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  111.   <div class="headertitle"><div class="title">IndependentAxisConstraintPart Class Reference</div></div>
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    114. 

  114. 

  115. <p><code>#include &lt;<a class="el" href="_independent_axis_constraint_part_8h_source.html">IndependentAxisConstraintPart.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:a0b42c35e39bcfe122954e5a2052dfafd" id="r_a0b42c35e39bcfe122954e5a2052dfafd"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#a0b42c35e39bcfe122954e5a2052dfafd">CalculateConstraintProperties</a> (const <a class="el" href="class_body.html">Body</a> &amp;inBody1, const <a class="el" href="class_body.html">Body</a> &amp;inBody2, <a class="el" href="_math_types_8h.html#a6bc57c31f15cea47640b580d03737c68">Vec3Arg</a> inR1, <a class="el" href="_math_types_8h.html#a6bc57c31f15cea47640b580d03737c68">Vec3Arg</a> inN1, <a class="el" href="_math_types_8h.html#a6bc57c31f15cea47640b580d03737c68">Vec3Arg</a> inR2, <a class="el" href="_math_types_8h.html#a6bc57c31f15cea47640b580d03737c68">Vec3Arg</a> inN2, float inRatio)</td></tr>
    120. 

  120. <tr class="separator:a0b42c35e39bcfe122954e5a2052dfafd"><td class="memSeparator" colspan="2">&#160;</td></tr>
    121. 

  121. <tr class="memitem:a75a0e94426831c24d9a05022788a33a0" id="r_a75a0e94426831c24d9a05022788a33a0"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#a75a0e94426831c24d9a05022788a33a0">Deactivate</a> ()</td></tr>
    122. 

  122. <tr class="memdesc:a75a0e94426831c24d9a05022788a33a0"><td class="mdescLeft">&#160;</td><td class="mdescRight">Deactivate this constraint.  <br /></td></tr>
    123. 

  123. <tr class="separator:a75a0e94426831c24d9a05022788a33a0"><td class="memSeparator" colspan="2">&#160;</td></tr>
    124. 

  124. <tr class="memitem:a564752c8c4a381de55000c66debc8b0f" id="r_a564752c8c4a381de55000c66debc8b0f"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#a564752c8c4a381de55000c66debc8b0f">IsActive</a> () const</td></tr>
    125. 

  125. <tr class="memdesc:a564752c8c4a381de55000c66debc8b0f"><td class="mdescLeft">&#160;</td><td class="mdescRight">Check if constraint is active.  <br /></td></tr>
    126. 

  126. <tr class="separator:a564752c8c4a381de55000c66debc8b0f"><td class="memSeparator" colspan="2">&#160;</td></tr>
    127. 

  127. <tr class="memitem:a6ec13ff5361ad148d405ee79bbaedc6c" id="r_a6ec13ff5361ad148d405ee79bbaedc6c"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#a6ec13ff5361ad148d405ee79bbaedc6c">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 inRatio, float inWarmStartImpulseRatio)</td></tr>
    128. 

  128. <tr class="separator:a6ec13ff5361ad148d405ee79bbaedc6c"><td class="memSeparator" colspan="2">&#160;</td></tr>
    129. 

  129. <tr class="memitem:a715a99f78d1e0f0cb03752d4279b4d05" id="r_a715a99f78d1e0f0cb03752d4279b4d05"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#a715a99f78d1e0f0cb03752d4279b4d05">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, float inRatio, float inMinLambda, float inMaxLambda)</td></tr>
    130. 

  130. <tr class="separator:a715a99f78d1e0f0cb03752d4279b4d05"><td class="memSeparator" colspan="2">&#160;</td></tr>
    131. 

  131. <tr class="memitem:a14a6dfff54b12cacff9f4794c5fa4fa8" id="r_a14a6dfff54b12cacff9f4794c5fa4fa8"><td class="memItemLeft" align="right" valign="top">float&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#a14a6dfff54b12cacff9f4794c5fa4fa8">GetTotalLambda</a> () const</td></tr>
    132. 

