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

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    112. 

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

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    114. 

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

  115. 

  116. <p><code>#include &lt;<a class="el" href="_rotation_euler_constraint_part_8h_source.html">RotationEulerConstraintPart.h</a>&gt;</code></p>
    117. 

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

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

  119. Public Member Functions</h2></td></tr>
    120. 

  120. <tr class="memitem:af37f613895af10af42c71f644fe3f2f5" id="r_af37f613895af10af42c71f644fe3f2f5"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#af37f613895af10af42c71f644fe3f2f5">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, const <a class="el" href="class_body.html">Body</a> &amp;inBody2, <a class="el" href="_math_types_8h.html#af10dd31c5ad4acb62aba8025732597e6">Mat44Arg</a> inRotation2)</td></tr>
    121. 

  121. <tr class="memdesc:af37f613895af10af42c71f644fe3f2f5"><td class="mdescLeft">&#160;</td><td class="mdescRight">Calculate properties used during the functions below.  <br /></td></tr>
    122. 

  122. <tr class="separator:af37f613895af10af42c71f644fe3f2f5"><td class="memSeparator" colspan="2">&#160;</td></tr>
    123. 

  123. <tr class="memitem:ab5ff022582eb45db942a196a32795661" id="r_ab5ff022582eb45db942a196a32795661"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#ab5ff022582eb45db942a196a32795661">Deactivate</a> ()</td></tr>
    124. 

  124. <tr class="memdesc:ab5ff022582eb45db942a196a32795661"><td class="mdescLeft">&#160;</td><td class="mdescRight">Deactivate this constraint.  <br /></td></tr>
    125. 

  125. <tr class="separator:ab5ff022582eb45db942a196a32795661"><td class="memSeparator" colspan="2">&#160;</td></tr>
    126. 

  126. <tr class="memitem:a5580f01673bcbbde31fd75108d2866b4" id="r_a5580f01673bcbbde31fd75108d2866b4"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#a5580f01673bcbbde31fd75108d2866b4">IsActive</a> () const</td></tr>
    127. 

  127. <tr class="memdesc:a5580f01673bcbbde31fd75108d2866b4"><td class="mdescLeft">&#160;</td><td class="mdescRight">Check if constraint is active.  <br /></td></tr>
    128. 

  128. <tr class="separator:a5580f01673bcbbde31fd75108d2866b4"><td class="memSeparator" colspan="2">&#160;</td></tr>
    129. 

  129. <tr class="memitem:a492a0801dd2881d0ab58f9c8b0abfec8" id="r_a492a0801dd2881d0ab58f9c8b0abfec8"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#a492a0801dd2881d0ab58f9c8b0abfec8">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>
    130. 

  130. <tr class="memdesc:a492a0801dd2881d0ab58f9c8b0abfec8"><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>
    131. 

  131. <tr class="separator:a492a0801dd2881d0ab58f9c8b0abfec8"><td class="memSeparator" colspan="2">&#160;</td></tr>
    132. 

  132. <tr class="memitem:af9a7e556643d4162eb300045d9a40df1" id="r_af9a7e556643d4162eb300045d9a40df1"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#af9a7e556643d4162eb300045d9a40df1">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>
    133. 

  133. <tr class="memdesc:af9a7e556643d4162eb300045d9a40df1"><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>
    134. 

  134. <tr class="separator:af9a7e556643d4162eb300045d9a40df1"><td class="memSeparator" colspan="2">&#160;</td></tr>
    135. 

  135. <tr class="memitem:ab2276b37dd0f8eaf4229469def2627b6" id="r_ab2276b37dd0f8eaf4229469def2627b6"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#ab2276b37dd0f8eaf4229469def2627b6">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#a3c723d55f34e02bc506abe3dfb7bd2aa">QuatArg</a> inInvInitialOrientation, float inBaumgarte) const</td></tr>
    136. 

  136. <tr class="memdesc:ab2276b37dd0f8eaf4229469def2627b6"><td class="mdescLeft">&#160;</td><td class="mdescRight">Iteratively update the position constraint. Makes sure C(...) = 0.  <br /></td></tr>
    137. 

  137. <tr class="separator:ab2276b37dd0f8eaf4229469def2627b6"><td class="memSeparator" colspan="2">&#160;</td></tr>
    138. 

  138. <tr class="memitem:aada1e7c8fcf62c1674aa5080cd70687e" id="r_aada1e7c8fcf62c1674aa5080cd70687e"><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="#aada1e7c8fcf62c1674aa5080cd70687e">GetTotalLambda</a> () const</td></tr>
    139. 

