cpp
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JoltPhysics
şunun yansıması https://github.com/jrouwe/JoltPhysics.git


			
				
					
						
						
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<a href="#pub-types">Public Types</a> &#124;
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<p><code>#include &lt;<a class="el" href="_hinge_rotation_constraint_part_8h_source.html">HingeRotationConstraintPart.h</a>&gt;</code></p>
<table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a id="pub-types" name="pub-types"></a>
Public Types</h2></td></tr>
<tr class="memitem:ac0464fe586004502d840466631aaa7b0" id="r_ac0464fe586004502d840466631aaa7b0"><td class="memItemLeft" align="right" valign="top">using&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#ac0464fe586004502d840466631aaa7b0">Vec2</a> = <a class="el" href="class_vector.html">Vector</a>&lt;2&gt;</td></tr>
<tr class="separator:ac0464fe586004502d840466631aaa7b0"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ab1f18a0c76566111d337d6d175b8bbc6" id="r_ab1f18a0c76566111d337d6d175b8bbc6"><td class="memItemLeft" align="right" valign="top">using&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#ab1f18a0c76566111d337d6d175b8bbc6">Mat22</a> = <a class="el" href="class_matrix.html">Matrix</a>&lt;2, 2&gt;</td></tr>
<tr class="separator:ab1f18a0c76566111d337d6d175b8bbc6"><td class="memSeparator" colspan="2">&#160;</td></tr>
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<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:a41471ce4cbe4f3b915ba40f883a3f924" id="r_a41471ce4cbe4f3b915ba40f883a3f924"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#a41471ce4cbe4f3b915ba40f883a3f924">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> inWorldSpaceHingeAxis1, 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> inWorldSpaceHingeAxis2)</td></tr>
<tr class="memdesc:a41471ce4cbe4f3b915ba40f883a3f924"><td class="mdescLeft">&#160;</td><td class="mdescRight">Calculate properties used during the functions below.  <br /></td></tr>
<tr class="separator:a41471ce4cbe4f3b915ba40f883a3f924"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a4ae072cae1beb84f1e87eafff60f0022" id="r_a4ae072cae1beb84f1e87eafff60f0022"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#a4ae072cae1beb84f1e87eafff60f0022">Deactivate</a> ()</td></tr>
<tr class="memdesc:a4ae072cae1beb84f1e87eafff60f0022"><td class="mdescLeft">&#160;</td><td class="mdescRight">Deactivate this constraint.  <br /></td></tr>
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<tr class="memitem:aa71c15ea49da0d82a70d8edf787f612b" id="r_aa71c15ea49da0d82a70d8edf787f612b"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#aa71c15ea49da0d82a70d8edf787f612b">WarmStart</a> (<a class="el" href="class_body.html">Body</a> &amp;ioBody1, <a class="el" href="class_body.html">Body</a> &amp;ioBody2, float inWarmStartImpulseRatio)</td></tr>
<tr class="memdesc:aa71c15ea49da0d82a70d8edf787f612b"><td class="mdescLeft">&#160;</td><td class="mdescRight">Must be called from the WarmStartVelocityConstraint call to apply the previous frame's impulses.  <br /></td></tr>
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<tr class="memitem:aabd46260672295ed6df506bf81a2f326" id="r_aabd46260672295ed6df506bf81a2f326"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#aabd46260672295ed6df506bf81a2f326">SolveVelocityConstraint</a> (<a class="el" href="class_body.html">Body</a> &amp;ioBody1, <a class="el" href="class_body.html">Body</a> &amp;ioBody2)</td></tr>
<tr class="memdesc:aabd46260672295ed6df506bf81a2f326"><td class="mdescLeft">&#160;</td><td class="mdescRight">Iteratively update the velocity constraint. Makes sure d/dt C(...) = 0, where C is the constraint equation.  <br /></td></tr>
