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JoltPhysics
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<div class="header">
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<a href="#pub-methods">Public Member Functions</a> &#124;
<a href="#pub-static-methods">Static Public Member Functions</a> &#124;
<a href="class_rotation_quat_constraint_part-members.html">List of all members</a>  </div>
  <div class="headertitle"><div class="title">RotationQuatConstraintPart Class Reference</div></div>
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<p><code>#include &lt;<a class="el" href="_rotation_quat_constraint_part_8h_source.html">RotationQuatConstraintPart.h</a>&gt;</code></p>
<table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a id="pub-methods" name="pub-methods"></a>
Public Member Functions</h2></td></tr>
<tr class="memitem:a0c752c045f216b2d9c0570faf3f71c44" id="r_a0c752c045f216b2d9c0570faf3f71c44"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#a0c752c045f216b2d9c0570faf3f71c44">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, <a class="el" href="_math_types_8h.html#a3c723d55f34e02bc506abe3dfb7bd2aa">QuatArg</a> inInvInitialOrientation)</td></tr>
<tr class="memdesc:a0c752c045f216b2d9c0570faf3f71c44"><td class="mdescLeft">&#160;</td><td class="mdescRight">Calculate properties used during the functions below.  <br /></td></tr>
<tr class="separator:a0c752c045f216b2d9c0570faf3f71c44"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a6fbaaa5c64ed9b01753780cbad3efb8b" id="r_a6fbaaa5c64ed9b01753780cbad3efb8b"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#a6fbaaa5c64ed9b01753780cbad3efb8b">Deactivate</a> ()</td></tr>
<tr class="memdesc:a6fbaaa5c64ed9b01753780cbad3efb8b"><td class="mdescLeft">&#160;</td><td class="mdescRight">Deactivate this constraint.  <br /></td></tr>
<tr class="separator:a6fbaaa5c64ed9b01753780cbad3efb8b"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ab38b8a217a4dc990ed58e9dc7210e2fc" id="r_ab38b8a217a4dc990ed58e9dc7210e2fc"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#ab38b8a217a4dc990ed58e9dc7210e2fc">IsActive</a> () const</td></tr>
<tr class="memdesc:ab38b8a217a4dc990ed58e9dc7210e2fc"><td class="mdescLeft">&#160;</td><td class="mdescRight">Check if constraint is active.  <br /></td></tr>
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<tr class="memitem:a05fa3097154059e8d7814370182a7aa5" id="r_a05fa3097154059e8d7814370182a7aa5"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#a05fa3097154059e8d7814370182a7aa5">WarmStart</a> (<a class="el" href="class_body.html">Body</a> &amp;ioBody1, <a class="el" href="class_body.html">Body</a> &amp;ioBody2, float inWarmStartImpulseRatio)</td></tr>
<tr class="memdesc:a05fa3097154059e8d7814370182a7aa5"><td class="mdescLeft">&#160;</td><td class="mdescRight">Must be called from the WarmStartVelocityConstraint call to apply the previous frame's impulses.  <br /></td></tr>
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<tr class="memitem:ad464b428f6994ee02ac203b29c561324" id="r_ad464b428f6994ee02ac203b29c561324"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#ad464b428f6994ee02ac203b29c561324">SolveVelocityConstraint</a> (<a class="el" href="class_body.html">Body</a> &amp;ioBody1, <a class="el" href="class_body.html">Body</a> &amp;ioBody2)</td></tr>
<tr class="memdesc:ad464b428f6994ee02ac203b29c561324"><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>
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<tr class="memitem:a598d2320bf1b6d19985a183d06183f13" id="r_a598d2320bf1b6d19985a183d06183f13"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#a598d2320bf1b6d19985a183d06183f13">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>
<tr class="memdesc:a598d2320bf1b6d19985a183d06183f13"><td class="mdescLeft">&#160;</td><td class="mdescRight">Iteratively update the position constraint. Makes sure C(...) = 0.  <br /></td></tr>
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<tr class="memitem:a4aaed47e0905087e32e5dc82f6c4dca5" id="r_a4aaed47e0905087e32e5dc82f6c4dca5"><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="#a4aaed47e0905087e32e5dc82f6c4dca5">GetTotalLambda</a> () const</td></tr>
<tr class="memdesc:a4aaed47e0905087e32e5dc82f6c4dca5"><td class="mdescLeft">&#160;</td><td class="mdescRight">Return lagrange multiplier.  <br /></td></tr>
<tr class="separator:a4aaed47e0905087e32e5dc82f6c4dca5"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a9ca6e071472fdc3e1ce31b115bfee6e4" id="r_a9ca6e071472fdc3e1ce31b115bfee6e4"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#a9ca6e071472fdc3e1ce31b115bfee6e4">SaveState</a> (<a class="el" href="class_state_recorder.html">StateRecorder</a> &amp;inStream) const</td></tr>
<tr class="memdesc:a9ca6e071472fdc3e1ce31b115bfee6e4"><td class="mdescLeft">&#160;</td><td class="mdescRight">Save state of this constraint part.  <br /></td></tr>
