@bloomengine/engine 0.3.1

package/native/third_party/JoltPhysics/Jolt/Physics/Constraints/ConstraintPart/DualAxisConstraintPart.h

@@ -0,0 +1,276 @@
+// Jolt Physics Library (https://github.com/jrouwe/JoltPhysics)
+// SPDX-FileCopyrightText: 2021 Jorrit Rouwe
+// SPDX-License-Identifier: MIT
+
+#pragma once
+
+#include <Jolt/Physics/Body/Body.h>
+#include <Jolt/Physics/StateRecorder.h>
+#include <Jolt/Math/Vector.h>
+#include <Jolt/Math/Matrix.h>
+
+JPH_NAMESPACE_BEGIN
+
+/**
+	Constrains movement on 2 axis
+
+	@see "Constraints Derivation for Rigid Body Simulation in 3D" - Daniel Chappuis, section 2.3.1
+
+	Constraint equation (eq 51):
+
+	\f[C = \begin{bmatrix} (p_2 - p_1) \cdot n_1 \\ (p_2 - p_1) \cdot n_2\end{bmatrix}\f]
+
+	Jacobian (transposed) (eq 55):
+
+	\f[J^T = \begin{bmatrix}
+	-n_1					& -n_2					\\
+	-(r_1 + u) \times n_1	& -(r_1 + u) \times n_2	\\
+	n_1						& n_2					\\
+	r_2 \times n_1			& r_2 \times n_2
+	\end{bmatrix}\f]
+
+	Used terms (here and below, everything in world space):\n
+	n1, n2 = constraint axis (normalized).\n
+	p1, p2 = constraint points.\n
+	r1 = p1 - x1.\n
+	r2 = p2 - x2.\n
+	u = x2 + r2 - x1 - r1 = p2 - p1.\n
+	x1, x2 = center of mass for the bodies.\n
+	v = [v1, w1, v2, w2].\n
+	v1, v2 = linear velocity of body 1 and 2.\n
+	w1, w2 = angular velocity of body 1 and 2.\n
+	M = mass matrix, a diagonal matrix of the mass and inertia with diagonal [m1, I1, m2, I2].\n
+	\f$K^{-1} = \left( J M^{-1} J^T \right)^{-1}\f$ = effective mass.\n
+	b = velocity bias.\n
+	\f$\beta\f$ = baumgarte constant.
+**/
+class DualAxisConstraintPart
+{
+public:
+	using Vec2 = Vector<2>;
+	using Mat22 = Matrix<2, 2>;
+
+private:
+	/// Internal helper function to update velocities of bodies after Lagrange multiplier is calculated
+	JPH_INLINE bool				ApplyVelocityStep(Body &ioBody1, Body &ioBody2, Vec3Arg inN1, Vec3Arg inN2, const Vec2 &inLambda) const
+	{
+		// Apply impulse if delta is not zero
+		if (!inLambda.IsZero())
+		{
+			// Calculate velocity change due to constraint
+			//
+			// Impulse:
+			// P = J^T lambda
+			//
+			// Euler velocity integration:
+			// v' = v + M^-1 P
+			Vec3 impulse = inN1 * inLambda[0] + inN2 * inLambda[1];
+			if (ioBody1.IsDynamic())
+			{
+				MotionProperties *mp1 = ioBody1.GetMotionProperties();
+				mp1->SubLinearVelocityStep(mp1->GetInverseMass() * impulse);
+				mp1->SubAngularVelocityStep(mInvI1_R1PlusUxN1 * inLambda[0] + mInvI1_R1PlusUxN2 * inLambda[1]);
+			}
+			if (ioBody2.IsDynamic())
+			{
+				MotionProperties *mp2 = ioBody2.GetMotionProperties();
+				mp2->AddLinearVelocityStep(mp2->GetInverseMass() * impulse);
+				mp2->AddAngularVelocityStep(mInvI2_R2xN1 * inLambda[0] + mInvI2_R2xN2 * inLambda[1]);
+			}
+			return true;
+		}
+
+		return false;
+	}
+
+	/// Internal helper function to calculate the lagrange multiplier
+	inline void					CalculateLagrangeMultiplier(const Body &inBody1, const Body &inBody2, Vec3Arg inN1, Vec3Arg inN2, Vec2 &outLambda) const
+	{
+		// Calculate lagrange multiplier:
+		//
+		// lambda = -K^-1 (J v + b)
+		Vec3 delta_lin = inBody1.GetLinearVelocity() - inBody2.GetLinearVelocity();
+		Vec2 jv;
+		jv[0] = inN1.Dot(delta_lin) + mR1PlusUxN1.Dot(inBody1.GetAngularVelocity()) - mR2xN1.Dot(inBody2.GetAngularVelocity());
+		jv[1] = inN2.Dot(delta_lin) + mR1PlusUxN2.Dot(inBody1.GetAngularVelocity()) - mR2xN2.Dot(inBody2.GetAngularVelocity());
+		outLambda = mEffectiveMass * jv;
+	}
+
+public:
+	/// Calculate properties used during the functions below
+	/// All input vectors are in world space
+	inline void					CalculateConstraintProperties(const Body &inBody1, Mat44Arg inRotation1, Vec3Arg inR1PlusU, const Body &inBody2, Mat44Arg inRotation2, Vec3Arg inR2, Vec3Arg inN1, Vec3Arg inN2)
+	{
+		JPH_ASSERT(inN1.IsNormalized(1.0e-5f));
+		JPH_ASSERT(inN2.IsNormalized(1.0e-5f));
+
+		// Calculate properties used during constraint solving