  132. <tr class="memdesc:a14a6dfff54b12cacff9f4794c5fa4fa8"><td class="mdescLeft">&#160;</td><td class="mdescRight">Return lagrange multiplier.  <br /></td></tr>
    133. 

  133. <tr class="separator:a14a6dfff54b12cacff9f4794c5fa4fa8"><td class="memSeparator" colspan="2">&#160;</td></tr>
    134. 

  134. <tr class="memitem:a75f7e8a6d760c806d8aadc911965ecce" id="r_a75f7e8a6d760c806d8aadc911965ecce"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#a75f7e8a6d760c806d8aadc911965ecce">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> inN1, <a class="el" href="_math_types_8h.html#a6bc57c31f15cea47640b580d03737c68">Vec3Arg</a> inN2, float inRatio, float inC, float inBaumgarte) const</td></tr>
    135. 

  135. <tr class="separator:a75f7e8a6d760c806d8aadc911965ecce"><td class="memSeparator" colspan="2">&#160;</td></tr>
    136. 

  136. <tr class="memitem:a8982c9bb0de919245c5a463880877a32" id="r_a8982c9bb0de919245c5a463880877a32"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#a8982c9bb0de919245c5a463880877a32">SaveState</a> (<a class="el" href="class_state_recorder.html">StateRecorder</a> &amp;inStream) const</td></tr>
    137. 

  137. <tr class="memdesc:a8982c9bb0de919245c5a463880877a32"><td class="mdescLeft">&#160;</td><td class="mdescRight">Save state of this constraint part.  <br /></td></tr>
    138. 

  138. <tr class="separator:a8982c9bb0de919245c5a463880877a32"><td class="memSeparator" colspan="2">&#160;</td></tr>
    139. 

  139. <tr class="memitem:a1b5d7adfe5abea0da836a725b91d4f85" id="r_a1b5d7adfe5abea0da836a725b91d4f85"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#a1b5d7adfe5abea0da836a725b91d4f85">RestoreState</a> (<a class="el" href="class_state_recorder.html">StateRecorder</a> &amp;inStream)</td></tr>
    140. 

  140. <tr class="memdesc:a1b5d7adfe5abea0da836a725b91d4f85"><td class="mdescLeft">&#160;</td><td class="mdescRight">Restore state of this constraint part.  <br /></td></tr>
    141. 

  141. <tr class="separator:a1b5d7adfe5abea0da836a725b91d4f85"><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> part to an <a class="el" href="class_axis_constraint_part.html">AxisConstraintPart</a> but both bodies have an independent axis on which the force is applied.</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 class="formulaDsp">
    147. 

  147. \[C = (x_1 + r_1 - f_1) . n_1 + r (x_2 + r_2 - f_2) \cdot n_2\]
    148. 

  148. </p>
    149. 

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

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

  151. \[dC/dt = (v_1 + w_1 \times r_1) \cdot n_1 + (x_1 + r_1 - f_1) \cdot d n_1/dt + r (v_2 + w_2 \times r_2) \cdot n_2 + r (x_2 + r_2 - f_2) \cdot d n_2/dt\]
    152. 

  152. </p>
    153. 

  153. <p>Assuming that d n1/dt and d n2/dt are small this becomes:</p>
    154. 

  154. <p class="formulaDsp">
    155. 

  155. \[(v_1 + w_1 \times r_1) \cdot n_1 + r (v_2 + w_2 \times r_2) \cdot n_2\]
    156. 

  156. </p>
    157. 

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

  158. \[= v_1 \cdot n_1 + r_1 \times n_1 \cdot w_1 + r v_2 \cdot n_2 + r r_2 \times n_2 \cdot w_2\]
    159. 

  159. </p>
    160. 

  160. <p>Jacobian:</p>
    161. 

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

  162. \[J = \begin{bmatrix}n_1 &amp; r_1 \times n_1 &amp; r n_2 &amp; r r_2 \times n_2\end{bmatrix}\]
    163. 

  163. </p>
    164. 

