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

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

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

  115. <p><code>#include &lt;<a class="el" href="_point_constraint_part_8h_source.html">PointConstraintPart.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:abd3afc9ccf62aea6e07029b35d718a75" id="r_abd3afc9ccf62aea6e07029b35d718a75"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#abd3afc9ccf62aea6e07029b35d718a75">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> inR1, 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)</td></tr>
    120. 

  120. <tr class="separator:abd3afc9ccf62aea6e07029b35d718a75"><td class="memSeparator" colspan="2">&#160;</td></tr>
    121. 

  121. <tr class="memitem:a79eddd21eea247c5560ab8208a627019" id="r_a79eddd21eea247c5560ab8208a627019"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#a79eddd21eea247c5560ab8208a627019">Deactivate</a> ()</td></tr>
    122. 

  122. <tr class="memdesc:a79eddd21eea247c5560ab8208a627019"><td class="mdescLeft">&#160;</td><td class="mdescRight">Deactivate this constraint.  <br /></td></tr>
    123. 

  123. <tr class="separator:a79eddd21eea247c5560ab8208a627019"><td class="memSeparator" colspan="2">&#160;</td></tr>
    124. 

  124. <tr class="memitem:a9b183e233b8fc258ab72f447499c5ad8" id="r_a9b183e233b8fc258ab72f447499c5ad8"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#a9b183e233b8fc258ab72f447499c5ad8">IsActive</a> () const</td></tr>
    125. 

  125. <tr class="memdesc:a9b183e233b8fc258ab72f447499c5ad8"><td class="mdescLeft">&#160;</td><td class="mdescRight">Check if constraint is active.  <br /></td></tr>
    126. 

  126. <tr class="separator:a9b183e233b8fc258ab72f447499c5ad8"><td class="memSeparator" colspan="2">&#160;</td></tr>
    127. 

  127. <tr class="memitem:a5d4d5fcf514dd0d2ea3b26e2071ee75e" id="r_a5d4d5fcf514dd0d2ea3b26e2071ee75e"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#a5d4d5fcf514dd0d2ea3b26e2071ee75e">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:a5d4d5fcf514dd0d2ea3b26e2071ee75e"><td class="memSeparator" colspan="2">&#160;</td></tr>
    129. 

  129. <tr class="memitem:a217800970665e456d24664aad0b860a6" id="r_a217800970665e456d24664aad0b860a6"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#a217800970665e456d24664aad0b860a6">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>
    130. 

  130. <tr class="separator:a217800970665e456d24664aad0b860a6"><td class="memSeparator" colspan="2">&#160;</td></tr>
    131. 

  131. <tr class="memitem:a123b2fd3e83ea307dfd8a946f6b7a449" id="r_a123b2fd3e83ea307dfd8a946f6b7a449"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#a123b2fd3e83ea307dfd8a946f6b7a449">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>
    132. 

  132. <tr class="separator:a123b2fd3e83ea307dfd8a946f6b7a449"><td class="memSeparator" colspan="2">&#160;</td></tr>
    133. 

  133. <tr class="memitem:a268ba07c6a229a0b8d2c3504566c355d" id="r_a268ba07c6a229a0b8d2c3504566c355d"><td class="memItemLeft" align="right" valign="top"><a class="el" href="class_vec3.html">Vec3</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#a268ba07c6a229a0b8d2c3504566c355d">GetTotalLambda</a> () const</td></tr>
    134. 

  134. <tr class="memdesc:a268ba07c6a229a0b8d2c3504566c355d"><td class="mdescLeft">&#160;</td><td class="mdescRight">Return lagrange multiplier.  <br /></td></tr>
    135. 

  135. <tr class="separator:a268ba07c6a229a0b8d2c3504566c355d"><td class="memSeparator" colspan="2">&#160;</td></tr>
    136. 

  136. <tr class="memitem:ae6cd6fa33d18b3f7123a2a093a976257" id="r_ae6cd6fa33d18b3f7123a2a093a976257"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#ae6cd6fa33d18b3f7123a2a093a976257">SaveState</a> (<a class="el" href="class_state_recorder.html">StateRecorder</a> &amp;inStream) const</td></tr>
    137. 