  139. <tr class="memdesc:aada1e7c8fcf62c1674aa5080cd70687e"><td class="mdescLeft">&#160;</td><td class="mdescRight">Return lagrange multiplier.  <br /></td></tr>
    140. 

  140. <tr class="separator:aada1e7c8fcf62c1674aa5080cd70687e"><td class="memSeparator" colspan="2">&#160;</td></tr>
    141. 

  141. <tr class="memitem:afda34f355272d02e5daf8103639b22bf" id="r_afda34f355272d02e5daf8103639b22bf"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#afda34f355272d02e5daf8103639b22bf">SaveState</a> (<a class="el" href="class_state_recorder.html">StateRecorder</a> &amp;inStream) const</td></tr>
    142. 

  142. <tr class="memdesc:afda34f355272d02e5daf8103639b22bf"><td class="mdescLeft">&#160;</td><td class="mdescRight">Save state of this constraint part.  <br /></td></tr>
    143. 

  143. <tr class="separator:afda34f355272d02e5daf8103639b22bf"><td class="memSeparator" colspan="2">&#160;</td></tr>
    144. 

  144. <tr class="memitem:aba8f2a3ca2aa7ab982b16499cf938ee3" id="r_aba8f2a3ca2aa7ab982b16499cf938ee3"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#aba8f2a3ca2aa7ab982b16499cf938ee3">RestoreState</a> (<a class="el" href="class_state_recorder.html">StateRecorder</a> &amp;inStream)</td></tr>
    145. 

  145. <tr class="memdesc:aba8f2a3ca2aa7ab982b16499cf938ee3"><td class="mdescLeft">&#160;</td><td class="mdescRight">Restore state of this constraint part.  <br /></td></tr>
    146. 

  146. <tr class="separator:aba8f2a3ca2aa7ab982b16499cf938ee3"><td class="memSeparator" colspan="2">&#160;</td></tr>
    147. 

  147. </table><table class="memberdecls">
    148. 

  148. <tr class="heading"><td colspan="2"><h2 class="groupheader"><a id="pub-static-methods" name="pub-static-methods"></a>
    149. 

  149. Static Public Member Functions</h2></td></tr>
    150. 

  150. <tr class="memitem:a40c10735335691be99e7911139dc2884" id="r_a40c10735335691be99e7911139dc2884"><td class="memItemLeft" align="right" valign="top">static <a class="el" href="class_quat.html">Quat</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#a40c10735335691be99e7911139dc2884">sGetInvInitialOrientation</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)</td></tr>
    151. 

  151. <tr class="memdesc:a40c10735335691be99e7911139dc2884"><td class="mdescLeft">&#160;</td><td class="mdescRight">Return inverse of initial rotation from body 1 to body 2 in body 1 space.  <br /></td></tr>
    152. 

  152. <tr class="separator:a40c10735335691be99e7911139dc2884"><td class="memSeparator" colspan="2">&#160;</td></tr>
    153. 

  153. <tr class="memitem:a6757c3b96eff4a145d9228fb1679222d" id="r_a6757c3b96eff4a145d9228fb1679222d"><td class="memItemLeft" align="right" valign="top">static <a class="el" href="class_quat.html">Quat</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#a6757c3b96eff4a145d9228fb1679222d">sGetInvInitialOrientationXY</a> (<a class="el" href="_math_types_8h.html#a6bc57c31f15cea47640b580d03737c68">Vec3Arg</a> inAxisX1, <a class="el" href="_math_types_8h.html#a6bc57c31f15cea47640b580d03737c68">Vec3Arg</a> inAxisY1, <a class="el" href="_math_types_8h.html#a6bc57c31f15cea47640b580d03737c68">Vec3Arg</a> inAxisX2, <a class="el" href="_math_types_8h.html#a6bc57c31f15cea47640b580d03737c68">Vec3Arg</a> inAxisY2)</td></tr>
    154. 

  154. <tr class="memdesc:a6757c3b96eff4a145d9228fb1679222d"><td class="mdescLeft">&#160;</td><td class="mdescRight">Return inverse of initial rotation from body 1 to body 2 in body 1 space.  <br /></td></tr>
    155. 

  155. <tr class="separator:a6757c3b96eff4a145d9228fb1679222d"><td class="memSeparator" colspan="2">&#160;</td></tr>
    156. 