  164. <p>Effective mass:</p>
    165. 

  165. <p class="formulaDsp">
    166. 

  166. \[K = m_1^{-1} + r_1 \times n_1 I_1^{-1} r_1 \times n_1 + r^2 m_2^{-1} + r^2 r_2 \times n_2 I_2^{-1} r_2 \times n_2\]
    167. 

  167. </p>
    168. 

  168. <p>Used terms (here and below, everything in world space):<br  />
    169. 

  169. n1 = (x1 + r1 - f1) / |x1 + r1 - f1|, axis along which the force is applied for body 1<br  />
    170. 

  170. n2 = (x2 + r2 - f2) / |x2 + r2 - f2|, axis along which the force is applied for body 2<br  />
    171. 

  171. r = ratio how forces are applied between bodies.<br  />
    172. 

  172. x1, x2 = center of mass for the bodies.<br  />
    173. 

  173. v = [v1, w1, v2, w2].<br  />
    174. 

  174. v1, v2 = linear velocity of body 1 and 2.<br  />
    175. 

  175. w1, w2 = angular velocity of body 1 and 2.<br  />
    176. 

  176. M = mass matrix, a diagonal matrix of the mass and inertia with diagonal [m1, I1, m2, I2].<br  />
    177. 

  177.  \(K^{-1} = \left( J M^{-1} J^T \right)^{-1}\) = effective mass.<br  />
    178. 

  178. b = velocity bias.<br  />
    179. 

  179.  \(\beta\) = baumgarte constant. </p>
    180. 

  180. </div><h2 class="groupheader">Member Function Documentation</h2>
    181. 

  181. <a id="a0b42c35e39bcfe122954e5a2052dfafd" name="a0b42c35e39bcfe122954e5a2052dfafd"></a>
    182. 

  182. <h2 class="memtitle"><span class="permalink"><a href="#a0b42c35e39bcfe122954e5a2052dfafd">&#9670;&#160;</a></span>CalculateConstraintProperties()</h2>
    183. 

  183. 

  184. <div class="memitem">
    185. 

  185. <div class="memproto">
    186. 

  186. <table class="mlabels">
    187. 

  187.   <tr>
    188. 

  188.   <td class="mlabels-left">
    189. 

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

  190.         <tr>
    191. 

  191.           <td class="memname">void IndependentAxisConstraintPart::CalculateConstraintProperties </td>
    192. 

  192.           <td>(</td>
    193. 

  193.           <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>
    194. 

  194.         </tr>
    195. 

  195.         <tr>
    196. 

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

  197.           <td></td>
    198. 

  198.           <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>
    199. 

  199.         </tr>
    200. 

  200.         <tr>
    201. 

  201.           <td class="paramkey"></td>
    202. 

  202.           <td></td>
    203. 

  203.           <td class="paramtype"><a class="el" href="_math_types_8h.html#a6bc57c31f15cea47640b580d03737c68">Vec3Arg</a></td>          <td class="paramname"><span class="paramname"><em>inR1</em></span>, </td>
    204. 

  204.         </tr>
    205. 

  205.         <tr>
    206. 

  206.           <td class="paramkey"></td>
    207. 

  207.           <td></td>
    208. 

  208.           <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>
    209. 

  209.         </tr>
    210. 

  210.         <tr>
    211. 

  211.           <td class="paramkey"></td>
    212. 

  212.           <td></td>
    213. 

  213.           <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>
    214. 

  214.         </tr>
    215. 

  215.         <tr>
    216. 

  216.           <td class="paramkey"></td>
    217. 

  217.           <td></td>
    218. 

  218.           <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>
    219. 

  219.         </tr>
    220. 

  220.         <tr>
    221. 

  221.           <td class="paramkey"></td>
    222. 

  222.           <td></td>
    223. 

  223.           <td class="paramtype">float</td>          <td class="paramname"><span class="paramname"><em>inRatio</em></span>&#160;)</td>
    224. 

  224.         </tr>
    225. 

  225.       </table>
    226. 

