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  109. <a href="#pub-methods">Public Member Functions</a> &#124;
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    113. 

  113.   <div class="headertitle"><div class="title">SwingTwistConstraintPart Class Reference</div></div>
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    116. 

  116. 

  117. <p><code>#include &lt;<a class="el" href="_swing_twist_constraint_part_8h_source.html">SwingTwistConstraintPart.h</a>&gt;</code></p>
    118. 

  118. <table class="memberdecls">
    119. 

  119. <tr class="heading"><td colspan="2"><h2 class="groupheader"><a id="pub-methods" name="pub-methods"></a>
    120. 

  120. Public Member Functions</h2></td></tr>
    121. 

  121. <tr class="memitem:a848425a649ffd87b994ea1efe3cf9944" id="r_a848425a649ffd87b994ea1efe3cf9944"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#a848425a649ffd87b994ea1efe3cf9944">SetSwingType</a> (<a class="el" href="_swing_twist_constraint_part_8h.html#add9e89df628b33308461ef46e1b796b6">ESwingType</a> inSwingType)</td></tr>
    122. 

  122. <tr class="memdesc:a848425a649ffd87b994ea1efe3cf9944"><td class="mdescLeft">&#160;</td><td class="mdescRight">Override the swing type.  <br /></td></tr>
    123. 

  123. <tr class="separator:a848425a649ffd87b994ea1efe3cf9944"><td class="memSeparator" colspan="2">&#160;</td></tr>
    124. 

  124. <tr class="memitem:a1e8cca76a13bf4490e18086adfe44fb5" id="r_a1e8cca76a13bf4490e18086adfe44fb5"><td class="memItemLeft" align="right" valign="top"><a class="el" href="_swing_twist_constraint_part_8h.html#add9e89df628b33308461ef46e1b796b6">ESwingType</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#a1e8cca76a13bf4490e18086adfe44fb5">GetSwingType</a> () const</td></tr>
    125. 

  125. <tr class="memdesc:a1e8cca76a13bf4490e18086adfe44fb5"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get the swing type for this part.  <br /></td></tr>
    126. 

  126. <tr class="separator:a1e8cca76a13bf4490e18086adfe44fb5"><td class="memSeparator" colspan="2">&#160;</td></tr>
    127. 

  127. <tr class="memitem:aad526f8386b3e605f88fddf583ec215b" id="r_aad526f8386b3e605f88fddf583ec215b"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#aad526f8386b3e605f88fddf583ec215b">SetLimits</a> (float inTwistMinAngle, float inTwistMaxAngle, float inSwingYMinAngle, float inSwingYMaxAngle, float inSwingZMinAngle, float inSwingZMaxAngle)</td></tr>
    128. 

  128. <tr class="memdesc:aad526f8386b3e605f88fddf583ec215b"><td class="mdescLeft">&#160;</td><td class="mdescRight">Set limits for this constraint (see description above for parameters)  <br /></td></tr>
    129. 

  129. <tr class="separator:aad526f8386b3e605f88fddf583ec215b"><td class="memSeparator" colspan="2">&#160;</td></tr>
    130. 

  130. <tr class="memitem:a63a4870b93b5bb0d90555edbacbf5229" id="r_a63a4870b93b5bb0d90555edbacbf5229"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#a63a4870b93b5bb0d90555edbacbf5229">ClampSwingTwist</a> (<a class="el" href="class_quat.html">Quat</a> &amp;ioSwing, <a class="el" href="class_quat.html">Quat</a> &amp;ioTwist, <a class="el" href="_core_8h.html#a69aa29b598b851b0640aa225a9e5d61d">uint</a> &amp;outClampedAxis) const</td></tr>
    131. 

  131. <tr class="memdesc:a63a4870b93b5bb0d90555edbacbf5229"><td class="mdescLeft">&#160;</td><td class="mdescRight">Clamp twist and swing against the constraint limits, returns which parts were clamped (everything assumed in constraint space)  <br /></td></tr>
    132. 

  132. <tr class="separator:a63a4870b93b5bb0d90555edbacbf5229"><td class="memSeparator" colspan="2">&#160;</td></tr>
    133. 

  133. <tr class="memitem:aaf0e7de8bc6c556f7d1a1d2ef4c32317" id="r_aaf0e7de8bc6c556f7d1a1d2ef4c32317"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#aaf0e7de8bc6c556f7d1a1d2ef4c32317">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#a3c723d55f34e02bc506abe3dfb7bd2aa">QuatArg</a> inConstraintRotation, <a class="el" href="_math_types_8h.html#a3c723d55f34e02bc506abe3dfb7bd2aa">QuatArg</a> inConstraintToWorld)</td></tr>
    134. 

  134. <tr class="separator:aaf0e7de8bc6c556f7d1a1d2ef4c32317"><td class="memSeparator" colspan="2">&#160;</td></tr>
    135. 

  135. <tr class="memitem:ae76162c3dfe72782a020162752a7ccf5" id="r_ae76162c3dfe72782a020162752a7ccf5"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#ae76162c3dfe72782a020162752a7ccf5">Deactivate</a> ()</td></tr>
    136. 

  136. <tr class="memdesc:ae76162c3dfe72782a020162752a7ccf5"><td class="mdescLeft">&#160;</td><td class="mdescRight">Deactivate this constraint.  <br /></td></tr>
    137. 

  137. <tr class="separator:ae76162c3dfe72782a020162752a7ccf5"><td class="memSeparator" colspan="2">&#160;</td></tr>
    138. 

  138. <tr class="memitem:af3c12b4e902bc93120df5ec5a706de99" id="r_af3c12b4e902bc93120df5ec5a706de99"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#af3c12b4e902bc93120df5ec5a706de99">IsActive</a> () const</td></tr>
    139. 

  139. <tr class="memdesc:af3c12b4e902bc93120df5ec5a706de99"><td class="mdescLeft">&#160;</td><td class="mdescRight">Check if constraint is active.  <br /></td></tr>
    140. 

  140. <tr class="separator:af3c12b4e902bc93120df5ec5a706de99"><td class="memSeparator" colspan="2">&#160;</td></tr>
    141. 

  141. <tr class="memitem:a507f0506fd29b63f244e73670d85d55d" id="r_a507f0506fd29b63f244e73670d85d55d"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#a507f0506fd29b63f244e73670d85d55d">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>
    142. 

  142. <tr class="memdesc:a507f0506fd29b63f244e73670d85d55d"><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>
    143. 

  143. <tr class="separator:a507f0506fd29b63f244e73670d85d55d"><td class="memSeparator" colspan="2">&#160;</td></tr>
    144. 