  137. <tr class="memdesc:ae6cd6fa33d18b3f7123a2a093a976257"><td class="mdescLeft">&#160;</td><td class="mdescRight">Save state of this constraint part.  <br /></td></tr>
    138. 

  138. <tr class="separator:ae6cd6fa33d18b3f7123a2a093a976257"><td class="memSeparator" colspan="2">&#160;</td></tr>
    139. 

  139. <tr class="memitem:a019489117b367decab440da408e316b8" id="r_a019489117b367decab440da408e316b8"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#a019489117b367decab440da408e316b8">RestoreState</a> (<a class="el" href="class_state_recorder.html">StateRecorder</a> &amp;inStream)</td></tr>
    140. 

  140. <tr class="memdesc:a019489117b367decab440da408e316b8"><td class="mdescLeft">&#160;</td><td class="mdescRight">Restore state of this constraint part.  <br /></td></tr>
    141. 

  141. <tr class="separator:a019489117b367decab440da408e316b8"><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>Constrains movement along 3 axis</p>
    145. 

  145. <dl class="section see"><dt>See also</dt><dd>"Constraints Derivation for Rigid Body Simulation in 3D" - Daniel Chappuis, section 2.2.1</dd></dl>
    146. 

  146. <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 45):</p>
    147. 

  147. <p class="formulaDsp">
    148. 

  148. \[C = p_2 - p_1\]
    149. 

  149. </p>
    150. 

  150. <p>Jacobian (transposed) (eq 47):</p>
    151. 

  151. <p class="formulaDsp">
    152. 

  152. \[J^T = \begin{bmatrix}-E &amp; r1x &amp; E &amp; -r2x^T\end{bmatrix}
    153. 

  153. = \begin{bmatrix}-E^T \\ r1x^T \\ E^T \\ -r2x^T\end{bmatrix}
    154. 

  154. = \begin{bmatrix}-E \\ -r1x \\ E \\ r2x\end{bmatrix}\]
    155. 

  155. </p>
    156. 

  156. <p>Used terms (here and below, everything in world space):<br  />
    157. 

  157. p1, p2 = constraint points.<br  />
    158. 

  158. r1 = p1 - x1.<br  />
    159. 

  159. r2 = p2 - x2.<br  />
    160. 

  160. r1x = 3x3 matrix for which r1x v = r1 x v (cross product).<br  />
    161. 

  161. x1, x2 = center of mass for the bodies.<br  />
    162. 

  162. v = [v1, w1, v2, w2].<br  />
    163. 

  163. v1, v2 = linear velocity of body 1 and 2.<br  />
    164. 

  164. w1, w2 = angular velocity of body 1 and 2.<br  />
    165. 

  165. M = mass matrix, a diagonal matrix of the mass and inertia with diagonal [m1, I1, m2, I2].<br  />
    166. 

  166.  \(K^{-1} = \left( J M^{-1} J^T \right)^{-1}\) = effective mass.<br  />
    167. 

  167. b = velocity bias.<br  />
    168. 

  168.  \(\beta\) = baumgarte constant.<br  />
    169. 

  169. E = identity matrix. </p>
    170. 

  170. </div><h2 class="groupheader">Member Function Documentation</h2>
    171. 

  171. <a id="abd3afc9ccf62aea6e07029b35d718a75" name="abd3afc9ccf62aea6e07029b35d718a75"></a>
    172. 

  172. <h2 class="memtitle"><span class="permalink"><a href="#abd3afc9ccf62aea6e07029b35d718a75">&#9670;&#160;</a></span>CalculateConstraintProperties()</h2>
    173. 

  173. 

  174. <div class="memitem">
    175. 

  175. <div class="memproto">
    176. 

  176. <table class="mlabels">
    177. 

  177.   <tr>
    178. 

  178.   <td class="mlabels-left">
    179. 

  179.       <table class="memname">
    180. 

  180.         <tr>
    181. 

  181.           <td class="memname">void PointConstraintPart::CalculateConstraintProperties </td>
    182. 

  182.           <td>(</td>
    183. 