  226.   </td>
    227. 

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

  228. <span class="mlabels"><span class="mlabel">inline</span></span>  </td>
    229. 

  229.   </tr>
    230. 

  230. </table>
    231. 

  231. </div><div class="memdoc">
    232. 

  232. <p>Calculate properties used during the functions below </p><dl class="params"><dt>Parameters</dt><dd>
    233. 

  233.   <table class="params">
    234. 

  234.     <tr><td class="paramname">inBody1</td><td>The first body that this constraint is attached to </td></tr>
    235. 

  235.     <tr><td class="paramname">inBody2</td><td>The second body that this constraint is attached to </td></tr>
    236. 

  236.     <tr><td class="paramname">inR1</td><td>The position on which the constraint operates on body 1 relative to COM </td></tr>
    237. 

  237.     <tr><td class="paramname">inN1</td><td>The world space normal in which the constraint operates for body 1 </td></tr>
    238. 

  238.     <tr><td class="paramname">inR2</td><td>The position on which the constraint operates on body 1 relative to COM </td></tr>
    239. 

  239.     <tr><td class="paramname">inN2</td><td>The world space normal in which the constraint operates for body 2 </td></tr>
    240. 

  240.     <tr><td class="paramname">inRatio</td><td>The ratio how forces are applied between bodies </td></tr>
    241. 

  241.   </table>
    242. 

  242.   </dd>
    243. 

  243. </dl>
    244. 

  244. 

  245. </div>
    246. 

  246. </div>
    247. 

  247. <a id="a75a0e94426831c24d9a05022788a33a0" name="a75a0e94426831c24d9a05022788a33a0"></a>
    248. 

  248. <h2 class="memtitle"><span class="permalink"><a href="#a75a0e94426831c24d9a05022788a33a0">&#9670;&#160;</a></span>Deactivate()</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">void IndependentAxisConstraintPart::Deactivate </td>
    258. 

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

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

  260.           <td></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>Deactivate this constraint. </p>
    271. 

  271. 

  272. </div>
    273. 

  273. </div>
    274. 

  274. <a id="a14a6dfff54b12cacff9f4794c5fa4fa8" name="a14a6dfff54b12cacff9f4794c5fa4fa8"></a>
    275. 

  275. <h2 class="memtitle"><span class="permalink"><a href="#a14a6dfff54b12cacff9f4794c5fa4fa8">&#9670;&#160;</a></span>GetTotalLambda()</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">float IndependentAxisConstraintPart::GetTotalLambda </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>Return lagrange multiplier. </p>
    298. 

  298. 

  299. </div>
    300. 

  300. </div>
    301. 

  301. <a id="a564752c8c4a381de55000c66debc8b0f" name="a564752c8c4a381de55000c66debc8b0f"></a>
    302. 

  302. <h2 class="memtitle"><span class="permalink"><a href="#a564752c8c4a381de55000c66debc8b0f">&#9670;&#160;</a></span>IsActive()</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">bool IndependentAxisConstraintPart::IsActive </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>Check if constraint is active. </p>
    325. 

  325. 

  326. </div>
    327. 

  327. </div>
    328. 

  328. <a id="a1b5d7adfe5abea0da836a725b91d4f85" name="a1b5d7adfe5abea0da836a725b91d4f85"></a>
    329. 

  329. <h2 class="memtitle"><span class="permalink"><a href="#a1b5d7adfe5abea0da836a725b91d4f85">&#9670;&#160;</a></span>RestoreState()</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 IndependentAxisConstraintPart::RestoreState </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></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>Restore state of this constraint part. </p>
    352. 

  352. 

  353. </div>
    354. 

  354. </div>
    355. 

  355. <a id="a8982c9bb0de919245c5a463880877a32" name="a8982c9bb0de919245c5a463880877a32"></a>
    356. 

  356. <h2 class="memtitle"><span class="permalink"><a href="#a8982c9bb0de919245c5a463880877a32">&#9670;&#160;</a></span>SaveState()</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 IndependentAxisConstraintPart::SaveState </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> const</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>Save state of this constraint part. </p>
    379. 