  156. <tr class="memitem:ae84f7a33a2d609dd5138c9a7f3f82f65" id="r_ae84f7a33a2d609dd5138c9a7f3f82f65"><td class="memItemLeft" align="right" valign="top">static <a class="el" href="class_quat.html">Quat</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#ae84f7a33a2d609dd5138c9a7f3f82f65">sGetInvInitialOrientationXZ</a> (<a class="el" href="_math_types_8h.html#a6bc57c31f15cea47640b580d03737c68">Vec3Arg</a> inAxisX1, <a class="el" href="_math_types_8h.html#a6bc57c31f15cea47640b580d03737c68">Vec3Arg</a> inAxisZ1, <a class="el" href="_math_types_8h.html#a6bc57c31f15cea47640b580d03737c68">Vec3Arg</a> inAxisX2, <a class="el" href="_math_types_8h.html#a6bc57c31f15cea47640b580d03737c68">Vec3Arg</a> inAxisZ2)</td></tr>
    157. 

  157. <tr class="memdesc:ae84f7a33a2d609dd5138c9a7f3f82f65"><td class="mdescLeft">&#160;</td><td class="mdescRight">Return inverse of initial rotation from body 1 to body 2 in body 1 space.  <br /></td></tr>
    158. 

  158. <tr class="separator:ae84f7a33a2d609dd5138c9a7f3f82f65"><td class="memSeparator" colspan="2">&#160;</td></tr>
    159. 

  159. </table>
    160. 

  160. <a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
    161. 

  161. <div class="textblock"><p>Constrains rotation around all axis so that only translation is allowed</p>
    162. 

  162. <p>Based on: "Constraints Derivation for Rigid Body Simulation in 3D" - Daniel Chappuis, section 2.5.1</p>
    163. 

  163. <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 129):</p>
    164. 

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

  165. \[C = \begin{bmatrix}\Delta\theta_x, \Delta\theta_y, \Delta\theta_z\end{bmatrix}\]
    166. 

  166. </p>
    167. 

  167. <p>Jacobian (eq 131):</p>
    168. 

  168. <p class="formulaDsp">
    169. 

  169. \[J = \begin{bmatrix}0 &amp; -E &amp; 0 &amp; E\end{bmatrix}\]
    170. 

  170. </p>
    171. 

  171. <p>Used terms (here and below, everything in world space):<br  />
    172. 

  172. delta_theta_* = difference in rotation between initial rotation of bodies 1 and 2.<br  />
    173. 

  173. x1, x2 = center of mass for the bodies.<br  />
    174. 

  174. v = [v1, w1, v2, w2].<br  />
    175. 

  175. v1, v2 = linear velocity of body 1 and 2.<br  />
    176. 

  176. w1, w2 = angular velocity of body 1 and 2.<br  />
    177. 

  177. M = mass matrix, a diagonal matrix of the mass and inertia with diagonal [m1, I1, m2, I2].<br  />
    178. 

  178.  \(K^{-1} = \left( J M^{-1} J^T \right)^{-1}\) = effective mass.<br  />
    179. 

  179. b = velocity bias.<br  />
    180. 

  180.  \(\beta\) = baumgarte constant.<br  />
    181. 

  181. E = identity matrix.<br  />
    182. 

  182.  </p>
    183. 

  183. </div><h2 class="groupheader">Member Function Documentation</h2>
    184. 

  184. <a id="af37f613895af10af42c71f644fe3f2f5" name="af37f613895af10af42c71f644fe3f2f5"></a>
    185. 

  185. <h2 class="memtitle"><span class="permalink"><a href="#af37f613895af10af42c71f644fe3f2f5">&#9670;&#160;</a></span>CalculateConstraintProperties()</h2>
    186. 

  186. 

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

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

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

  190.   <tr>
    191. 

  191.   <td class="mlabels-left">
    192. 

  192.       <table class="memname">
    193. 

  193.         <tr>
    194. 

  194.           <td class="memname">void RotationEulerConstraintPart::CalculateConstraintProperties </td>
    195. 

  195.           <td>(</td>
    196. 

  196.           <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>
    197. 

  197.         </tr>
    198. 

  198.         <tr>
    199. 

  199.           <td class="paramkey"></td>
    200. 

  200.           <td></td>
    201. 

  201.           <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>
    202. 

  202.         </tr>
    203. 

  203.         <tr>
    204. 

  204.           <td class="paramkey"></td>
    205. 

  205.           <td></td>
    206. 

  206.           <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>
    207. 

  207.         </tr>
    208. 

  208.         <tr>
    209. 

  209.           <td class="paramkey"></td>
    210. 