<tr class="separator:aabd46260672295ed6df506bf81a2f326"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a0f4c769c027f4efb2511d74f9658d8eb" id="r_a0f4c769c027f4efb2511d74f9658d8eb"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#a0f4c769c027f4efb2511d74f9658d8eb">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 inBaumgarte) const</td></tr>
<tr class="memdesc:a0f4c769c027f4efb2511d74f9658d8eb"><td class="mdescLeft">&#160;</td><td class="mdescRight">Iteratively update the position constraint. Makes sure C(...) = 0.  <br /></td></tr>
<tr class="separator:a0f4c769c027f4efb2511d74f9658d8eb"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:aa99c7f68df35ac1e3bef098c7e20225b" id="r_aa99c7f68df35ac1e3bef098c7e20225b"><td class="memItemLeft" align="right" valign="top">const <a class="el" href="#ac0464fe586004502d840466631aaa7b0">Vec2</a> &amp;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#aa99c7f68df35ac1e3bef098c7e20225b">GetTotalLambda</a> () const</td></tr>
<tr class="memdesc:aa99c7f68df35ac1e3bef098c7e20225b"><td class="mdescLeft">&#160;</td><td class="mdescRight">Return lagrange multiplier.  <br /></td></tr>
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<tr class="memitem:aa35cc45b0e9cfbb7063508e24c677879" id="r_aa35cc45b0e9cfbb7063508e24c677879"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#aa35cc45b0e9cfbb7063508e24c677879">SaveState</a> (<a class="el" href="class_state_recorder.html">StateRecorder</a> &amp;inStream) const</td></tr>
<tr class="memdesc:aa35cc45b0e9cfbb7063508e24c677879"><td class="mdescLeft">&#160;</td><td class="mdescRight">Save state of this constraint part.  <br /></td></tr>
<tr class="separator:aa35cc45b0e9cfbb7063508e24c677879"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:abf5e533e782c69c89481e4bf6e3a0a28" id="r_abf5e533e782c69c89481e4bf6e3a0a28"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#abf5e533e782c69c89481e4bf6e3a0a28">RestoreState</a> (<a class="el" href="class_state_recorder.html">StateRecorder</a> &amp;inStream)</td></tr>
<tr class="memdesc:abf5e533e782c69c89481e4bf6e3a0a28"><td class="mdescLeft">&#160;</td><td class="mdescRight">Restore state of this constraint part.  <br /></td></tr>
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</table>
<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
<div class="textblock"><p>Constrains rotation around 2 axis so that it only allows rotation around 1 axis</p>
<p>Based on: "Constraints Derivation for Rigid Body Simulation in 3D" - Daniel Chappuis, section 2.4.1</p>
<p><a class="el" href="class_constraint.html" title="Base class for all physics constraints. A constraint removes one or more degrees of freedom for a rig...">Constraint</a> equation (eq 87):</p>
<p class="formulaDsp">
\[C = \begin{bmatrix}a_1 \cdot b_2 \\ a_1 \cdot c_2\end{bmatrix}\]
</p>
<p>Jacobian (eq 90):</p>
<p class="formulaDsp">
\[J = \begin{bmatrix}
0   &amp; -b_2 \times a_1   &amp; 0     &amp; b_2 \times a_1    \\
0   &amp; -c_2 \times a_1   &amp; 0     &amp; c2 \times a_1
\end{bmatrix}\]
</p>
<p>Used terms (here and below, everything in world space):<br  />
a1 = hinge axis on body 1.<br  />
b2, c2 = axis perpendicular to hinge axis on body 2.<br  />
x1, x2 = center of mass for the bodies.<br  />
v = [v1, w1, v2, w2].<br  />
v1, v2 = linear velocity of body 1 and 2.<br  />
w1, w2 = angular velocity of body 1 and 2.<br  />
M = mass matrix, a diagonal matrix of the mass and inertia with diagonal [m1, I1, m2, I2].<br  />
 \(K^{-1} = \left( J M^{-1} J^T \right)^{-1}\) = effective mass.<br  />
b = velocity bias.<br  />
 \(\beta\) = baumgarte constant.<br  />
E = identity matrix. </p>
</div><h2 class="groupheader">Member Typedef Documentation</h2>
<a id="ab1f18a0c76566111d337d6d175b8bbc6" name="ab1f18a0c76566111d337d6d175b8bbc6"></a>
<h2 class="memtitle"><span class="permalink"><a href="#ab1f18a0c76566111d337d6d175b8bbc6">&#9670;&#160;</a></span>Mat22</h2>