  379. 

  380. </div>
    381. 

  381. </div>
    382. 

  382. <a id="a75f7e8a6d760c806d8aadc911965ecce" name="a75f7e8a6d760c806d8aadc911965ecce"></a>
    383. 

  383. <h2 class="memtitle"><span class="permalink"><a href="#a75f7e8a6d760c806d8aadc911965ecce">&#9670;&#160;</a></span>SolvePositionConstraint()</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">bool IndependentAxisConstraintPart::SolvePositionConstraint </td>
    393. 

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

  394.           <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>
    395. 

  395.         </tr>
    396. 

  396.         <tr>
    397. 

  397.           <td class="paramkey"></td>
    398. 

  398.           <td></td>
    399. 

  399.           <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>
    400. 

  400.         </tr>
    401. 

  401.         <tr>
    402. 

  402.           <td class="paramkey"></td>
    403. 

  403.           <td></td>
    404. 

  404.           <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>
    405. 

  405.         </tr>
    406. 

  406.         <tr>
    407. 

  407.           <td class="paramkey"></td>
    408. 

  408.           <td></td>
    409. 

  409.           <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>
    410. 

  410.         </tr>
    411. 

  411.         <tr>
    412. 

  412.           <td class="paramkey"></td>
    413. 

  413.           <td></td>
    414. 

  414.           <td class="paramtype">float</td>          <td class="paramname"><span class="paramname"><em>inRatio</em></span>, </td>
    415. 

  415.         </tr>
    416. 

  416.         <tr>
    417. 

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

  418.           <td></td>
    419. 

  419.           <td class="paramtype">float</td>          <td class="paramname"><span class="paramname"><em>inC</em></span>, </td>
    420. 

  420.         </tr>
    421. 

  421.         <tr>
    422. 

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

  423.           <td></td>
    424. 

  424.           <td class="paramtype">float</td>          <td class="paramname"><span class="paramname"><em>inBaumgarte</em></span>&#160;) const</td>
    425. 

  425.         </tr>
    426. 

  426.       </table>
    427. 

  427.   </td>
    428. 

  428.   <td class="mlabels-right">
    429. 

  429. <span class="mlabels"><span class="mlabel">inline</span></span>  </td>
    430. 

  430.   </tr>
    431. 

  431. </table>
    432. 

  432. </div><div class="memdoc">
    433. 

  433. <p>Iteratively update the position constraint. Makes sure C(...) == 0. </p><dl class="params"><dt>Parameters</dt><dd>
    434. 

  434.   <table class="params">
    435. 

  435.     <tr><td class="paramname">ioBody1</td><td>The first body that this constraint is attached to </td></tr>
    436. 

  436.     <tr><td class="paramname">ioBody2</td><td>The second body that this constraint is attached to </td></tr>
    437. 

  437.     <tr><td class="paramname">inN1</td><td>The world space normal in which the constraint operates for body 1 </td></tr>
    438. 

  438.     <tr><td class="paramname">inN2</td><td>The world space normal in which the constraint operates for body 2 </td></tr>
    439. 

  439.     <tr><td class="paramname">inRatio</td><td>The ratio how forces are applied between bodies </td></tr>
    440. 

  440.     <tr><td class="paramname">inC</td><td>Value of the constraint equation (C) </td></tr>
    441. 

  441.     <tr><td class="paramname">inBaumgarte</td><td>Baumgarte constant (fraction of the error to correct) </td></tr>
    442. 

  442.   </table>
    443. 

  443.   </dd>
    444. 

  444. </dl>
    445. 

  445. 

  446. </div>
    447. 

  447. </div>
    448. 

  448. <a id="a715a99f78d1e0f0cb03752d4279b4d05" name="a715a99f78d1e0f0cb03752d4279b4d05"></a>
    449. 

  449. <h2 class="memtitle"><span class="permalink"><a href="#a715a99f78d1e0f0cb03752d4279b4d05">&#9670;&#160;</a></span>SolveVelocityConstraint()</h2>
    450. 