  144. <tr class="memitem:ad62155a6ac18bfc95a038b72df927e02" id="r_ad62155a6ac18bfc95a038b72df927e02"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#ad62155a6ac18bfc95a038b72df927e02">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>
    145. 

  145. <tr class="memdesc:ad62155a6ac18bfc95a038b72df927e02"><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>
    146. 

  146. <tr class="separator:ad62155a6ac18bfc95a038b72df927e02"><td class="memSeparator" colspan="2">&#160;</td></tr>
    147. 

  147. <tr class="memitem:ae8a947eca657db9a653b0d3de921e7c1" id="r_ae8a947eca657db9a653b0d3de921e7c1"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#ae8a947eca657db9a653b0d3de921e7c1">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> inConstraintRotation, <a class="el" href="_math_types_8h.html#a3c723d55f34e02bc506abe3dfb7bd2aa">QuatArg</a> inConstraintToBody1, <a class="el" href="_math_types_8h.html#a3c723d55f34e02bc506abe3dfb7bd2aa">QuatArg</a> inConstraintToBody2, float inBaumgarte) const</td></tr>
    148. 

  148. <tr class="separator:ae8a947eca657db9a653b0d3de921e7c1"><td class="memSeparator" colspan="2">&#160;</td></tr>
    149. 

  149. <tr class="memitem:a16832ee912d335e0865e78f37fe7ad81" id="r_a16832ee912d335e0865e78f37fe7ad81"><td class="memItemLeft" align="right" valign="top">float&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#a16832ee912d335e0865e78f37fe7ad81">GetTotalSwingYLambda</a> () const</td></tr>
    150. 

  150. <tr class="memdesc:a16832ee912d335e0865e78f37fe7ad81"><td class="mdescLeft">&#160;</td><td class="mdescRight">Return lagrange multiplier for swing.  <br /></td></tr>
    151. 

  151. <tr class="separator:a16832ee912d335e0865e78f37fe7ad81"><td class="memSeparator" colspan="2">&#160;</td></tr>
    152. 

  152. <tr class="memitem:a31a518f141eab3f601906193d7b56ada" id="r_a31a518f141eab3f601906193d7b56ada"><td class="memItemLeft" align="right" valign="top">float&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#a31a518f141eab3f601906193d7b56ada">GetTotalSwingZLambda</a> () const</td></tr>
    153. 

  153. <tr class="separator:a31a518f141eab3f601906193d7b56ada"><td class="memSeparator" colspan="2">&#160;</td></tr>
    154. 

  154. <tr class="memitem:a45a880db0765176f7e807f4aba08da6e" id="r_a45a880db0765176f7e807f4aba08da6e"><td class="memItemLeft" align="right" valign="top">float&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#a45a880db0765176f7e807f4aba08da6e">GetTotalTwistLambda</a> () const</td></tr>
    155. 

  155. <tr class="memdesc:a45a880db0765176f7e807f4aba08da6e"><td class="mdescLeft">&#160;</td><td class="mdescRight">Return lagrange multiplier for twist.  <br /></td></tr>
    156. 

  156. <tr class="separator:a45a880db0765176f7e807f4aba08da6e"><td class="memSeparator" colspan="2">&#160;</td></tr>
    157. 

  157. <tr class="memitem:a901f23c5450f15ee2c8979776fcdbf15" id="r_a901f23c5450f15ee2c8979776fcdbf15"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#a901f23c5450f15ee2c8979776fcdbf15">SaveState</a> (<a class="el" href="class_state_recorder.html">StateRecorder</a> &amp;inStream) const</td></tr>
    158. 

  158. <tr class="memdesc:a901f23c5450f15ee2c8979776fcdbf15"><td class="mdescLeft">&#160;</td><td class="mdescRight">Save state of this constraint part.  <br /></td></tr>
    159. 

  159. <tr class="separator:a901f23c5450f15ee2c8979776fcdbf15"><td class="memSeparator" colspan="2">&#160;</td></tr>
    160. 

  160. <tr class="memitem:a2964a0ed18137258a244d1b4926fa290" id="r_a2964a0ed18137258a244d1b4926fa290"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#a2964a0ed18137258a244d1b4926fa290">RestoreState</a> (<a class="el" href="class_state_recorder.html">StateRecorder</a> &amp;inStream)</td></tr>
    161. 

  161. <tr class="memdesc:a2964a0ed18137258a244d1b4926fa290"><td class="mdescLeft">&#160;</td><td class="mdescRight">Restore state of this constraint part.  <br /></td></tr>
    162. 

  162. <tr class="separator:a2964a0ed18137258a244d1b4926fa290"><td class="memSeparator" colspan="2">&#160;</td></tr>
    163. 

  163. </table><table class="memberdecls">
    164. 

  164. <tr class="heading"><td colspan="2"><h2 class="groupheader"><a id="pub-static-methods" name="pub-static-methods"></a>
    165. 

  165. Static Public Member Functions</h2></td></tr>
    166. 

  166. <tr class="memitem:a6588973f6ab2b380c62caaa2d3658f20" id="r_a6588973f6ab2b380c62caaa2d3658f20"><td class="memItemLeft" align="right" valign="top">static JPH_INLINE bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#a6588973f6ab2b380c62caaa2d3658f20">sDistanceToMinShorter</a> (float inDeltaMin, float inDeltaMax)</td></tr>
    167. 

  167. <tr class="memdesc:a6588973f6ab2b380c62caaa2d3658f20"><td class="mdescLeft">&#160;</td><td class="mdescRight">Helper function to determine if we're clamped against the min or max limit.  <br /></td></tr>
    168. 

  168. <tr class="separator:a6588973f6ab2b380c62caaa2d3658f20"><td class="memSeparator" colspan="2">&#160;</td></tr>
    169. 

  169. </table><table class="memberdecls">
    170. 

  170. <tr class="heading"><td colspan="2"><h2 class="groupheader"><a id="pub-static-attribs" name="pub-static-attribs"></a>
    171. 

  171. Static Public Attributes</h2></td></tr>
    172. 

  172. <tr class="memitem:a52114d8a17117ba0e7db21c6d65ac317" id="r_a52114d8a17117ba0e7db21c6d65ac317"><td class="memItemLeft" align="right" valign="top">static constexpr <a class="el" href="_core_8h.html#a69aa29b598b851b0640aa225a9e5d61d">uint</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#a52114d8a17117ba0e7db21c6d65ac317">cClampedTwistMin</a> = 1 &lt;&lt; 0</td></tr>
    173. 

  173. <tr class="memdesc:a52114d8a17117ba0e7db21c6d65ac317"><td class="mdescLeft">&#160;</td><td class="mdescRight">Flags to indicate which axis got clamped by ClampSwingTwist.  <br /></td></tr>
    174. 