<tr class="separator:a9ca6e071472fdc3e1ce31b115bfee6e4"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a95e793a001df59cd2e8ea7e92c4f6263" id="r_a95e793a001df59cd2e8ea7e92c4f6263"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#a95e793a001df59cd2e8ea7e92c4f6263">RestoreState</a> (<a class="el" href="class_state_recorder.html">StateRecorder</a> &amp;inStream)</td></tr>
<tr class="memdesc:a95e793a001df59cd2e8ea7e92c4f6263"><td class="mdescLeft">&#160;</td><td class="mdescRight">Restore state of this constraint part.  <br /></td></tr>
<tr class="separator:a95e793a001df59cd2e8ea7e92c4f6263"><td class="memSeparator" colspan="2">&#160;</td></tr>
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<tr class="heading"><td colspan="2"><h2 class="groupheader"><a id="pub-static-methods" name="pub-static-methods"></a>
Static Public Member Functions</h2></td></tr>
<tr class="memitem:a8ab9f2a8f10bdbbe8000f7af5f0b7b5b" id="r_a8ab9f2a8f10bdbbe8000f7af5f0b7b5b"><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="#a8ab9f2a8f10bdbbe8000f7af5f0b7b5b">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>
<tr class="memdesc:a8ab9f2a8f10bdbbe8000f7af5f0b7b5b"><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>
<tr class="separator:a8ab9f2a8f10bdbbe8000f7af5f0b7b5b"><td class="memSeparator" colspan="2">&#160;</td></tr>
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<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
<div class="textblock"><p>Quaternion based constraint that constrains rotation around all axis so that only translation is allowed.</p>
<p>NOTE: This constraint part is more expensive than the <a class="el" href="class_rotation_euler_constraint_part.html">RotationEulerConstraintPart</a> and slightly more correct since <a class="el" href="class_rotation_euler_constraint_part.html#ab2276b37dd0f8eaf4229469def2627b6" title="Iteratively update the position constraint. Makes sure C(...) = 0.">RotationEulerConstraintPart::SolvePositionConstraint</a> contains an approximation. In practice the difference is small, so the <a class="el" href="class_rotation_euler_constraint_part.html">RotationEulerConstraintPart</a> is probably the better choice.</p>
<p>Rotation is fixed between bodies like this:</p>
<p>q2 = q1 r0</p>
<p>Where: q1, q2 = world space quaternions representing rotation of body 1 and 2. r0 = initial rotation between bodies in local space of body 1, this can be calculated by:</p>
<p>q20 = q10 r0 &lt;=&gt; r0 = q10^* q20</p>
<p>Where: q10, q20 = initial world space rotations of body 1 and 2. q10^* = conjugate of quaternion q10 (which is the same as the inverse for a unit quaternion)</p>
<p>We exclusively use the conjugate below:</p>
<p>r0^* = q20^* q10</p>
<p>The error in the rotation is (in local space of body 1):</p>
<p>q2 = q1 error r0 &lt;=&gt; error = q1^* q2 r0^*</p>
<p>The imaginary part of the quaternion represents the rotation axis * sin(angle / 2). The real part of the quaternion does not add any additional information (we know the quaternion in normalized) and we're removing 3 degrees of freedom so we want 3 parameters. Therefore we define the constraint equation like:</p>
<p>C = A q1^* q2 r0^* = 0</p>
<p>Where (if you write a quaternion as [real-part, i-part, j-part, k-part]): </p><pre class="fragment">    [0, 1, 0, 0]
A = [0, 0, 1, 0]
    [0, 0, 0, 1]
</pre><p>or in our case since we store a quaternion like [i-part, j-part, k-part, real-part]: </p><pre class="fragment">    [1, 0, 0, 0]
A = [0, 1, 0, 0]
    [0, 0, 1, 0]
</pre><p>Time derivative:</p>
<p>d/dt C = A (q1^* d/dt(q2) + d/dt(q1^*) q2) r0^* = A (q1^* (1/2 W2 q2) + (1/2 W1 q1)^* q2) r0^* = 1/2 A (q1^* W2 q2 + q1^* W1^* q2) r0^* = 1/2 A (q1^* W2 q2 - q1^* W1 * q2) r0^* = 1/2 A ML(q1^*) MR(q2 r0^*) (W2 - W1) = 1/2 A ML(q1^*) MR(q2 r0^*) A^T (w2 - w1)</p>
<p>Where: W1 = [0, w1], W2 = [0, w2] (converting angular velocity to imaginary part of quaternion). w1, w2 = angular velocity of body 1 and 2. d/dt(q) = 1/2 W q (time derivative of a quaternion). W^* = -W (conjugate negates angular velocity as quaternion). ML(q): 4x4 matrix so that q * p = ML(q) * p, where q and p are quaternions. MR(p): 4x4 matrix so that q * p = MR(p) * q, where q and p are quaternions. A^T: Transpose of A.</p>
<p>Jacobian:</p>
<p>J = [0, -1/2 A ML(q1^*) MR(q2 r0^*) A^T, 0, 1/2 A ML(q1^*) MR(q2 r0^*) A^T] = [0, -JP, 0, JP]</p>
<p>Suggested reading:</p><ul>
<li>3D <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> Derivations for Impulse Solvers - Marijn Tamis</li>
<li>Game Physics Pearls - Section 9 - Quaternion Based Constraints - Claude Lacoursiere </li>
</ul>
</div><h2 class="groupheader">Member Function Documentation</h2>
<a id="a0c752c045f216b2d9c0570faf3f71c44" name="a0c752c045f216b2d9c0570faf3f71c44"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a0c752c045f216b2d9c0570faf3f71c44">&#9670;&#160;</a></span>CalculateConstraintProperties()</h2>