  450. 

  451. <div class="memitem">
    452. 

  452. <div class="memproto">
    453. 

  453. <table class="mlabels">
    454. 

  454.   <tr>
    455. 

  455.   <td class="mlabels-left">
    456. 

  456.       <table class="memname">
    457. 

  457.         <tr>
    458. 

  458.           <td class="memname">bool IndependentAxisConstraintPart::SolveVelocityConstraint </td>
    459. 

  459.           <td>(</td>
    460. 

  460.           <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>
    461. 

  461.         </tr>
    462. 

  462.         <tr>
    463. 

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

  464.           <td></td>
    465. 

  465.           <td class="paramtype"><a class="el" href="class_body.html">Body</a> &amp;</td>          <td class="paramname"><span class="paramname"><em>ioBody2</em></span>, </td>
    466. 

  466.         </tr>
    467. 

  467.         <tr>
    468. 

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

  469.           <td></td>
    470. 

  470.           <td class="paramtype"><a class="el" href="_math_types_8h.html#a6bc57c31f15cea47640b580d03737c68">Vec3Arg</a></td>          <td class="paramname"><span class="paramname"><em>inN1</em></span>, </td>
    471. 

  471.         </tr>
    472. 

  472.         <tr>
    473. 

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

  474.           <td></td>
    475. 

  475.           <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>
    476. 

  476.         </tr>
    477. 

  477.         <tr>
    478. 

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

  479.           <td></td>
    480. 

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

  481.         </tr>
    482. 

  482.         <tr>
    483. 

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

  484.           <td></td>
    485. 

  485.           <td class="paramtype">float</td>          <td class="paramname"><span class="paramname"><em>inMinLambda</em></span>, </td>
    486. 

  486.         </tr>
    487. 

  487.         <tr>
    488. 

  488.           <td class="paramkey"></td>
    489. 

  489.           <td></td>
    490. 

  490.           <td class="paramtype">float</td>          <td class="paramname"><span class="paramname"><em>inMaxLambda</em></span>&#160;)</td>
    491. 

  491.         </tr>
    492. 

  492.       </table>
    493. 

  493.   </td>
    494. 

  494.   <td class="mlabels-right">
    495. 

  495. <span class="mlabels"><span class="mlabel">inline</span></span>  </td>
    496. 

  496.   </tr>
    497. 

  497. </table>
    498. 

  498. </div><div class="memdoc">
    499. 

  499. <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>
    500. 

  500.   <table class="params">
    501. 

  501.     <tr><td class="paramname">ioBody1</td><td>The first body that this constraint is attached to </td></tr>
    502. 

  502.     <tr><td class="paramname">ioBody2</td><td>The second body that this constraint is attached to </td></tr>
    503. 

  503.     <tr><td class="paramname">inN1</td><td>The world space normal in which the constraint operates for body 1 </td></tr>
    504. 

  504.     <tr><td class="paramname">inN2</td><td>The world space normal in which the constraint operates for body 2 </td></tr>
    505. 

  505.     <tr><td class="paramname">inRatio</td><td>The ratio how forces are applied between bodies </td></tr>
    506. 

  506.     <tr><td class="paramname">inMinLambda</td><td>Minimum angular impulse to apply (N m s) </td></tr>
    507. 

  507.     <tr><td class="paramname">inMaxLambda</td><td>Maximum angular impulse to apply (N m s) </td></tr>
    508. 

  508.   </table>
    509. 

  509.   </dd>
    510. 

  510. </dl>
    511. 

  511. 

  512. </div>
    513. 

  513. </div>
    514. 

  514. <a id="a6ec13ff5361ad148d405ee79bbaedc6c" name="a6ec13ff5361ad148d405ee79bbaedc6c"></a>
    515. 

  515. <h2 class="memtitle"><span class="permalink"><a href="#a6ec13ff5361ad148d405ee79bbaedc6c">&#9670;&#160;</a></span>WarmStart()</h2>
    516. 