  183.           <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>
    184. 

  184.         </tr>
    185. 

  185.         <tr>
    186. 

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

  187.           <td></td>
    188. 

  188.           <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>
    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>inR1</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#af10dd31c5ad4acb62aba8025732597e6">Mat44Arg</a></td>          <td class="paramname"><span class="paramname"><em>inRotation2</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>inR2</em></span>&#160;)</td>
    209. 

  209.         </tr>
    210. 

  210.       </table>
    211. 

  211.   </td>
    212. 

  212.   <td class="mlabels-right">
    213. 

  213. <span class="mlabels"><span class="mlabel">inline</span></span>  </td>
    214. 

  214.   </tr>
    215. 

  215. </table>
    216. 

  216. </div><div class="memdoc">
    217. 

  217. <p>Calculate properties used during the functions below </p><dl class="params"><dt>Parameters</dt><dd>
    218. 

  218.   <table class="params">
    219. 

  219.     <tr><td class="paramname">inBody1</td><td>The first body that this constraint is attached to </td></tr>
    220. 

  220.     <tr><td class="paramname">inBody2</td><td>The second body that this constraint is attached to </td></tr>
    221. 

  221.     <tr><td class="paramname">inRotation1</td><td>The 3x3 rotation matrix for body 1 (translation part is ignored) </td></tr>
    222. 

  222.     <tr><td class="paramname">inRotation2</td><td>The 3x3 rotation matrix for body 2 (translation part is ignored) </td></tr>
    223. 

  223.     <tr><td class="paramname">inR1</td><td>Local space vector from center of mass to constraint point for body 1 </td></tr>
    224. 

  224.     <tr><td class="paramname">inR2</td><td>Local space vector from center of mass to constraint point for body 2 </td></tr>
    225. 

  225.   </table>
    226. 

  226.   </dd>
    227. 

  227. </dl>
    228. 

  228. 

  229. </div>
    230. 

  230. </div>
    231. 

  231. <a id="a79eddd21eea247c5560ab8208a627019" name="a79eddd21eea247c5560ab8208a627019"></a>
    232. 

  232. <h2 class="memtitle"><span class="permalink"><a href="#a79eddd21eea247c5560ab8208a627019">&#9670;&#160;</a></span>Deactivate()</h2>
    233. 

  233. 

  234. <div class="memitem">
    235. 

  235. <div class="memproto">
    236. 

  236. <table class="mlabels">
    237. 

  237.   <tr>
    238. 

  238.   <td class="mlabels-left">
    239. 

  239.       <table class="memname">
    240. 

  240.         <tr>
    241. 

  241.           <td class="memname">void PointConstraintPart::Deactivate </td>
    242. 

  242.           <td>(</td>
    243. 

  243.           <td class="paramname"><span class="paramname"><em></em></span></td><td>)</td>
    244. 

  244.           <td></td>
    245. 

  245.         </tr>
    246. 

  246.       </table>
    247. 

  247.   </td>
    248. 

  248.   <td class="mlabels-right">
    249. 

  249. <span class="mlabels"><span class="mlabel">inline</span></span>  </td>
    250. 

  250.   </tr>
    251. 

  251. </table>
    252. 

  252. </div><div class="memdoc">
    253. 

  253. 

  254. <p>Deactivate this constraint. </p>
    255. 

  255. 

  256. </div>
    257. 

  257. </div>
    258. 

  258. <a id="a268ba07c6a229a0b8d2c3504566c355d" name="a268ba07c6a229a0b8d2c3504566c355d"></a>
    259. 

  259. <h2 class="memtitle"><span class="permalink"><a href="#a268ba07c6a229a0b8d2c3504566c355d">&#9670;&#160;</a></span>GetTotalLambda()</h2>
    260. 

  260. 

  261. <div class="memitem">
    262. 

  262. <div class="memproto">
    263. 

  263. <table class="mlabels">
    264. 

  264.   <tr>
    265. 

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

  266.       <table class="memname">
    267. 

  267.         <tr>
    268. 

  268.           <td class="memname"><a class="el" href="class_vec3.html">Vec3</a> PointConstraintPart::GetTotalLambda </td>
    269. 