  210.           <td></td>
    211. 

  211.           <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>&#160;)</td>
    212. 

  212.         </tr>
    213. 

  213.       </table>
    214. 

  214.   </td>
    215. 

  215.   <td class="mlabels-right">
    216. 

  216. <span class="mlabels"><span class="mlabel">inline</span></span>  </td>
    217. 

  217.   </tr>
    218. 

  218. </table>
    219. 

  219. </div><div class="memdoc">
    220. 

  220. 

  221. <p>Calculate properties used during the functions below. </p>
    222. 

  222. 

  223. </div>
    224. 

  224. </div>
    225. 

  225. <a id="ab5ff022582eb45db942a196a32795661" name="ab5ff022582eb45db942a196a32795661"></a>
    226. 

  226. <h2 class="memtitle"><span class="permalink"><a href="#ab5ff022582eb45db942a196a32795661">&#9670;&#160;</a></span>Deactivate()</h2>
    227. 

  227. 

  228. <div class="memitem">
    229. 

  229. <div class="memproto">
    230. 

  230. <table class="mlabels">
    231. 

  231.   <tr>
    232. 

  232.   <td class="mlabels-left">
    233. 

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

  234.         <tr>
    235. 

  235.           <td class="memname">void RotationEulerConstraintPart::Deactivate </td>
    236. 

  236.           <td>(</td>
    237. 

  237.           <td class="paramname"><span class="paramname"><em></em></span></td><td>)</td>
    238. 

  238.           <td></td>
    239. 

  239.         </tr>
    240. 

  240.       </table>
    241. 

  241.   </td>
    242. 

  242.   <td class="mlabels-right">
    243. 

  243. <span class="mlabels"><span class="mlabel">inline</span></span>  </td>
    244. 

  244.   </tr>
    245. 

  245. </table>
    246. 

  246. </div><div class="memdoc">
    247. 

  247. 

  248. <p>Deactivate this constraint. </p>
    249. 

  249. 

  250. </div>
    251. 

  251. </div>
    252. 

  252. <a id="aada1e7c8fcf62c1674aa5080cd70687e" name="aada1e7c8fcf62c1674aa5080cd70687e"></a>
    253. 

  253. <h2 class="memtitle"><span class="permalink"><a href="#aada1e7c8fcf62c1674aa5080cd70687e">&#9670;&#160;</a></span>GetTotalLambda()</h2>
    254. 

  254. 

  255. <div class="memitem">
    256. 

  256. <div class="memproto">
    257. 

  257. <table class="mlabels">
    258. 

  258.   <tr>
    259. 

  259.   <td class="mlabels-left">
    260. 

  260.       <table class="memname">
    261. 

  261.         <tr>
    262. 

  262.           <td class="memname"><a class="el" href="class_vec3.html">Vec3</a> RotationEulerConstraintPart::GetTotalLambda </td>
    263. 

  263.           <td>(</td>
    264. 

  264.           <td class="paramname"><span class="paramname"><em></em></span></td><td>)</td>
    265. 

  265.           <td> const</td>
    266. 

  266.         </tr>
    267. 

  267.       </table>
    268. 

  268.   </td>
    269. 

  269.   <td class="mlabels-right">
    270. 

  270. <span class="mlabels"><span class="mlabel">inline</span></span>  </td>
    271. 

  271.   </tr>
    272. 

  272. </table>
    273. 

  273. </div><div class="memdoc">
    274. 

  274. 

  275. <p>Return lagrange multiplier. </p>
    276. 

  276. 

  277. </div>
    278. 

  278. </div>
    279. 

  279. <a id="a5580f01673bcbbde31fd75108d2866b4" name="a5580f01673bcbbde31fd75108d2866b4"></a>
    280. 

  280. <h2 class="memtitle"><span class="permalink"><a href="#a5580f01673bcbbde31fd75108d2866b4">&#9670;&#160;</a></span>IsActive()</h2>
    281. 

  281. 

  282. <div class="memitem">
    283. 

  283. <div class="memproto">
    284. 

  284. <table class="mlabels">
    285. 

  285.   <tr>
    286. 

  286.   <td class="mlabels-left">
    287. 

  287.       <table class="memname">
    288. 

  288.         <tr>
    289. 

  289.           <td class="memname">bool RotationEulerConstraintPart::IsActive </td>
    290. 

  290.           <td>(</td>
    291. 

  291.           <td class="paramname"><span class="paramname"><em></em></span></td><td>)</td>
    292. 