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          <td class="memname">void RotationQuatConstraintPart::CalculateConstraintProperties </td>
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          <td class="paramtype">const <a class="el" href="class_body.html">Body</a> &amp;</td>          <td class="paramname"><span class="paramname"><em>inBody1</em></span>, </td>
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          <td class="paramtype"><a class="el" href="_math_types_8h.html#af10dd31c5ad4acb62aba8025732597e6">Mat44Arg</a></td>          <td class="paramname"><span class="paramname"><em>inRotation1</em></span>, </td>
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          <td class="paramtype">const <a class="el" href="class_body.html">Body</a> &amp;</td>          <td class="paramname"><span class="paramname"><em>inBody2</em></span>, </td>
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          <td class="paramtype"><a class="el" href="_math_types_8h.html#af10dd31c5ad4acb62aba8025732597e6">Mat44Arg</a></td>          <td class="paramname"><span class="paramname"><em>inRotation2</em></span>, </td>
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          <td class="paramtype"><a class="el" href="_math_types_8h.html#a3c723d55f34e02bc506abe3dfb7bd2aa">QuatArg</a></td>          <td class="paramname"><span class="paramname"><em>inInvInitialOrientation</em></span>&#160;)</td>
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<p>Calculate properties used during the functions below. </p>

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<h2 class="memtitle"><span class="permalink"><a href="#a6fbaaa5c64ed9b01753780cbad3efb8b">&#9670;&#160;</a></span>Deactivate()</h2>

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

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<h2 class="memtitle"><span class="permalink"><a href="#a4aaed47e0905087e32e5dc82f6c4dca5">&#9670;&#160;</a></span>GetTotalLambda()</h2>

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          <td class="memname"><a class="el" href="class_vec3.html">Vec3</a> RotationQuatConstraintPart::GetTotalLambda </td>
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<p>Return lagrange multiplier. </p>

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<h2 class="memtitle"><span class="permalink"><a href="#ab38b8a217a4dc990ed58e9dc7210e2fc">&#9670;&#160;</a></span>IsActive()</h2>

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

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<h2 class="memtitle"><span class="permalink"><a href="#a95e793a001df59cd2e8ea7e92c4f6263">&#9670;&#160;</a></span>RestoreState()</h2>

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

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<h2 class="memtitle"><span class="permalink"><a href="#a9ca6e071472fdc3e1ce31b115bfee6e4">&#9670;&#160;</a></span>SaveState()</h2>

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

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<h2 class="memtitle"><span class="permalink"><a href="#a8ab9f2a8f10bdbbe8000f7af5f0b7b5b">&#9670;&#160;</a></span>sGetInvInitialOrientation()</h2>

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          <td class="memname">static <a class="el" href="class_quat.html">Quat</a> RotationQuatConstraintPart::sGetInvInitialOrientation </td>
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<p>Return inverse of initial rotation from body 1 to body 2 in body 1 space. </p>

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<h2 class="memtitle"><span class="permalink"><a href="#a598d2320bf1b6d19985a183d06183f13">&#9670;&#160;</a></span>SolvePositionConstraint()</h2>

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

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<h2 class="memtitle"><span class="permalink"><a href="#ad464b428f6994ee02ac203b29c561324">&#9670;&#160;</a></span>SolveVelocityConstraint()</h2>

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

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<h2 class="memtitle"><span class="permalink"><a href="#a05fa3097154059e8d7814370182a7aa5">&#9670;&#160;</a></span>WarmStart()</h2>

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

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<hr/>The documentation for this class was generated from the following file:<ul>
<li>Jolt/Physics/Constraints/ConstraintPart/<a class="el" href="_rotation_quat_constraint_part_8h_source.html">RotationQuatConstraintPart.h</a></li>
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