  269.           <td>(</td>
    270. 

  270.           <td class="paramname"><span class="paramname"><em></em></span></td><td>)</td>
    271. 

  271.           <td> const</td>
    272. 

  272.         </tr>
    273. 

  273.       </table>
    274. 

  274.   </td>
    275. 

  275.   <td class="mlabels-right">
    276. 

  276. <span class="mlabels"><span class="mlabel">inline</span></span>  </td>
    277. 

  277.   </tr>
    278. 

  278. </table>
    279. 

  279. </div><div class="memdoc">
    280. 

  280. 

  281. <p>Return lagrange multiplier. </p>
    282. 

  282. 

  283. </div>
    284. 

  284. </div>
    285. 

  285. <a id="a9b183e233b8fc258ab72f447499c5ad8" name="a9b183e233b8fc258ab72f447499c5ad8"></a>
    286. 

  286. <h2 class="memtitle"><span class="permalink"><a href="#a9b183e233b8fc258ab72f447499c5ad8">&#9670;&#160;</a></span>IsActive()</h2>
    287. 

  287. 

  288. <div class="memitem">
    289. 

  289. <div class="memproto">
    290. 

  290. <table class="mlabels">
    291. 

  291.   <tr>
    292. 

  292.   <td class="mlabels-left">
    293. 

  293.       <table class="memname">
    294. 

  294.         <tr>
    295. 

  295.           <td class="memname">bool PointConstraintPart::IsActive </td>
    296. 

  296.           <td>(</td>
    297. 

  297.           <td class="paramname"><span class="paramname"><em></em></span></td><td>)</td>
    298. 

  298.           <td> const</td>
    299. 

  299.         </tr>
    300. 

  300.       </table>
    301. 

  301.   </td>
    302. 

  302.   <td class="mlabels-right">
    303. 

  303. <span class="mlabels"><span class="mlabel">inline</span></span>  </td>
    304. 

  304.   </tr>
    305. 

  305. </table>
    306. 

  306. </div><div class="memdoc">
    307. 

  307. 

  308. <p>Check if constraint is active. </p>
    309. 

  309. 

  310. </div>
    311. 

  311. </div>
    312. 

  312. <a id="a019489117b367decab440da408e316b8" name="a019489117b367decab440da408e316b8"></a>
    313. 

  313. <h2 class="memtitle"><span class="permalink"><a href="#a019489117b367decab440da408e316b8">&#9670;&#160;</a></span>RestoreState()</h2>
    314. 

  314. 

  315. <div class="memitem">
    316. 

  316. <div class="memproto">
    317. 

  317. <table class="mlabels">
    318. 

  318.   <tr>
    319. 

  319.   <td class="mlabels-left">
    320. 

  320.       <table class="memname">
    321. 

  321.         <tr>
    322. 

  322.           <td class="memname">void PointConstraintPart::RestoreState </td>
    323. 

  323.           <td>(</td>
    324. 

  324.           <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>
    325. 

  325.           <td></td>
    326. 

  326.         </tr>
    327. 

  327.       </table>
    328. 

  328.   </td>
    329. 

  329.   <td class="mlabels-right">
    330. 

  330. <span class="mlabels"><span class="mlabel">inline</span></span>  </td>
    331. 

  331.   </tr>
    332. 

  332. </table>
    333. 

  333. </div><div class="memdoc">
    334. 

  334. 

  335. <p>Restore state of this constraint part. </p>
    336. 

  336. 

  337. </div>
    338. 

  338. </div>
    339. 

  339. <a id="ae6cd6fa33d18b3f7123a2a093a976257" name="ae6cd6fa33d18b3f7123a2a093a976257"></a>
    340. 

  340. <h2 class="memtitle"><span class="permalink"><a href="#ae6cd6fa33d18b3f7123a2a093a976257">&#9670;&#160;</a></span>SaveState()</h2>
    341. 

  341. 

  342. <div class="memitem">
    343. 

  343. <div class="memproto">
    344. 

  344. <table class="mlabels">
    345. 

  345.   <tr>
    346. 