  292.           <td> const</td>
    293. 

  293.         </tr>
    294. 

  294.       </table>
    295. 

  295.   </td>
    296. 

  296.   <td class="mlabels-right">
    297. 

  297. <span class="mlabels"><span class="mlabel">inline</span></span>  </td>
    298. 

  298.   </tr>
    299. 

  299. </table>
    300. 

  300. </div><div class="memdoc">
    301. 

  301. 

  302. <p>Check if constraint is active. </p>
    303. 

  303. 

  304. </div>
    305. 

  305. </div>
    306. 

  306. <a id="aba8f2a3ca2aa7ab982b16499cf938ee3" name="aba8f2a3ca2aa7ab982b16499cf938ee3"></a>
    307. 

  307. <h2 class="memtitle"><span class="permalink"><a href="#aba8f2a3ca2aa7ab982b16499cf938ee3">&#9670;&#160;</a></span>RestoreState()</h2>
    308. 

  308. 

  309. <div class="memitem">
    310. 

  310. <div class="memproto">
    311. 

  311. <table class="mlabels">
    312. 

  312.   <tr>
    313. 

  313.   <td class="mlabels-left">
    314. 

  314.       <table class="memname">
    315. 

  315.         <tr>
    316. 

  316.           <td class="memname">void RotationEulerConstraintPart::RestoreState </td>
    317. 

  317.           <td>(</td>
    318. 

  318.           <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>
    319. 

  319.           <td></td>
    320. 

  320.         </tr>
    321. 

  321.       </table>
    322. 

  322.   </td>
    323. 

  323.   <td class="mlabels-right">
    324. 

  324. <span class="mlabels"><span class="mlabel">inline</span></span>  </td>
    325. 

  325.   </tr>
    326. 

  326. </table>
    327. 

  327. </div><div class="memdoc">
    328. 

  328. 

  329. <p>Restore state of this constraint part. </p>
    330. 

  330. 

  331. </div>
    332. 

  332. </div>
    333. 

  333. <a id="afda34f355272d02e5daf8103639b22bf" name="afda34f355272d02e5daf8103639b22bf"></a>
    334. 

  334. <h2 class="memtitle"><span class="permalink"><a href="#afda34f355272d02e5daf8103639b22bf">&#9670;&#160;</a></span>SaveState()</h2>
    335. 

  335. 

  336. <div class="memitem">
    337. 

  337. <div class="memproto">
    338. 

  338. <table class="mlabels">
    339. 

  339.   <tr>
    340. 

  340.   <td class="mlabels-left">
    341. 

  341.       <table class="memname">
    342. 

  342.         <tr>
    343. 

  343.           <td class="memname">void RotationEulerConstraintPart::SaveState </td>
    344. 

  344.           <td>(</td>
    345. 

  345.           <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>
    346. 

  346.           <td> const</td>
    347. 

  347.         </tr>
    348. 

  348.       </table>
    349. 

  349.   </td>
    350. 

  350.   <td class="mlabels-right">
    351. 

  351. <span class="mlabels"><span class="mlabel">inline</span></span>  </td>
    352. 

  352.   </tr>
    353. 

  353. </table>
    354. 

  354. </div><div class="memdoc">
    355. 

  355. 

  356. <p>Save state of this constraint part. </p>
    357. 

  357. 

  358. </div>
    359. 

  359. </div>
    360. 

  360. <a id="a40c10735335691be99e7911139dc2884" name="a40c10735335691be99e7911139dc2884"></a>
    361. 

  361. <h2 class="memtitle"><span class="permalink"><a href="#a40c10735335691be99e7911139dc2884">&#9670;&#160;</a></span>sGetInvInitialOrientation()</h2>
    362. 

  362. 

  363. <div class="memitem">
    364. 

  364. <div class="memproto">
    365. 

  365. <table class="mlabels">
    366. 

  366.   <tr>
    367. 

  367.   <td class="mlabels-left">
    368. 

  368.       <table class="memname">
    369. 

  369.         <tr>
    370. 

  370.           <td class="memname">static <a class="el" href="class_quat.html">Quat</a> RotationEulerConstraintPart::sGetInvInitialOrientation </td>
    371. 

  371.           <td>(</td>
    372. 

  372.           <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>
    373. 

  373.         </tr>
    374. 

  374.         <tr>
    375. 

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

  376.           <td></td>
    377. 

  377.           <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>&#160;)</td>
    378. 

  378.         </tr>
    379. 

  379.       </table>
    380. 