  174. <tr class="separator:a52114d8a17117ba0e7db21c6d65ac317"><td class="memSeparator" colspan="2">&#160;</td></tr>
    175. 

  175. <tr class="memitem:a6b558e5a79ffce7ef3fcc4a10df1c932" id="r_a6b558e5a79ffce7ef3fcc4a10df1c932"><td class="memItemLeft" align="right" valign="top">static constexpr <a class="el" href="_core_8h.html#a69aa29b598b851b0640aa225a9e5d61d">uint</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#a6b558e5a79ffce7ef3fcc4a10df1c932">cClampedTwistMax</a> = 1 &lt;&lt; 1</td></tr>
    176. 

  176. <tr class="separator:a6b558e5a79ffce7ef3fcc4a10df1c932"><td class="memSeparator" colspan="2">&#160;</td></tr>
    177. 

  177. <tr class="memitem:a9b80a201af6ea27d2d35b485c88c9b0e" id="r_a9b80a201af6ea27d2d35b485c88c9b0e"><td class="memItemLeft" align="right" valign="top">static constexpr <a class="el" href="_core_8h.html#a69aa29b598b851b0640aa225a9e5d61d">uint</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#a9b80a201af6ea27d2d35b485c88c9b0e">cClampedSwingYMin</a> = 1 &lt;&lt; 2</td></tr>
    178. 

  178. <tr class="separator:a9b80a201af6ea27d2d35b485c88c9b0e"><td class="memSeparator" colspan="2">&#160;</td></tr>
    179. 

  179. <tr class="memitem:a480178e78f7f5c4bd4dd9043bcea0f03" id="r_a480178e78f7f5c4bd4dd9043bcea0f03"><td class="memItemLeft" align="right" valign="top">static constexpr <a class="el" href="_core_8h.html#a69aa29b598b851b0640aa225a9e5d61d">uint</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#a480178e78f7f5c4bd4dd9043bcea0f03">cClampedSwingYMax</a> = 1 &lt;&lt; 3</td></tr>
    180. 

  180. <tr class="separator:a480178e78f7f5c4bd4dd9043bcea0f03"><td class="memSeparator" colspan="2">&#160;</td></tr>
    181. 

  181. <tr class="memitem:a808d818a63cd8380799ace91d9a2b94c" id="r_a808d818a63cd8380799ace91d9a2b94c"><td class="memItemLeft" align="right" valign="top">static constexpr <a class="el" href="_core_8h.html#a69aa29b598b851b0640aa225a9e5d61d">uint</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#a808d818a63cd8380799ace91d9a2b94c">cClampedSwingZMin</a> = 1 &lt;&lt; 4</td></tr>
    182. 

  182. <tr class="separator:a808d818a63cd8380799ace91d9a2b94c"><td class="memSeparator" colspan="2">&#160;</td></tr>
    183. 

  183. <tr class="memitem:ac96e6d6e42458d8ca8d230763c451321" id="r_ac96e6d6e42458d8ca8d230763c451321"><td class="memItemLeft" align="right" valign="top">static constexpr <a class="el" href="_core_8h.html#a69aa29b598b851b0640aa225a9e5d61d">uint</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#ac96e6d6e42458d8ca8d230763c451321">cClampedSwingZMax</a> = 1 &lt;&lt; 5</td></tr>
    184. 

  184. <tr class="separator:ac96e6d6e42458d8ca8d230763c451321"><td class="memSeparator" colspan="2">&#160;</td></tr>
    185. 

  185. </table>
    186. 

  186. <a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
    187. 

  187. <div class="textblock"><p>Quaternion based constraint that decomposes the rotation in constraint space in swing and twist: q = q_swing * q_twist where q_swing.x = 0 and where q_twist.y = q_twist.z = 0</p>
    188. 

  188. <ul>
    189. 

  189. <li>Rotation around the twist (x-axis) is within [inTwistMinAngle, inTwistMaxAngle].</li>
    190. 

  190. <li>Rotation around the swing axis (y and z axis) are limited to an ellipsoid in quaternion space formed by the equation:</li>
    191. 

  191. </ul>
    192. 

  192. <p>(q_swing.y / sin(inSwingYHalfAngle / 2))^2 + (q_swing.z / sin(inSwingZHalfAngle / 2))^2 &lt;= 1</p>
    193. 

  193. <p>Which roughly corresponds to an elliptic cone shape with major axis (inSwingYHalfAngle, inSwingZHalfAngle).</p>
    194. 

  194. <p>In case inSwingYHalfAngle = 0, the rotation around Y will be constrained to 0 and the rotation around Z will be constrained between [-inSwingZHalfAngle, inSwingZHalfAngle]. Vice versa if inSwingZHalfAngle = 0. </p>
    195. 

  195. </div><h2 class="groupheader">Member Function Documentation</h2>
    196. 

  196. <a id="aaf0e7de8bc6c556f7d1a1d2ef4c32317" name="aaf0e7de8bc6c556f7d1a1d2ef4c32317"></a>
    197. 

  197. <h2 class="memtitle"><span class="permalink"><a href="#aaf0e7de8bc6c556f7d1a1d2ef4c32317">&#9670;&#160;</a></span>CalculateConstraintProperties()</h2>
    198. 

  198. 

  199. <div class="memitem">
    200. 

  200. <div class="memproto">
    201. 

  201. <table class="mlabels">
    202. 

  202.   <tr>
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  203.   <td class="mlabels-left">
    204. 

  204.       <table class="memname">
    205. 

  205.         <tr>
    206. 

  206.           <td class="memname">void SwingTwistConstraintPart::CalculateConstraintProperties </td>
    207. 

  207.           <td>(</td>
    208. 

  208.           <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>
    209. 

  209.         </tr>
    210. 

  210.         <tr>
    211. 

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

  212.           <td></td>
    213. 

  213.           <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>
    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#a3c723d55f34e02bc506abe3dfb7bd2aa">QuatArg</a></td>          <td class="paramname"><span class="paramname"><em>inConstraintRotation</em></span>, </td>
    219. 

  219.         </tr>
    220. 

  220.         <tr>
    221. 

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

  222.           <td></td>
    223. 

  223.           <td class="paramtype"><a class="el" href="_math_types_8h.html#a3c723d55f34e02bc506abe3dfb7bd2aa">QuatArg</a></td>          <td class="paramname"><span class="paramname"><em>inConstraintToWorld</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">inConstraintRotation</td><td>The current rotation of the constraint in constraint space </td></tr>
    237. 

  237.     <tr><td class="paramname">inConstraintToWorld</td><td>Rotates from constraint space into world space </td></tr>
    238. 