  346.   <td class="mlabels-left">
    347. 

  347.       <table class="memname">
    348. 

  348.         <tr>
    349. 

  349.           <td class="memname">void PointConstraintPart::SaveState </td>
    350. 

  350.           <td>(</td>
    351. 

  351.           <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>
    352. 

  352.           <td> const</td>
    353. 

  353.         </tr>
    354. 

  354.       </table>
    355. 

  355.   </td>
    356. 

  356.   <td class="mlabels-right">
    357. 

  357. <span class="mlabels"><span class="mlabel">inline</span></span>  </td>
    358. 

  358.   </tr>
    359. 

  359. </table>
    360. 

  360. </div><div class="memdoc">
    361. 

  361. 

  362. <p>Save state of this constraint part. </p>
    363. 

  363. 

  364. </div>
    365. 

  365. </div>
    366. 

  366. <a id="a123b2fd3e83ea307dfd8a946f6b7a449" name="a123b2fd3e83ea307dfd8a946f6b7a449"></a>
    367. 

  367. <h2 class="memtitle"><span class="permalink"><a href="#a123b2fd3e83ea307dfd8a946f6b7a449">&#9670;&#160;</a></span>SolvePositionConstraint()</h2>
    368. 

  368. 

  369. <div class="memitem">
    370. 

  370. <div class="memproto">
    371. 

  371. <table class="mlabels">
    372. 

  372.   <tr>
    373. 

  373.   <td class="mlabels-left">
    374. 

  374.       <table class="memname">
    375. 

  375.         <tr>
    376. 

  376.           <td class="memname">bool PointConstraintPart::SolvePositionConstraint </td>
    377. 

  377.           <td>(</td>
    378. 

  378.           <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>
    379. 

  379.         </tr>
    380. 

  380.         <tr>
    381. 

  381.           <td class="paramkey"></td>
    382. 

  382.           <td></td>
    383. 

  383.           <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>
    384. 

  384.         </tr>
    385. 

  385.         <tr>
    386. 

  386.           <td class="paramkey"></td>
    387. 

  387.           <td></td>
    388. 

  388.           <td class="paramtype">float</td>          <td class="paramname"><span class="paramname"><em>inBaumgarte</em></span>&#160;) const</td>
    389. 

  389.         </tr>
    390. 

  390.       </table>
    391. 

  391.   </td>
    392. 

  392.   <td class="mlabels-right">
    393. 

  393. <span class="mlabels"><span class="mlabel">inline</span></span>  </td>
    394. 

  394.   </tr>
    395. 

  395. </table>
    396. 

  396. </div><div class="memdoc">
    397. 

  397. <p>Iteratively update the position constraint. Makes sure C(...) = 0. </p><dl class="params"><dt>Parameters</dt><dd>
    398. 

  398.   <table class="params">
    399. 

  399.     <tr><td class="paramname">ioBody1</td><td>The first body that this constraint is attached to </td></tr>
    400. 

  400.     <tr><td class="paramname">ioBody2</td><td>The second body that this constraint is attached to </td></tr>
    401. 

  401.     <tr><td class="paramname">inBaumgarte</td><td>Baumgarte constant (fraction of the error to correct) </td></tr>
    402. 

  402.   </table>
    403. 

  403.   </dd>
    404. 

  404. </dl>
    405. 

  405. 

  406. </div>
    407. 

  407. </div>
    408. 

  408. <a id="a217800970665e456d24664aad0b860a6" name="a217800970665e456d24664aad0b860a6"></a>
    409. 

  409. <h2 class="memtitle"><span class="permalink"><a href="#a217800970665e456d24664aad0b860a6">&#9670;&#160;</a></span>SolveVelocityConstraint()</h2>
    410. 

  410. 

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

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

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

  414.   <tr>
    415. 

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

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

  417.         <tr>
    418. 

  418.           <td class="memname">bool PointConstraintPart::SolveVelocityConstraint </td>
    419. 

  419.           <td>(</td>
    420. 

  420.           <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>
    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>&#160;)</td>
    426. 

  426.         </tr>
    427. 

  427.       </table>
    428. 

