class="mlabels"><span class="mlabel">inline</span></span>  </td>
    239. 

  239.   </tr>
    240. 

  240. </table>
    241. 

  241. </div><div class="memdoc">
    242. 

  242. 

  243. <p>Deactivate this constraint. </p>
    244. 

  244. 

  245. </div>
    246. 

  246. </div>
    247. 

  247. <a id="a0884cffe567c6cfe93e555996ba8bad9" name="a0884cffe567c6cfe93e555996ba8bad9"></a>
    248. 

  248. <h2 class="memtitle"><span class="permalink"><a href="#a0884cffe567c6cfe93e555996ba8bad9">&#9670;&#160;</a></span>GetTotalLambda()</h2>
    249. 

  249. 

  250. <div class="memitem">
    251. 

  251. <div class="memproto">
    252. 

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

  253.   <tr>
    254. 

  254.   <td class="mlabels-left">
    255. 

  255.       <table class="memname">
    256. 

  256.         <tr>
    257. 

  257.           <td class="memname">float GearConstraintPart::GetTotalLambda </td>
    258. 

  258.           <td>(</td>
    259. 

  259.           <td class="paramname"><span class="paramname"><em></em></span></td><td>)</td>
    260. 

  260.           <td> const</td>
    261. 

  261.         </tr>
    262. 

  262.       </table>
    263. 

  263.   </td>
    264. 

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

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

  266.   </tr>
    267. 

  267. </table>
    268. 

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

  269. 

  270. <p>Return lagrange multiplier. </p>
    271. 

  271. 

  272. </div>
    273. 

  273. </div>
    274. 

  274. <a id="a5e5f8097c8a062b98d9bedcfa37859c5" name="a5e5f8097c8a062b98d9bedcfa37859c5"></a>
    275. 

  275. <h2 class="memtitle"><span class="permalink"><a href="#a5e5f8097c8a062b98d9bedcfa37859c5">&#9670;&#160;</a></span>IsActive()</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">bool GearConstraintPart::IsActive </td>
    285. 

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

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

  287.           <td> const</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>Check if constraint is active. </p>
    298. 

  298. 

  299. </div>
    300. 

  300. </div>
    301. 

  301. <a id="ad3fc3cde9a29f5bbbba7db738f5715a3" name="ad3fc3cde9a29f5bbbba7db738f5715a3"></a>
    302. 

  302. <h2 class="memtitle"><span class="permalink"><a href="#ad3fc3cde9a29f5bbbba7db738f5715a3">&#9670;&#160;</a></span>RestoreState()</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">void GearConstraintPart::RestoreState </td>
    312. 

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

  313.           <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>
    314. 

  314.           <td></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>Restore state of this constraint part. </p>
    325. 

  325. 

  326. </div>
    327. 

  327. </div>
    328. 

  328. <a id="afa8089c72687df9833186a2078cd1aa5" name="afa8089c72687df9833186a2078cd1aa5"></a>
    329. 

  329. <h2 class="memtitle"><span class="permalink"><a href="#afa8089c72687df9833186a2078cd1aa5">&#9670;&#160;</a></span>SaveState()</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">void GearConstraintPart::SaveState </td>
    339. 

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

  340.           <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>
    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>Save state of this constraint part. </p>
    352. 

  352. 

  353. </div>
    354. 

  354. </div>
    355. 

  355. <a id="ad9da946340f02066a9031124bec183af" name="ad9da946340f02066a9031124bec183af"></a>
    356. 

  356. <h2 class="memtitle"><span class="permalink"><a href="#ad9da946340f02066a9031124bec183af">&#9670;&#160;</a></span>SolvePositionConstraint()</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">bool GearConstraintPart::SolvePositionConstraint </td>
    366. 

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

  367.           <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>
    368. 

  368.         </tr>
    369. 

  369.         <tr>
    370. 

  370.           <td class="paramkey"></td>
    371. 

  371.           <td></td>
    372. 

  372.           <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>
    373. 

  373.         </tr>
    374. 

  374.         <tr>
    375. 

  375.           <td class="paramkey"></td>
    376. 

  376.           <td></td>
    377. 