  238.   </table>
    239. 

  239.   </dd>
    240. 

  240. </dl>
    241. 

  241. 

  242. </div>
    243. 

  243. </div>
    244. 

  244. <a id="a63a4870b93b5bb0d90555edbacbf5229" name="a63a4870b93b5bb0d90555edbacbf5229"></a>
    245. 

  245. <h2 class="memtitle"><span class="permalink"><a href="#a63a4870b93b5bb0d90555edbacbf5229">&#9670;&#160;</a></span>ClampSwingTwist()</h2>
    246. 

  246. 

  247. <div class="memitem">
    248. 

  248. <div class="memproto">
    249. 

  249. <table class="mlabels">
    250. 

  250.   <tr>
    251. 

  251.   <td class="mlabels-left">
    252. 

  252.       <table class="memname">
    253. 

  253.         <tr>
    254. 

  254.           <td class="memname">void SwingTwistConstraintPart::ClampSwingTwist </td>
    255. 

  255.           <td>(</td>
    256. 

  256.           <td class="paramtype"><a class="el" href="class_quat.html">Quat</a> &amp;</td>          <td class="paramname"><span class="paramname"><em>ioSwing</em></span>, </td>
    257. 

  257.         </tr>
    258. 

  258.         <tr>
    259. 

  259.           <td class="paramkey"></td>
    260. 

  260.           <td></td>
    261. 

  261.           <td class="paramtype"><a class="el" href="class_quat.html">Quat</a> &amp;</td>          <td class="paramname"><span class="paramname"><em>ioTwist</em></span>, </td>
    262. 

  262.         </tr>
    263. 

  263.         <tr>
    264. 

  264.           <td class="paramkey"></td>
    265. 

  265.           <td></td>
    266. 

  266.           <td class="paramtype"><a class="el" href="_core_8h.html#a69aa29b598b851b0640aa225a9e5d61d">uint</a> &amp;</td>          <td class="paramname"><span class="paramname"><em>outClampedAxis</em></span>&#160;) const</td>
    267. 

  267.         </tr>
    268. 

  268.       </table>
    269. 

  269.   </td>
    270. 

  270.   <td class="mlabels-right">
    271. 

  271. <span class="mlabels"><span class="mlabel">inline</span></span>  </td>
    272. 

  272.   </tr>
    273. 

  273. </table>
    274. 

  274. </div><div class="memdoc">
    275. 

  275. 

  276. <p>Clamp twist and swing against the constraint limits, returns which parts were clamped (everything assumed in constraint space) </p>
    277. 

  277. 

  278. </div>
    279. 

  279. </div>
    280. 

  280. <a id="ae76162c3dfe72782a020162752a7ccf5" name="ae76162c3dfe72782a020162752a7ccf5"></a>
    281. 

  281. <h2 class="memtitle"><span class="permalink"><a href="#ae76162c3dfe72782a020162752a7ccf5">&#9670;&#160;</a></span>Deactivate()</h2>
    282. 

  282. 

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

  284. <div class="memproto">
    285. 

  285. <table class="mlabels">
    286. 

  286.   <tr>
    287. 

  287.   <td class="mlabels-left">
    288. 

  288.       <table class="memname">
    289. 

  289.         <tr>
    290. 

  290.           <td class="memname">void SwingTwistConstraintPart::Deactivate </td>
    291. 

  291.           <td>(</td>
    292. 

  292.           <td class="paramname"><span class="paramname"><em></em></span></td><td>)</td>
    293. 

  293.           <td></td>
    294. 

  294.         </tr>
    295. 

  295.       </table>
    296. 

  296.   </td>
    297. 

  297.   <td class="mlabels-right">
    298. 

  298. <span class="mlabels"><span class="mlabel">inline</span></span>  </td>
    299. 

  299.   </tr>
    300. 

  300. </table>
    301. 

  301. </div><div class="memdoc">
    302. 

  302. 

  303. <p>Deactivate this constraint. </p>
    304. 

  304. 

  305. </div>
    306. 

  306. </div>
    307. 

  307. <a id="a1e8cca76a13bf4490e18086adfe44fb5" name="a1e8cca76a13bf4490e18086adfe44fb5"></a>
    308. 

  308. <h2 class="memtitle"><span class="permalink"><a href="#a1e8cca76a13bf4490e18086adfe44fb5">&#9670;&#160;</a></span>GetSwingType()</h2>
    309. 

  309. 

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

  311. <div class="memproto">
    312. 

  312. <table class="mlabels">
    313. 

  313.   <tr>
    314. 

  314.   <td class="mlabels-left">
    315. 

  315.       <table class="memname">
    316. 

  316.         <tr>
    317. 

  317.           <td class="memname"><a class="el" href="_swing_twist_constraint_part_8h.html#add9e89df628b33308461ef46e1b796b6">ESwingType</a> SwingTwistConstraintPart::GetSwingType </td>
    318. 

  318.           <td>(</td>
    319. 

  319.           <td class="paramname"><span class="paramname"><em></em></span></td><td>)</td>
    320. 

  320.           <td> const</td>
    321. 

  321.         </tr>
    322. 

  322.       </table>
    323. 

  323.   </td>
    324. 

  324.   <td class="mlabels-right">
    325. 

  325. <span class="mlabels"><span class="mlabel">inline</span></span>  </td>
    326. 

  326.   </tr>
    327. 

  327. </table>
    328. 

  328. </div><div class="memdoc">
    329. 

  329. 

  330. <p>Get the swing type for this part. </p>
    331. 

  331. 

  332. </div>
    333. 

  333. </div>
    334. 

  334. <a id="a16832ee912d335e0865e78f37fe7ad81" name="a16832ee912d335e0865e78f37fe7ad81"></a>
    335. 

  335. <h2 class="memtitle"><span class="permalink"><a href="#a16832ee912d335e0865e78f37fe7ad81">&#9670;&#160;</a></span>GetTotalSwingYLambda()</h2>
    336. 

  336. 

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

  338. <div class="memproto">
    339. 

  339. <table class="mlabels">
    340. 

  340.   <tr>
    341. 

  341.   <td class="mlabels-left">
    342. 

  342.       <table class="memname">
    343. 

  343.         <tr>
    344. 

  344.           <td class="memname">float SwingTwistConstraintPart::GetTotalSwingYLambda </td>
    345. 

  345.           <td>(</td>
    346. 

  346.           <td class="paramname"><span class="paramname"><em></em></span></td><td>)</td>
    347. 

  347.           <td> const</td>
    348. 

  348.         </tr>
    349. 

  349.       </table>
    350. 

  350.   </td>
    351. 