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          <td class="memname">using <a class="el" href="#ab1f18a0c76566111d337d6d175b8bbc6">HingeRotationConstraintPart::Mat22</a> = <a class="el" href="class_matrix.html">Matrix</a>&lt;2, 2&gt;</td>
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<a id="ac0464fe586004502d840466631aaa7b0" name="ac0464fe586004502d840466631aaa7b0"></a>
<h2 class="memtitle"><span class="permalink"><a href="#ac0464fe586004502d840466631aaa7b0">&#9670;&#160;</a></span>Vec2</h2>

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          <td class="memname">using <a class="el" href="#ac0464fe586004502d840466631aaa7b0">HingeRotationConstraintPart::Vec2</a> = <a class="el" href="class_vector.html">Vector</a>&lt;2&gt;</td>
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<h2 class="groupheader">Member Function Documentation</h2>
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<h2 class="memtitle"><span class="permalink"><a href="#a41471ce4cbe4f3b915ba40f883a3f924">&#9670;&#160;</a></span>CalculateConstraintProperties()</h2>

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          <td class="memname">void HingeRotationConstraintPart::CalculateConstraintProperties </td>
          <td>(</td>
          <td class="paramtype">const <a class="el" href="class_body.html">Body</a> &amp;</td>          <td class="paramname"><span class="paramname"><em>inBody1</em></span>, </td>
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          <td class="paramkey"></td>
          <td></td>
          <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>
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          <td class="paramkey"></td>
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          <td class="paramtype"><a class="el" href="_math_types_8h.html#a6bc57c31f15cea47640b580d03737c68">Vec3Arg</a></td>          <td class="paramname"><span class="paramname"><em>inWorldSpaceHingeAxis1</em></span>, </td>
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          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">const <a class="el" href="class_body.html">Body</a> &amp;</td>          <td class="paramname"><span class="paramname"><em>inBody2</em></span>, </td>
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          <td class="paramkey"></td>
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          <td class="paramtype"><a class="el" href="_math_types_8h.html#af10dd31c5ad4acb62aba8025732597e6">Mat44Arg</a></td>          <td class="paramname"><span class="paramname"><em>inRotation2</em></span>, </td>
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          <td class="paramkey"></td>
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          <td class="paramtype"><a class="el" href="_math_types_8h.html#a6bc57c31f15cea47640b580d03737c68">Vec3Arg</a></td>          <td class="paramname"><span class="paramname"><em>inWorldSpaceHingeAxis2</em></span>&#160;)</td>
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<p>Calculate properties used during the functions below. </p>

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<h2 class="memtitle"><span class="permalink"><a href="#a4ae072cae1beb84f1e87eafff60f0022">&#9670;&#160;</a></span>Deactivate()</h2>

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          <td class="memname">void HingeRotationConstraintPart::Deactivate </td>
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<p>Deactivate this constraint. </p>

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<h2 class="memtitle"><span class="permalink"><a href="#aa99c7f68df35ac1e3bef098c7e20225b">&#9670;&#160;</a></span>GetTotalLambda()</h2>

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          <td class="memname">const <a class="el" href="#ac0464fe586004502d840466631aaa7b0">Vec2</a> &amp; HingeRotationConstraintPart::GetTotalLambda </td>
          <td>(</td>
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          <td> const</td>
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<p>Return lagrange multiplier. </p>

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<h2 class="memtitle"><span class="permalink"><a href="#abf5e533e782c69c89481e4bf6e3a0a28">&#9670;&#160;</a></span>RestoreState()</h2>

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          <td class="memname">void HingeRotationConstraintPart::RestoreState </td>
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<p>Restore state of this constraint part. </p>

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<h2 class="memtitle"><span class="permalink"><a href="#aa35cc45b0e9cfbb7063508e24c677879">&#9670;&#160;</a></span>SaveState()</h2>

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

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<h2 class="memtitle"><span class="permalink"><a href="#a0f4c769c027f4efb2511d74f9658d8eb">&#9670;&#160;</a></span>SolvePositionConstraint()</h2>

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<p>Iteratively update the position constraint. Makes sure C(...) = 0. </p>

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<h2 class="memtitle"><span class="permalink"><a href="#aabd46260672295ed6df506bf81a2f326">&#9670;&#160;</a></span>SolveVelocityConstraint()</h2>

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<p>Iteratively update the velocity constraint. Makes sure d/dt C(...) = 0, where C is the constraint equation. </p>

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<h2 class="memtitle"><span class="permalink"><a href="#aa71c15ea49da0d82a70d8edf787f612b">&#9670;&#160;</a></span>WarmStart()</h2>

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          <td class="memname">void HingeRotationConstraintPart::WarmStart </td>
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<p>Must be called from the WarmStartVelocityConstraint call to apply the previous frame's impulses. </p>

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<hr/>The documentation for this class was generated from the following file:<ul>
<li>Jolt/Physics/Constraints/ConstraintPart/<a class="el" href="_hinge_rotation_constraint_part_8h_source.html">HingeRotationConstraintPart.h</a></li>
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