  516. 

  517. <div class="memitem">
    518. 

  518. <div class="memproto">
    519. 

  519. <table class="mlabels">
    520. 

  520.   <tr>
    521. 

  521.   <td class="mlabels-left">
    522. 

  522.       <table class="memname">
    523. 

  523.         <tr>
    524. 

  524.           <td class="memname">void IndependentAxisConstraintPart::WarmStart </td>
    525. 

  525.           <td>(</td>
    526. 

  526.           <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>
    527. 

  527.         </tr>
    528. 

  528.         <tr>
    529. 

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

  530.           <td></td>
    531. 

  531.           <td class="paramtype"><a class="el" href="class_body.html">Body</a> &amp;</td>          <td class="paramname"><span class="paramname"><em>ioBody2</em></span>, </td>
    532. 

  532.         </tr>
    533. 

  533.         <tr>
    534. 

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

  535.           <td></td>
    536. 

  536.           <td class="paramtype"><a class="el" href="_math_types_8h.html#a6bc57c31f15cea47640b580d03737c68">Vec3Arg</a></td>          <td class="paramname"><span class="paramname"><em>inN1</em></span>, </td>
    537. 

  537.         </tr>
    538. 

  538.         <tr>
    539. 

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

  540.           <td></td>
    541. 

  541.           <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>
    542. 

  542.         </tr>
    543. 

  543.         <tr>
    544. 

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

  545.           <td></td>
    546. 

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

  547.         </tr>
    548. 

  548.         <tr>
    549. 

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

  550.           <td></td>
    551. 

  551.           <td class="paramtype">float</td>          <td class="paramname"><span class="paramname"><em>inWarmStartImpulseRatio</em></span>&#160;)</td>
    552. 

  552.         </tr>
    553. 

  553.       </table>
    554. 

  554.   </td>
    555. 

  555.   <td class="mlabels-right">
    556. 

  556. <span class="mlabels"><span class="mlabel">inline</span></span>  </td>
    557. 

  557.   </tr>
    558. 

  558. </table>
    559. 

  559. </div><div class="memdoc">
    560. 

  560. <p>Must be called from the WarmStartVelocityConstraint call to apply the previous frame's impulses </p><dl class="params"><dt>Parameters</dt><dd>
    561. 

  561.   <table class="params">
    562. 

  562.     <tr><td class="paramname">ioBody1</td><td>The first body that this constraint is attached to </td></tr>
    563. 

  563.     <tr><td class="paramname">ioBody2</td><td>The second body that this constraint is attached to </td></tr>
    564. 

  564.     <tr><td class="paramname">inN1</td><td>The world space normal in which the constraint operates for body 1 </td></tr>
    565. 

  565.     <tr><td class="paramname">inN2</td><td>The world space normal in which the constraint operates for body 2 </td></tr>
    566. 

  566.     <tr><td class="paramname">inRatio</td><td>The ratio how forces are applied between bodies </td></tr>
    567. 

  567.     <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>
    568. 

  568.   </table>
    569. 

  569.   </dd>
    570. 

  570. </dl>
    571. 

  571. 

  572. </div>
    573. 

  573. </div>
    574. 

  574. <hr/>The documentation for this class was generated from the following file:<ul>
    575. 

  575. <li>Jolt/Physics/Constraints/ConstraintPart/<a class="el" href="_independent_axis_constraint_part_8h_source.html">IndependentAxisConstraintPart.h</a></li>
    576. 

  576. </ul>
    577. 

  577. </div><!-- contents -->
    578. 

  578. </div><!-- doc-content -->
    579. 

  579. <!-- start footer part -->
    580. 

  580. <div id="nav-path" class="navpath"><!-- id is needed for treeview function! -->
    581. 

  581.   <ul>
    582. 

  582.     <li class="navelem"><a class="el" href="class_independent_axis_constraint_part.html">IndependentAxisConstraintPart</a></li>
    583. 

  583.     <li class="footer">Generated by <a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.12.0 </li>
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    588.