  351.   <td class="mlabels-right">
    352. 

  352. <span class="mlabels"><span class="mlabel">inline</span></span>  </td>
    353. 

  353.   </tr>
    354. 

  354. </table>
    355. 

  355. </div><div class="memdoc">
    356. 

  356. 

  357. <p>Return lagrange multiplier for swing. </p>
    358. 

  358. 

  359. </div>
    360. 

  360. </div>
    361. 

  361. <a id="a31a518f141eab3f601906193d7b56ada" name="a31a518f141eab3f601906193d7b56ada"></a>
    362. 

  362. <h2 class="memtitle"><span class="permalink"><a href="#a31a518f141eab3f601906193d7b56ada">&#9670;&#160;</a></span>GetTotalSwingZLambda()</h2>
    363. 

  363. 

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

  365. <div class="memproto">
    366. 

  366. <table class="mlabels">
    367. 

  367.   <tr>
    368. 

  368.   <td class="mlabels-left">
    369. 

  369.       <table class="memname">
    370. 

  370.         <tr>
    371. 

  371.           <td class="memname">float SwingTwistConstraintPart::GetTotalSwingZLambda </td>
    372. 

  372.           <td>(</td>
    373. 

  373.           <td class="paramname"><span class="paramname"><em></em></span></td><td>)</td>
    374. 

  374.           <td> const</td>
    375. 

  375.         </tr>
    376. 

  376.       </table>
    377. 

  377.   </td>
    378. 

  378.   <td class="mlabels-right">
    379. 

  379. <span class="mlabels"><span class="mlabel">inline</span></span>  </td>
    380. 

  380.   </tr>
    381. 

  381. </table>
    382. 

  382. </div><div class="memdoc">
    383. 

  383. 

  384. </div>
    385. 

  385. </div>
    386. 

  386. <a id="a45a880db0765176f7e807f4aba08da6e" name="a45a880db0765176f7e807f4aba08da6e"></a>
    387. 

  387. <h2 class="memtitle"><span class="permalink"><a href="#a45a880db0765176f7e807f4aba08da6e">&#9670;&#160;</a></span>GetTotalTwistLambda()</h2>
    388. 

  388. 

  389. <div class="memitem">
    390. 

  390. <div class="memproto">
    391. 

  391. <table class="mlabels">
    392. 

  392.   <tr>
    393. 

  393.   <td class="mlabels-left">
    394. 

  394.       <table class="memname">
    395. 

  395.         <tr>
    396. 

  396.           <td class="memname">float SwingTwistConstraintPart::GetTotalTwistLambda </td>
    397. 

  397.           <td>(</td>
    398. 

  398.           <td class="paramname"><span class="paramname"><em></em></span></td><td>)</td>
    399. 

  399.           <td> const</td>
    400. 

  400.         </tr>
    401. 

  401.       </table>
    402. 

  402.   </td>
    403. 

  403.   <td class="mlabels-right">
    404. 

  404. <span class="mlabels"><span class="mlabel">inline</span></span>  </td>
    405. 

  405.   </tr>
    406. 

  406. </table>
    407. 

  407. </div><div class="memdoc">
    408. 

  408. 

  409. <p>Return lagrange multiplier for twist. </p>
    410. 

  410. 

  411. </div>
    412. 

  412. </div>
    413. 

  413. <a id="af3c12b4e902bc93120df5ec5a706de99" name="af3c12b4e902bc93120df5ec5a706de99"></a>
    414. 

  414. <h2 class="memtitle"><span class="permalink"><a href="#af3c12b4e902bc93120df5ec5a706de99">&#9670;&#160;</a></span>IsActive()</h2>
    415. 

  415. 

  416. <div class="memitem">
    417. 

  417. <div class="memproto">
    418. 

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    419. 

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    421. 

  421.       <table class="memname">
    422. 

  422.         <tr>
    423. 

  423.           <td class="memname">bool SwingTwistConstraintPart::IsActive </td>
    424. 

  424.           <td>(</td>
    425. 

  425.           <td class="paramname"><span class="paramname"><em></em></span></td><td>)</td>
    426. 

  426.           <td> const</td>
    427. 

  427.         </tr>
    428. 

  428.       </table>
    429. 

  429.   </td>
    430. 

  430.   <td class="mlabels-right">
    431. 

  431. <span class="mlabels"><span class="mlabel">inline</span></span>  </td>
    432. 

  432.   </tr>
    433. 

  433. </table>
    434. 

  434. </div><div class="memdoc">
    435. 

  435. 

  436. <p>Check if constraint is active. </p>
    437. 

  437. 

  438. </div>
    439. 

  439. </div>
    440. 

  440. <a id="a2964a0ed18137258a244d1b4926fa290" name="a2964a0ed18137258a244d1b4926fa290"></a>
    441. 

  441. <h2 class="memtitle"><span class="permalink"><a href="#a2964a0ed18137258a244d1b4926fa290">&#9670;&#160;</a></span>RestoreState()</h2>
    442. 

  442. 

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

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

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

  446.   <tr>
    447. 

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

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

  449.         <tr>
    450. 

  450.           <td class="memname">void SwingTwistConstraintPart::RestoreState </td>
    451. 

  451.           <td>(</td>
    452. 

  452.           <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>
    453. 

  453.           <td></td>
    454. 

  454.         </tr>
    455. 

  455.       </table>
    456. 

  456.   </td>
    457. 

  457.   <td class="mlabels-right">
    458. 

  458. <span class="mlabels"><span class="mlabel">inline</span></span>  </td>
    459. 

  459.   </tr>
    460. 

  460. </table>
    461. 

  461. </div><div class="memdoc">
    462. 

  462. 

  463. <p>Restore state of this constraint part. </p>
    464. 

  464. 

  465. </div>
    466. 

  466. </div>
    467. 

  467. <a id="a901f23c5450f15ee2c8979776fcdbf15" name="a901f23c5450f15ee2c8979776fcdbf15"></a>
    468. 

  468. <h2 class="memtitle"><span class="permalink"><a href="#a901f23c5450f15ee2c8979776fcdbf15">&#9670;&#160;</a></span>SaveState()</h2>
    469. 

  469. 

  470. <div class="memitem">
    471. 

  471. <div class="memproto">
    472. 

  472. <table class="mlabels">
    473. 

  473.   <tr>
    474. 

  474.   <td class="mlabels-left">
    475. 

  475.       <table class="memname">
    476. 

  476.         <tr>
    477. 

  477.           <td class="memname">void SwingTwistConstraintPart::SaveState </td>
    478. 

  478.           <td>(</td>
    479. 

  479.           <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>
    480. 

  480.           <td> const</td>
    481. 