  380.   </td>
    381. 

  381.   <td class="mlabels-right">
    382. 

  382. <span class="mlabels"><span class="mlabel">inline</span><span class="mlabel">static</span></span>  </td>
    383. 

  383.   </tr>
    384. 

  384. </table>
    385. 

  385. </div><div class="memdoc">
    386. 

  386. 

  387. <p>Return inverse of initial rotation from body 1 to body 2 in body 1 space. </p>
    388. 

  388. 

  389. </div>
    390. 

  390. </div>
    391. 

  391. <a id="a6757c3b96eff4a145d9228fb1679222d" name="a6757c3b96eff4a145d9228fb1679222d"></a>
    392. 

  392. <h2 class="memtitle"><span class="permalink"><a href="#a6757c3b96eff4a145d9228fb1679222d">&#9670;&#160;</a></span>sGetInvInitialOrientationXY()</h2>
    393. 

  393. 

  394. <div class="memitem">
    395. 

  395. <div class="memproto">
    396. 

  396. <table class="mlabels">
    397. 

  397.   <tr>
    398. 

  398.   <td class="mlabels-left">
    399. 

  399.       <table class="memname">
    400. 

  400.         <tr>
    401. 

  401.           <td class="memname">static <a class="el" href="class_quat.html">Quat</a> RotationEulerConstraintPart::sGetInvInitialOrientationXY </td>
    402. 

  402.           <td>(</td>
    403. 

  403.           <td class="paramtype"><a class="el" href="_math_types_8h.html#a6bc57c31f15cea47640b580d03737c68">Vec3Arg</a></td>          <td class="paramname"><span class="paramname"><em>inAxisX1</em></span>, </td>
    404. 

  404.         </tr>
    405. 

  405.         <tr>
    406. 

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

  407.           <td></td>
    408. 

  408.           <td class="paramtype"><a class="el" href="_math_types_8h.html#a6bc57c31f15cea47640b580d03737c68">Vec3Arg</a></td>          <td class="paramname"><span class="paramname"><em>inAxisY1</em></span>, </td>
    409. 

  409.         </tr>
    410. 

  410.         <tr>
    411. 

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

  412.           <td></td>
    413. 

  413.           <td class="paramtype"><a class="el" href="_math_types_8h.html#a6bc57c31f15cea47640b580d03737c68">Vec3Arg</a></td>          <td class="paramname"><span class="paramname"><em>inAxisX2</em></span>, </td>
    414. 

  414.         </tr>
    415. 

  415.         <tr>
    416. 

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

  417.           <td></td>
    418. 

  418.           <td class="paramtype"><a class="el" href="_math_types_8h.html#a6bc57c31f15cea47640b580d03737c68">Vec3Arg</a></td>          <td class="paramname"><span class="paramname"><em>inAxisY2</em></span>&#160;)</td>
    419. 

  419.         </tr>
    420. 

  420.       </table>
    421. 

  421.   </td>
    422. 

  422.   <td class="mlabels-right">
    423. 

  423. <span class="mlabels"><span class="mlabel">inline</span><span class="mlabel">static</span></span>  </td>
    424. 

  424.   </tr>
    425. 

  425. </table>
    426. 

  426. </div><div class="memdoc">
    427. 

  427. 

  428. <p>Return inverse of initial rotation from body 1 to body 2 in body 1 space. </p>
    429. 

  429. <dl class="params"><dt>Parameters</dt><dd>
    430. 

  430.   <table class="params">
    431. 

  431.     <tr><td class="paramname">inAxisX1</td><td>Reference axis X for body 1 </td></tr>
    432. 

  432.     <tr><td class="paramname">inAxisY1</td><td>Reference axis Y for body 1 </td></tr>
    433. 

  433.     <tr><td class="paramname">inAxisX2</td><td>Reference axis X for body 2 </td></tr>
    434. 

  434.     <tr><td class="paramname">inAxisY2</td><td>Reference axis Y for body 2 </td></tr>
    435. 

  435.   </table>
    436. 

  436.   </dd>
    437. 

  437. </dl>
    438. 

  438. 

  439. </div>
    440. 

  440. </div>
    441. 

  441. <a id="ae84f7a33a2d609dd5138c9a7f3f82f65" name="ae84f7a33a2d609dd5138c9a7f3f82f65"></a>
    442. 

  442. <h2 class="memtitle"><span class="permalink"><a href="#ae84f7a33a2d609dd5138c9a7f3f82f65">&#9670;&#160;</a></span>sGetInvInitialOrientationXZ()</h2>
    443. 