  428.   </td>
    429. 

  429.   <td class="mlabels-right">
    430. 

  430. <span class="mlabels"><span class="mlabel">inline</span></span>  </td>
    431. 

  431.   </tr>
    432. 

  432. </table>
    433. 

  433. </div><div class="memdoc">
    434. 

  434. <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>
    435. 

  435.   <table class="params">
    436. 

  436.     <tr><td class="paramname">ioBody1</td><td>The first body that this constraint is attached to </td></tr>
    437. 

  437.     <tr><td class="paramname">ioBody2</td><td>The second body that this constraint is attached to </td></tr>
    438. 

  438.   </table>
    439. 

  439.   </dd>
    440. 

  440. </dl>
    441. 

  441. 

  442. </div>
    443. 

  443. </div>
    444. 

  444. <a id="a5d4d5fcf514dd0d2ea3b26e2071ee75e" name="a5d4d5fcf514dd0d2ea3b26e2071ee75e"></a>
    445. 

  445. <h2 class="memtitle"><span class="permalink"><a href="#a5d4d5fcf514dd0d2ea3b26e2071ee75e">&#9670;&#160;</a></span>WarmStart()</h2>
    446. 

  446. 

  447. <div class="memitem">
    448. 

  448. <div class="memproto">
    449. 

  449. <table class="mlabels">
    450. 

  450.   <tr>
    451. 

  451.   <td class="mlabels-left">
    452. 

  452.       <table class="memname">
    453. 

  453.         <tr>
    454. 

  454.           <td class="memname">void PointConstraintPart::WarmStart </td>
    455. 

  455.           <td>(</td>
    456. 

  456.           <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>
    457. 

  457.         </tr>
    458. 

  458.         <tr>
    459. 

  459.           <td class="paramkey"></td>
    460. 

  460.           <td></td>
    461. 

  461.           <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>
    462. 

  462.         </tr>
    463. 

  463.         <tr>
    464. 

  464.           <td class="paramkey"></td>
    465. 

  465.           <td></td>
    466. 

  466.           <td class="paramtype">float</td>          <td class="paramname"><span class="paramname"><em>inWarmStartImpulseRatio</em></span>&#160;)</td>
    467. 

  467.         </tr>
    468. 

  468.       </table>
    469. 

  469.   </td>
    470. 

  470.   <td class="mlabels-right">
    471. 

  471. <span class="mlabels"><span class="mlabel">inline</span></span>  </td>
    472. 

  472.   </tr>
    473. 

  473. </table>
    474. 

  474. </div><div class="memdoc">
    475. 

  475. <p>Must be called from the WarmStartVelocityConstraint call to apply the previous frame's impulses </p><dl class="params"><dt>Parameters</dt><dd>
    476. 

  476.   <table class="params">
    477. 

  477.     <tr><td class="paramname">ioBody1</td><td>The first body that this constraint is attached to </td></tr>
    478. 

  478.     <tr><td class="paramname">ioBody2</td><td>The second body that this constraint is attached to </td></tr>
    479. 

  479.     <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>
    480. 

  480.   </table>
    481. 

  481.   </dd>
    482. 

  482. </dl>
    483. 

  483. 

  484. </div>
    485. 

  485. </div>
    486. 

  486. <hr/>The documentation for this class was generated from the following file:<ul>
    487. 

  487. <li>Jolt/Physics/Constraints/ConstraintPart/<a class="el" href="_point_constraint_part_8h_source.html">PointConstraintPart.h</a></li>
    488. 

  488. </ul>
    489. 

  489. </div><!-- contents -->
    490. 

  490. </div><!-- doc-content -->
    491. 

  491. <!-- start footer part -->
    492. 

  492. <div id="nav-path" class="navpath"><!-- id is needed for treeview function! -->
    493. 

  493.   <ul>
    494. 

  494.     <li class="navelem"><a class="el" href="class_point_constraint_part.html">PointConstraintPart</a></li>
    495. 

  495.     <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>
    496. 

  496.   </ul>
    497. 

  497. </div>
    498. 

  498. </body>
    499. 

  499. </html>
    500.