  481.         </tr>
    482. 

  482.       </table>
    483. 

  483.   </td>
    484. 

  484.   <td class="mlabels-right">
    485. 

  485. <span class="mlabels"><span class="mlabel">inline</span></span>  </td>
    486. 

  486.   </tr>
    487. 

  487. </table>
    488. 

  488. </div><div class="memdoc">
    489. 

  489. 

  490. <p>Save state of this constraint part. </p>
    491. 

  491. 

  492. </div>
    493. 

  493. </div>
    494. 

  494. <a id="a6588973f6ab2b380c62caaa2d3658f20" name="a6588973f6ab2b380c62caaa2d3658f20"></a>
    495. 

  495. <h2 class="memtitle"><span class="permalink"><a href="#a6588973f6ab2b380c62caaa2d3658f20">&#9670;&#160;</a></span>sDistanceToMinShorter()</h2>
    496. 

  496. 

  497. <div class="memitem">
    498. 

  498. <div class="memproto">
    499. 

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

  500.   <tr>
    501. 

  501.   <td class="mlabels-left">
    502. 

  502.       <table class="memname">
    503. 

  503.         <tr>
    504. 

  504.           <td class="memname">static JPH_INLINE bool SwingTwistConstraintPart::sDistanceToMinShorter </td>
    505. 

  505.           <td>(</td>
    506. 

  506.           <td class="paramtype">float</td>          <td class="paramname"><span class="paramname"><em>inDeltaMin</em></span>, </td>
    507. 

  507.         </tr>
    508. 

  508.         <tr>
    509. 

  509.           <td class="paramkey"></td>
    510. 

  510.           <td></td>
    511. 

  511.           <td class="paramtype">float</td>          <td class="paramname"><span class="paramname"><em>inDeltaMax</em></span>&#160;)</td>
    512. 

  512.         </tr>
    513. 

  513.       </table>
    514. 

  514.   </td>
    515. 

  515.   <td class="mlabels-right">
    516. 

  516. <span class="mlabels"><span class="mlabel">inline</span><span class="mlabel">static</span></span>  </td>
    517. 

  517.   </tr>
    518. 

  518. </table>
    519. 

  519. </div><div class="memdoc">
    520. 

  520. 

  521. <p>Helper function to determine if we're clamped against the min or max limit. </p>
    522. 

  522. 

  523. </div>
    524. 

  524. </div>
    525. 

  525. <a id="aad526f8386b3e605f88fddf583ec215b" name="aad526f8386b3e605f88fddf583ec215b"></a>
    526. 

  526. <h2 class="memtitle"><span class="permalink"><a href="#aad526f8386b3e605f88fddf583ec215b">&#9670;&#160;</a></span>SetLimits()</h2>
    527. 

  527. 

  528. <div class="memitem">
    529. 

  529. <div class="memproto">
    530. 

  530. <table class="mlabels">
    531. 

  531.   <tr>
    532. 

  532.   <td class="mlabels-left">
    533. 

  533.       <table class="memname">
    534. 

  534.         <tr>
    535. 

  535.           <td class="memname">void SwingTwistConstraintPart::SetLimits </td>
    536. 

  536.           <td>(</td>
    537. 

  537.           <td class="paramtype">float</td>          <td class="paramname"><span class="paramname"><em>inTwistMinAngle</em></span>, </td>
    538. 

  538.         </tr>
    539. 

  539.         <tr>
    540. 

  540.           <td class="paramkey"></td>
    541. 

  541.           <td></td>
    542. 

  542.           <td class="paramtype">float</td>          <td class="paramname"><span class="paramname"><em>inTwistMaxAngle</em></span>, </td>
    543. 

  543.         </tr>
    544. 

  544.         <tr>
    545. 

  545.           <td class="paramkey"></td>
    546. 

  546.           <td></td>
    547. 

  547.           <td class="paramtype">float</td>          <td class="paramname"><span class="paramname"><em>inSwingYMinAngle</em></span>, </td>
    548. 

  548.         </tr>
    549. 

  549.         <tr>
    550. 

  550.           <td class="paramkey"></td>
    551. 

  551.           <td></td>
    552. 

  552.           <td class="paramtype">float</td>          <td class="paramname"><span class="paramname"><em>inSwingYMaxAngle</em></span>, </td>
    553. 

  553.         </tr>
    554. 

  554.         <tr>
    555. 

  555.           <td class="paramkey"></td>
    556. 

  556.           <td></td>
    557. 

  557.           <td class="paramtype">float</td>          <td class="paramname"><span class="paramname"><em>inSwingZMinAngle</em></span>, </td>
    558. 

  558.         </tr>
    559. 

  559.         <tr>
    560. 

  560.           <td class="paramkey"></td>
    561. 

  561.           <td></td>
    562. 

  562.           <td class="paramtype">float</td>          <td class="paramname"><span class="paramname"><em>inSwingZMaxAngle</em></span>&#160;)</td>
    563. 

  563.         </tr>
    564. 

  564.       </table>
    565. 

  565.   </td>
    566. 

  566.   <td class="mlabels-right">
    567. 

  567. <span class="mlabels"><span class="mlabel">inline</span></span>  </td>
    568. 

  568.   </tr>
    569. 

  569. </table>
    570. 

  570. </div><div class="memdoc">
    571. 

  571. 

  572. <p>Set limits for this constraint (see description above for parameters) </p>
    573. 

  573. 

  574. </div>
    575. 

  575. </div>
    576. 

  576. <a id="a848425a649ffd87b994ea1efe3cf9944" name="a848425a649ffd87b994ea1efe3cf9944"></a>
    577. 

  577. <h2 class="memtitle"><span class="permalink"><a href="#a848425a649ffd87b994ea1efe3cf9944">&#9670;&#160;</a></span>SetSwingType()</h2>
    578. 

  578. 

  579. <div class="memitem">
    580. 

  580. <div class="memproto">
    581. 

  581. <table class="mlabels">
    582. 

  582.   <tr>
    583. 

  583.   <td class="mlabels-left">
    584. 

  584.       <table class="memname">
    585. 

  585.         <tr>
    586. 

  586.           <td class="memname">void SwingTwistConstraintPart::SetSwingType </td>
    587. 

  587.           <td>(</td>
    588. 

  588.           <td class="paramtype"><a class="el" href="_swing_twist_constraint_part_8h.html#add9e89df628b33308461ef46e1b796b6">ESwingType</a></td>          <td class="paramname"><span class="paramname"><em>inSwingType</em></span></td><td>)</td>
    589. 

  589.           <td></td>
    590. 

  590.         </tr>
    591. 

  591.       </table>
    592. 