  443. 

  444. <div class="memitem">
    445. 

  445. <div class="memproto">
    446. 

  446. <table class="mlabels">
    447. 

  447.   <tr>
    448. 

  448.   <td class="mlabels-left">
    449. 

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

  450.         <tr>
    451. 

  451.           <td class="memname">static <a class="el" href="class_quat.html">Quat</a> RotationEulerConstraintPart::sGetInvInitialOrientationXZ </td>
    452. 

  452.           <td>(</td>
    453. 

  453.           <td class="paramtype"><a class="el" href="_math_types_8h.html#a6bc57c31f15cea47640b580d03737c68">Vec3Arg</a></td>          <td class="paramname"><span class="paramname"><em>inAxisX1</em></span>, </td>
    454. 

  454.         </tr>
    455. 

  455.         <tr>
    456. 

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

  457.           <td></td>
    458. 

  458.           <td class="paramtype"><a class="el" href="_math_types_8h.html#a6bc57c31f15cea47640b580d03737c68">Vec3Arg</a></td>          <td class="paramname"><span class="paramname"><em>inAxisZ1</em></span>, </td>
    459. 

  459.         </tr>
    460. 

  460.         <tr>
    461. 

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

  462.           <td></td>
    463. 

  463.           <td class="paramtype"><a class="el" href="_math_types_8h.html#a6bc57c31f15cea47640b580d03737c68">Vec3Arg</a></td>          <td class="paramname"><span class="paramname"><em>inAxisX2</em></span>, </td>
    464. 

  464.         </tr>
    465. 

  465.         <tr>
    466. 

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

  467.           <td></td>
    468. 

  468.           <td class="paramtype"><a class="el" href="_math_types_8h.html#a6bc57c31f15cea47640b580d03737c68">Vec3Arg</a></td>          <td class="paramname"><span class="paramname"><em>inAxisZ2</em></span>&#160;)</td>
    469. 

  469.         </tr>
    470. 

  470.       </table>
    471. 

  471.   </td>
    472. 

  472.   <td class="mlabels-right">
    473. 

  473. <span class="mlabels"><span class="mlabel">inline</span><span class="mlabel">static</span></span>  </td>
    474. 

  474.   </tr>
    475. 

  475. </table>
    476. 

  476. </div><div class="memdoc">
    477. 

  477. 

  478. <p>Return inverse of initial rotation from body 1 to body 2 in body 1 space. </p>
    479. 

  479. <dl class="params"><dt>Parameters</dt><dd>
    480. 

  480.   <table class="params">
    481. 

  481.     <tr><td class="paramname">inAxisX1</td><td>Reference axis X for body 1 </td></tr>
    482. 

  482.     <tr><td class="paramname">inAxisZ1</td><td>Reference axis Z for body 1 </td></tr>
    483. 

  483.     <tr><td class="paramname">inAxisX2</td><td>Reference axis X for body 2 </td></tr>
    484. 

  484.     <tr><td class="paramname">inAxisZ2</td><td>Reference axis Z for body 2 </td></tr>
    485. 

  485.   </table>
    486. 

  486.   </dd>
    487. 

  487. </dl>
    488. 

  488. 

  489. </div>
    490. 

  490. </div>
    491. 

  491. <a id="ab2276b37dd0f8eaf4229469def2627b6" name="ab2276b37dd0f8eaf4229469def2627b6"></a>
    492. 

  492. <h2 class="memtitle"><span class="permalink"><a href="#ab2276b37dd0f8eaf4229469def2627b6">&#9670;&#160;</a></span>SolvePositionConstraint()</h2>
    493. 

  493. 

  494. <div class="memitem">
    495. 

  495. <div class="memproto">
    496. 

  496. <table class="mlabels">
    497. 

  497.   <tr>
    498. 

  498.   <td class="mlabels-left">
    499. 

  499.       <table class="memname">
    500. 

  500.         <tr>
    501. 

  501.           <td class="memname">bool RotationEulerConstraintPart::SolvePositionConstraint </td>
    502. 

  502.           <td>(</td>
    503. 

  503.           <td class="paramtype"><a class="el" href="class_body.html">Body</a> &amp;</td>          <td class="paramname"><span class="paramname"><em>ioBody1</em></span>, </td>
    504. 

  504.         </tr>
    505. 

  505.         <tr>
    506. 

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

  507.           <td></td>
    508. 