  377.           <td class="paramtype">float</td>          <td class="paramname"><span class="paramname"><em>inC</em></span>, </td>
    378. 

  378.         </tr>
    379. 

  379.         <tr>
    380. 

  380.           <td class="paramkey"></td>
    381. 

  381.           <td></td>
    382. 

  382.           <td class="paramtype">float</td>          <td class="paramname"><span class="paramname"><em>inBaumgarte</em></span>&#160;) const</td>
    383. 

  383.         </tr>
    384. 

  384.       </table>
    385. 

  385.   </td>
    386. 

  386.   <td class="mlabels-right">
    387. 

  387. <span class="mlabels"><span class="mlabel">inline</span></span>  </td>
    388. 

  388.   </tr>
    389. 

  389. </table>
    390. 

  390. </div><div class="memdoc">
    391. 

  391. <p>Iteratively update the position constraint. Makes sure C(...) == 0. </p><dl class="params"><dt>Parameters</dt><dd>
    392. 

  392.   <table class="params">
    393. 

  393.     <tr><td class="paramname">ioBody1</td><td>The first body that this constraint is attached to </td></tr>
    394. 

  394.     <tr><td class="paramname">ioBody2</td><td>The second body that this constraint is attached to </td></tr>
    395. 

  395.     <tr><td class="paramname">inC</td><td>Value of the constraint equation (C) </td></tr>
    396. 

  396.     <tr><td class="paramname">inBaumgarte</td><td>Baumgarte constant (fraction of the error to correct) </td></tr>
    397. 

  397.   </table>
    398. 

  398.   </dd>
    399. 

  399. </dl>
    400. 

  400. 

  401. </div>
    402. 

  402. </div>
    403. 

  403. <a id="a59066c4f97a31d73d74dc5ec277ca43e" name="a59066c4f97a31d73d74dc5ec277ca43e"></a>
    404. 

  404. <h2 class="memtitle"><span class="permalink"><a href="#a59066c4f97a31d73d74dc5ec277ca43e">&#9670;&#160;</a></span>SolveVelocityConstraint()</h2>
    405. 

  405. 

  406. <div class="memitem">
    407. 

  407. <div class="memproto">
    408. 

  408. <table class="mlabels">
    409. 

  409.   <tr>
    410. 

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

  411.       <table class="memname">
    412. 

  412.         <tr>
    413. 

  413.           <td class="memname">bool GearConstraintPart::SolveVelocityConstraint </td>
    414. 

  414.           <td>(</td>
    415. 

  415.           <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>
    416. 

  416.         </tr>
    417. 

  417.         <tr>
    418. 

  418.           <td class="paramkey"></td>
    419. 

  419.           <td></td>
    420. 

  420.           <td class="paramtype"><a class="el" href="_math_types_8h.html#a6bc57c31f15cea47640b580d03737c68">Vec3Arg</a></td>          <td class="paramname"><span class="paramname"><em>inWorldSpaceHingeAxis1</em></span>, </td>
    421. 

  421.         </tr>
    422. 

  422.         <tr>
    423. 

  423.           <td class="paramkey"></td>
    424. 

  424.           <td></td>
    425. 

  425.           <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>
    426. 

  426.         </tr>
    427. 

  427.         <tr>
    428. 

  428.           <td class="paramkey"></td>
    429. 

  429.           <td></td>
    430. 

  430.           <td class="paramtype"><a class="el" href="_math_types_8h.html#a6bc57c31f15cea47640b580d03737c68">Vec3Arg</a></td>          <td class="paramname"><span class="paramname"><em>inWorldSpaceHingeAxis2</em></span>, </td>
    431. 

  431.         </tr>
    432. 

  432.         <tr>
    433. 

  433.           <td class="paramkey"></td>
    434. 

  434.           <td></td>
    435. 

  435.           <td class="paramtype">float</td>          <td class="paramname"><span class="paramname"><em>inRatio</em></span>&#160;)</td>
    436. 

  436.         </tr>
    437. 

  437.       </table>
    438. 

  438.   </td>
    439. 

  439.   <td class="mlabels-right">
    440. 

  440. <span class="mlabels"><span class="mlabel">inline</span></span>  </td>
    441. 