  592.   </td>
    593. 

  593.   <td class="mlabels-right">
    594. 

  594. <span class="mlabels"><span class="mlabel">inline</span></span>  </td>
    595. 

  595.   </tr>
    596. 

  596. </table>
    597. 

  597. </div><div class="memdoc">
    598. 

  598. 

  599. <p>Override the swing type. </p>
    600. 

  600. 

  601. </div>
    602. 

  602. </div>
    603. 

  603. <a id="ae8a947eca657db9a653b0d3de921e7c1" name="ae8a947eca657db9a653b0d3de921e7c1"></a>
    604. 

  604. <h2 class="memtitle"><span class="permalink"><a href="#ae8a947eca657db9a653b0d3de921e7c1">&#9670;&#160;</a></span>SolvePositionConstraint()</h2>
    605. 

  605. 

  606. <div class="memitem">
    607. 

  607. <div class="memproto">
    608. 

  608. <table class="mlabels">
    609. 

  609.   <tr>
    610. 

  610.   <td class="mlabels-left">
    611. 

  611.       <table class="memname">
    612. 

  612.         <tr>
    613. 

  613.           <td class="memname">bool SwingTwistConstraintPart::SolvePositionConstraint </td>
    614. 

  614.           <td>(</td>
    615. 

  615.           <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>
    616. 

  616.         </tr>
    617. 

  617.         <tr>
    618. 

  618.           <td class="paramkey"></td>
    619. 

  619.           <td></td>
    620. 

  620.           <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>
    621. 

  621.         </tr>
    622. 

  622.         <tr>
    623. 

  623.           <td class="paramkey"></td>
    624. 

  624.           <td></td>
    625. 

  625.           <td class="paramtype"><a class="el" href="_math_types_8h.html#a3c723d55f34e02bc506abe3dfb7bd2aa">QuatArg</a></td>          <td class="paramname"><span class="paramname"><em>inConstraintRotation</em></span>, </td>
    626. 

  626.         </tr>
    627. 

  627.         <tr>
    628. 

  628.           <td class="paramkey"></td>
    629. 

  629.           <td></td>
    630. 

  630.           <td class="paramtype"><a class="el" href="_math_types_8h.html#a3c723d55f34e02bc506abe3dfb7bd2aa">QuatArg</a></td>          <td class="paramname"><span class="paramname"><em>inConstraintToBody1</em></span>, </td>
    631. 

  631.         </tr>
    632. 

  632.         <tr>
    633. 

  633.           <td class="paramkey"></td>
    634. 

  634.           <td></td>
    635. 

  635.           <td class="paramtype"><a class="el" href="_math_types_8h.html#a3c723d55f34e02bc506abe3dfb7bd2aa">QuatArg</a></td>          <td class="paramname"><span class="paramname"><em>inConstraintToBody2</em></span>, </td>
    636. 

  636.         </tr>
    637. 

  637.         <tr>
    638. 

  638.           <td class="paramkey"></td>
    639. 

  639.           <td></td>
    640. 

  640.           <td class="paramtype">float</td>          <td class="paramname"><span class="paramname"><em>inBaumgarte</em></span>&#160;) const</td>
    641. 

  641.         </tr>
    642. 

  642.       </table>
    643. 

  643.   </td>
    644. 

  644.   <td class="mlabels-right">
    645. 

  645. <span class="mlabels"><span class="mlabel">inline</span></span>  </td>
    646. 

  646.   </tr>
    647. 

  647. </table>
    648. 

  648. </div><div class="memdoc">
    649. 

  649. <p>Iteratively update the position constraint. Makes sure C(...) = 0. </p><dl class="params"><dt>Parameters</dt><dd>
    650. 

  650.   <table class="params">
    651. 

  651.     <tr><td class="paramname">ioBody1</td><td>The first body that this constraint is attached to </td></tr>
    652. 

  652.     <tr><td class="paramname">ioBody2</td><td>The second body that this constraint is attached to </td></tr>
    653. 

  653.     <tr><td class="paramname">inConstraintRotation</td><td>The current rotation of the constraint in constraint space </td></tr>
    654. 

  654.     <tr><td class="paramname">inConstraintToBody1,inConstraintToBody2</td><td>Rotates from constraint space to body 1/2 space </td></tr>
    655. 

  655.     <tr><td class="paramname">inBaumgarte</td><td>Baumgarte constant (fraction of the error to correct) </td></tr>
    656. 

  656.   </table>
    657. 

  657.   </dd>
    658. 

  658. </dl>
    659. 

  659. 

  660. </div>
    661. 

  661. </div>
    662. 

  662. <a id="ad62155a6ac18bfc95a038b72df927e02" name="ad62155a6ac18bfc95a038b72df927e02"></a>
    663. 

  663. <h2 class="memtitle"><span class="permalink"><a href="#ad62155a6ac18bfc95a038b72df927e02">&#9670;&#160;</a></span>SolveVelocityConstraint()</h2>
    664. 

  664. 

  665. <div class="memitem">
    666. 

  666. <div class="memproto">
    667. 

  667. <table class="mlabels">
    668. 

  668.   <tr>
    669. 

  669.   <td class="mlabels-left">
    670. 

  670.       <table class="memname">
    671. 

  671.         <tr>
    672. 

  672.           <td class="memname">bool SwingTwistConstraintPart::SolveVelocityConstraint </td>
    673. 

  673.           <td>(</td>
    674. 

  674.           <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>
    675. 

  675.         </tr>
    676. 

  676.         <tr>
    677. 

  677.           <td class="paramkey"></td>
    678. 

  678.           <td></td>
    679. 

  679.           <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>
    680. 

  680.         </tr>
    681. 

  681.       </table>
    682. 

  682.   </td>
    683. 

  683.   <td class="mlabels-right">
    684. 

  684. <span class="mlabels"><span class="mlabel">inline</span></span>  </td>
    685. 

  685.   </tr>
    686. 

  686. </table>
    687. 

  687. </div><div class="memdoc">
    688. 

  688. 

  689. <p>Iteratively update the velocity constraint. Makes sure d/dt C(...) = 0, where C is the constraint equation. </p>
    690. 

  690. 

  691. </div>
    692. 

  692. </div>
    693. 

  693. <a id="a507f0506fd29b63f244e73670d85d55d" name="a507f0506fd29b63f244e73670d85d55d"></a>
    694. 

  694. <h2 class="memtitle"><span class="permalink"><a href="#a507f0506fd29b63f244e73670d85d55d">&#9670;&#160;</a></span>WarmStart()</h2>
    695. 

  695. 

  696. <div class="memitem">
    697. 

  697. <div class="memproto">
    698. 