  508.           <td class="paramtype"><a class="el" href="class_body.html">Body</a> &amp;</td>          <td class="paramname"><span class="paramname"><em>ioBody2</em></span>, </td>
    509. 

  509.         </tr>
    510. 

  510.         <tr>
    511. 

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

  512.           <td></td>
    513. 

  513.           <td class="paramtype"><a class="el" href="_math_types_8h.html#a3c723d55f34e02bc506abe3dfb7bd2aa">QuatArg</a></td>          <td class="paramname"><span class="paramname"><em>inInvInitialOrientation</em></span>, </td>
    514. 

  514.         </tr>
    515. 

  515.         <tr>
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  516.           <td class="paramkey"></td>
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  517.           <td></td>
    518. 

  518.           <td class="paramtype">float</td>          <td class="paramname"><span class="paramname"><em>inBaumgarte</em></span>&#160;) const</td>
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  525. </table>
    526. 

  526. </div><div class="memdoc">
    527. 

  527. 

  528. <p>Iteratively update the position constraint. Makes sure C(...) = 0. </p>
    529. 

  529. 

  530. </div>
    531. 

  531. </div>
    532. 

  532. <a id="af9a7e556643d4162eb300045d9a40df1" name="af9a7e556643d4162eb300045d9a40df1"></a>
    533. 

  533. <h2 class="memtitle"><span class="permalink"><a href="#af9a7e556643d4162eb300045d9a40df1">&#9670;&#160;</a></span>SolveVelocityConstraint()</h2>
    534. 

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    542. 

  542.           <td class="memname">bool RotationEulerConstraintPart::SolveVelocityConstraint </td>
    543. 

  543.           <td>(</td>
    544. 

  544.           <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>
    545. 

  545.         </tr>
    546. 

  546.         <tr>
    547. 

  547.           <td class="paramkey"></td>
    548. 

  548.           <td></td>
    549. 

  549.           <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>
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  550.         </tr>
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  554. <span class="mlabels"><span class="mlabel">inline</span></span>  </td>
    555. 

  555.   </tr>
    556. 

  556. </table>
    557. 

  557. </div><div class="memdoc">
    558. 

  558. 

  559. <p>Iteratively update the velocity constraint. Makes sure d/dt C(...) = 0, where C is the constraint equation. </p>
    560. 

  560. 

  561. </div>
    562. 

  562. </div>
    563. 

  563. <a id="a492a0801dd2881d0ab58f9c8b0abfec8" name="a492a0801dd2881d0ab58f9c8b0abfec8"></a>
    564. 

  564. <h2 class="memtitle"><span class="permalink"><a href="#a492a0801dd2881d0ab58f9c8b0abfec8">&#9670;&#160;</a></span>WarmStart()</h2>
    565. 

  565. 

  566. <div class="memitem">
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    573. 

  573.           <td class="memname">void RotationEulerConstraintPart::WarmStart </td>
    574. 

  574.           <td>(</td>
    575. 

  575.           <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>
    576. 

  576.         </tr>
    577. 

  577.         <tr>
    578. 

  578.           <td class="paramkey"></td>
    579. 

  579.           <td></td>
    580. 

  580.           <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>
    581. 

  581.         </tr>
    582. 

  582.         <tr>
    583. 

  583.           <td class="paramkey"></td>
    584. 

  584.           <td></td>
    585. 

  585.           <td class="paramtype">float</td>          <td class="paramname"><span class="paramname"><em>inWarmStartImpulseRatio</em></span>&#160;)</td>
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  592. </table>
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  593. </div><div class="memdoc">
    594. 

  594. 

  595. <p>Must be called from the WarmStartVelocityConstraint call to apply the previous frame's impulses. </p>
    596. 

  596. 

  597. </div>
    598. 

  598. </div>
    599. 

  599. <hr/>The documentation for this class was generated from the following file:<ul>
    600. 

  600. <li>Jolt/Physics/Constraints/ConstraintPart/<a class="el" href="_rotation_euler_constraint_part_8h_source.html">RotationEulerConstraintPart.h</a></li>
    601. 

  601. </ul>
    602. 

  602. </div><!-- contents -->
    603. 

  603. </div><!-- doc-content -->
    604. 

  604. <!-- start footer part -->
    605. 

  605. <div id="nav-path" class="navpath"><!-- id is needed for treeview function! -->
    606. 

  606.   <ul>
    607. 

  607.     <li class="navelem"><a class="el" href="class_rotation_euler_constraint_part.html">RotationEulerConstraintPart</a></li>
    608. 

  608.     <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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  612. </html>
    613.