  441.   </tr>
    442. 

  442. </table>
    443. 

  443. </div><div class="memdoc">
    444. 

  444. <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>
    445. 

  445.   <table class="params">
    446. 

  446.     <tr><td class="paramname">ioBody1</td><td>The first body that this constraint is attached to </td></tr>
    447. 

  447.     <tr><td class="paramname">ioBody2</td><td>The second body that this constraint is attached to </td></tr>
    448. 

  448.     <tr><td class="paramname">inWorldSpaceHingeAxis1</td><td>The axis around which body 1 rotates </td></tr>
    449. 

  449.     <tr><td class="paramname">inWorldSpaceHingeAxis2</td><td>The axis around which body 2 rotates </td></tr>
    450. 

  450.     <tr><td class="paramname">inRatio</td><td>The ratio between rotation and translation </td></tr>
    451. 

  451.   </table>
    452. 

  452.   </dd>
    453. 

  453. </dl>
    454. 

  454. 

  455. </div>
    456. 

  456. </div>
    457. 

  457. <a id="a3886e068476d7e0d700dcec934ac6250" name="a3886e068476d7e0d700dcec934ac6250"></a>
    458. 

  458. <h2 class="memtitle"><span class="permalink"><a href="#a3886e068476d7e0d700dcec934ac6250">&#9670;&#160;</a></span>WarmStart()</h2>
    459. 

  459. 

  460. <div class="memitem">
    461. 

  461. <div class="memproto">
    462. 

  462. <table class="mlabels">
    463. 

  463.   <tr>
    464. 

  464.   <td class="mlabels-left">
    465. 

  465.       <table class="memname">
    466. 

  466.         <tr>
    467. 

  467.           <td class="memname">void GearConstraintPart::WarmStart </td>
    468. 

  468.           <td>(</td>
    469. 

  469.           <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>
    470. 

  470.         </tr>
    471. 

  471.         <tr>
    472. 

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

  473.           <td></td>
    474. 

  474.           <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>
    475. 

  475.         </tr>
    476. 

  476.         <tr>
    477. 

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

  478.           <td></td>
    479. 

  479.           <td class="paramtype">float</td>          <td class="paramname"><span class="paramname"><em>inWarmStartImpulseRatio</em></span>&#160;)</td>
    480. 

  480.         </tr>
    481. 

  481.       </table>
    482. 

  482.   </td>
    483. 

  483.   <td class="mlabels-right">
    484. 

  484. <span class="mlabels"><span class="mlabel">inline</span></span>  </td>
    485. 

  485.   </tr>
    486. 

  486. </table>
    487. 

  487. </div><div class="memdoc">
    488. 

  488. <p>Must be called from the WarmStartVelocityConstraint call to apply the previous frame's impulses </p><dl class="params"><dt>Parameters</dt><dd>
    489. 

  489.   <table class="params">
    490. 

  490.     <tr><td class="paramname">ioBody1</td><td>The first body that this constraint is attached to </td></tr>
    491. 

  491.     <tr><td class="paramname">ioBody2</td><td>The second body that this constraint is attached to </td></tr>
    492. 

  492.     <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>
    493. 

  493.   </table>
    494. 

  494.   </dd>
    495. 

  495. </dl>
    496. 

  496. 

  497. </div>
    498. 

  498. </div>
    499. 

  499. <hr/>The documentation for this class was generated from the following file:<ul>
    500. 

  500. <li>Jolt/Physics/Constraints/ConstraintPart/<a class="el" href="_gear_constraint_part_8h_source.html">GearConstraintPart.h</a></li>
    501. 

  501. </ul>
    502. 

  502. </div><!-- contents -->
    503. 

  503. </div><!-- doc-content -->
    504. 

  504. <!-- start footer part -->
    505. 

  505. <div id="nav-path" class="navpath"><!-- id is needed for treeview function! -->
    506. 

  506.   <ul>
    507. 

  507.     <li class="navelem"><a class="el" href="class_gear_constraint_part.html">GearConstraintPart</a></li>
    508. 

  508.     <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>
    509. 

  509.   </ul>
    510. 

  510. </div>
    511. 

  511. </body>
    512. 

  512. </html>
    513.