  698. <table class="mlabels">
    699. 

  699.   <tr>
    700. 

  700.   <td class="mlabels-left">
    701. 

  701.       <table class="memname">
    702. 

  702.         <tr>
    703. 

  703.           <td class="memname">void SwingTwistConstraintPart::WarmStart </td>
    704. 

  704.           <td>(</td>
    705. 

  705.           <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>
    706. 

  706.         </tr>
    707. 

  707.         <tr>
    708. 

  708.           <td class="paramkey"></td>
    709. 

  709.           <td></td>
    710. 

  710.           <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>
    711. 

  711.         </tr>
    712. 

  712.         <tr>
    713. 

  713.           <td class="paramkey"></td>
    714. 

  714.           <td></td>
    715. 

  715.           <td class="paramtype">float</td>          <td class="paramname"><span class="paramname"><em>inWarmStartImpulseRatio</em></span>&#160;)</td>
    716. 

  716.         </tr>
    717. 

  717.       </table>
    718. 

  718.   </td>
    719. 

  719.   <td class="mlabels-right">
    720. 

  720. <span class="mlabels"><span class="mlabel">inline</span></span>  </td>
    721. 

  721.   </tr>
    722. 

  722. </table>
    723. 

  723. </div><div class="memdoc">
    724. 

  724. 

  725. <p>Must be called from the WarmStartVelocityConstraint call to apply the previous frame's impulses. </p>
    726. 

  726. 

  727. </div>
    728. 

  728. </div>
    729. 

  729. <h2 class="groupheader">Member Data Documentation</h2>
    730. 

  730. <a id="a480178e78f7f5c4bd4dd9043bcea0f03" name="a480178e78f7f5c4bd4dd9043bcea0f03"></a>
    731. 

  731. <h2 class="memtitle"><span class="permalink"><a href="#a480178e78f7f5c4bd4dd9043bcea0f03">&#9670;&#160;</a></span>cClampedSwingYMax</h2>
    732. 

  732. 

  733. <div class="memitem">
    734. 

  734. <div class="memproto">
    735. 

  735. <table class="mlabels">
    736. 

  736.   <tr>
    737. 

  737.   <td class="mlabels-left">
    738. 

  738.       <table class="memname">
    739. 

  739.         <tr>
    740. 

  740.           <td class="memname"><a class="el" href="_core_8h.html#a69aa29b598b851b0640aa225a9e5d61d">uint</a> SwingTwistConstraintPart::cClampedSwingYMax = 1 &lt;&lt; 3</td>
    741. 

  741.         </tr>
    742. 

  742.       </table>
    743. 

  743.   </td>
    744. 

  744.   <td class="mlabels-right">
    745. 

  745. <span class="mlabels"><span class="mlabel">static</span><span class="mlabel">constexpr</span></span>  </td>
    746. 

  746.   </tr>
    747. 

  747. </table>
    748. 

  748. </div><div class="memdoc">
    749. 

  749. 

  750. </div>
    751. 

  751. </div>
    752. 

  752. <a id="a9b80a201af6ea27d2d35b485c88c9b0e" name="a9b80a201af6ea27d2d35b485c88c9b0e"></a>
    753. 

  753. <h2 class="memtitle"><span class="permalink"><a href="#a9b80a201af6ea27d2d35b485c88c9b0e">&#9670;&#160;</a></span>cClampedSwingYMin</h2>
    754. 

  754. 

  755. <div class="memitem">
    756. 

  756. <div class="memproto">
    757. 

  757. <table class="mlabels">
    758. 

  758.   <tr>
    759. 

  759.   <td class="mlabels-left">
    760. 

  760.       <table class="memname">
    761. 

  761.         <tr>
    762. 

  762.           <td class="memname"><a class="el" href="_core_8h.html#a69aa29b598b851b0640aa225a9e5d61d">uint</a> SwingTwistConstraintPart::cClampedSwingYMin = 1 &lt;&lt; 2</td>
    763. 

  763.         </tr>
    764. 

  764.       </table>
    765. 

  765.   </td>
    766. 

  766.   <td class="mlabels-right">
    767. 

  767. <span class="mlabels"><span class="mlabel">static</span><span class="mlabel">constexpr</span></span>  </td>
    768. 

  768.   </tr>
    769. 

  769. </table>
    770. 

  770. </div><div class="memdoc">
    771. 

  771. 

  772. </div>
    773. 

  773. </div>
    774. 

  774. <a id="ac96e6d6e42458d8ca8d230763c451321" name="ac96e6d6e42458d8ca8d230763c451321"></a>
    775. 

  775. <h2 class="memtitle"><span class="permalink"><a href="#ac96e6d6e42458d8ca8d230763c451321">&#9670;&#160;</a></span>cClampedSwingZMax</h2>
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  784.           <td class="memname"><a class="el" href="_core_8h.html#a69aa29b598b851b0640aa225a9e5d61d">uint</a> SwingTwistConstraintPart::cClampedSwingZMax = 1 &lt;&lt; 5</td>
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  797. <h2 class="memtitle"><span class="permalink"><a href="#a808d818a63cd8380799ace91d9a2b94c">&#9670;&#160;</a></span>cClampedSwingZMin</h2>
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  806.           <td class="memname"><a class="el" href="_core_8h.html#a69aa29b598b851b0640aa225a9e5d61d">uint</a> SwingTwistConstraintPart::cClampedSwingZMin = 1 &lt;&lt; 4</td>
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  819. <h2 class="memtitle"><span class="permalink"><a href="#a6b558e5a79ffce7ef3fcc4a10df1c932">&#9670;&#160;</a></span>cClampedTwistMax</h2>
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  828.           <td class="memname"><a class="el" href="_core_8h.html#a69aa29b598b851b0640aa225a9e5d61d">uint</a> SwingTwistConstraintPart::cClampedTwistMax = 1 &lt;&lt; 1</td>
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  841. <h2 class="memtitle"><span class="permalink"><a href="#a52114d8a17117ba0e7db21c6d65ac317">&#9670;&#160;</a></span>cClampedTwistMin</h2>
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  850.           <td class="memname"><a class="el" href="_core_8h.html#a69aa29b598b851b0640aa225a9e5d61d">uint</a> SwingTwistConstraintPart::cClampedTwistMin = 1 &lt;&lt; 0</td>
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  859. 

  860. <p>Flags to indicate which axis got clamped by ClampSwingTwist. </p>
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  864. <hr/>The documentation for this class was generated from the following file:<ul>
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  865. <li>Jolt/Physics/Constraints/ConstraintPart/<a class="el" href="_swing_twist_constraint_part_8h_source.html">SwingTwistConstraintPart.h</a></li>
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