+		mR1PlusUxN1 = inR1PlusU.Cross(inN1);
+		mR1PlusUxN2 = inR1PlusU.Cross(inN2);
+		mR2xN1 = inR2.Cross(inN1);
+		mR2xN2 = inR2.Cross(inN2);
+
+		// Calculate effective mass: K^-1 = (J M^-1 J^T)^-1, eq 59
+		Mat22 inv_effective_mass;
+		if (inBody1.IsDynamic())
+		{
+			const MotionProperties *mp1 = inBody1.GetMotionProperties();
+			Mat44 inv_i1 = mp1->GetInverseInertiaForRotation(inRotation1);
+			mInvI1_R1PlusUxN1 = inv_i1.Multiply3x3(mR1PlusUxN1);
+			mInvI1_R1PlusUxN2 = inv_i1.Multiply3x3(mR1PlusUxN2);
+
+			inv_effective_mass(0, 0) = mp1->GetInverseMass() + mR1PlusUxN1.Dot(mInvI1_R1PlusUxN1);
+			inv_effective_mass(0, 1) = mR1PlusUxN1.Dot(mInvI1_R1PlusUxN2);
+			inv_effective_mass(1, 0) = mR1PlusUxN2.Dot(mInvI1_R1PlusUxN1);
+			inv_effective_mass(1, 1) = mp1->GetInverseMass() + mR1PlusUxN2.Dot(mInvI1_R1PlusUxN2);
+		}
+		else
+		{
+			JPH_IF_DEBUG(mInvI1_R1PlusUxN1 = Vec3::sNaN();)
+			JPH_IF_DEBUG(mInvI1_R1PlusUxN2 = Vec3::sNaN();)
+
+			inv_effective_mass = Mat22::sZero();
+		}
+
+		if (inBody2.IsDynamic())
+		{
+			const MotionProperties *mp2 = inBody2.GetMotionProperties();
+			Mat44 inv_i2 = mp2->GetInverseInertiaForRotation(inRotation2);
+			mInvI2_R2xN1 = inv_i2.Multiply3x3(mR2xN1);
+			mInvI2_R2xN2 = inv_i2.Multiply3x3(mR2xN2);
+
+			inv_effective_mass(0, 0) += mp2->GetInverseMass() + mR2xN1.Dot(mInvI2_R2xN1);
+			inv_effective_mass(0, 1) += mR2xN1.Dot(mInvI2_R2xN2);
+			inv_effective_mass(1, 0) += mR2xN2.Dot(mInvI2_R2xN1);
+			inv_effective_mass(1, 1) += mp2->GetInverseMass() + mR2xN2.Dot(mInvI2_R2xN2);
+		}
+		else
+		{
+			JPH_IF_DEBUG(mInvI2_R2xN1 = Vec3::sNaN();)
+			JPH_IF_DEBUG(mInvI2_R2xN2 = Vec3::sNaN();)
+		}
+
+		if (!mEffectiveMass.SetInversed(inv_effective_mass))
+			Deactivate();
+	}
+
+	/// Deactivate this constraint
+	inline void					Deactivate()
+	{
+		mEffectiveMass.SetZero();
+		mTotalLambda.SetZero();
+	}
+
+	/// Check if constraint is active
+	inline bool					IsActive() const
+	{
+		return !mEffectiveMass.IsZero();
+	}
+
+	/// Must be called from the WarmStartVelocityConstraint call to apply the previous frame's impulses
+	/// All input vectors are in world space
+	inline void					WarmStart(Body &ioBody1, Body &ioBody2, Vec3Arg inN1, Vec3Arg inN2, float inWarmStartImpulseRatio)
+	{
+		mTotalLambda *= inWarmStartImpulseRatio;
+		ApplyVelocityStep(ioBody1, ioBody2, inN1, inN2, mTotalLambda);
+	}
+
+	/// Iteratively update the velocity constraint. Makes sure d/dt C(...) = 0, where C is the constraint equation.
+	/// All input vectors are in world space
+	inline bool					SolveVelocityConstraint(Body &ioBody1, Body &ioBody2, Vec3Arg inN1, Vec3Arg inN2)
+	{
+		Vec2 lambda;
+		CalculateLagrangeMultiplier(ioBody1, ioBody2, inN1, inN2, lambda);
+
+		// Store accumulated lambda
+		mTotalLambda += lambda;
+
+		return ApplyVelocityStep(ioBody1, ioBody2, inN1, inN2, lambda);
+	}
+
+	/// Iteratively update the position constraint. Makes sure C(...) = 0.
+	/// All input vectors are in world space
+	inline bool					SolvePositionConstraint(Body &ioBody1, Body &ioBody2, Vec3Arg inU, Vec3Arg inN1, Vec3Arg inN2, float inBaumgarte) const
+	{
+		Vec2 c;
+		c[0] = inU.Dot(inN1);
+		c[1] = inU.Dot(inN2);
+		if (!c.IsZero())
+		{
+			// Calculate lagrange multiplier (lambda) for Baumgarte stabilization:
+			//
+			// lambda = -K^-1 * beta / dt * C
+			//
+			// We should divide by inDeltaTime, but we should multiply by inDeltaTime in the Euler step below so they're cancelled out
+			Vec2 lambda = -inBaumgarte * (mEffectiveMass * c);
+
+			// Directly integrate velocity change for one time step
+			//
+			// Euler velocity integration:
+			// dv = M^-1 P
+			//
+			// Impulse:
+			// P = J^T lambda
+			//
+			// Euler position integration:
+			// x' = x + dv * dt
+			//
+			// Note we don't accumulate velocities for the stabilization. This is using the approach described in 'Modeling and
+			// Solving Constraints' by Erin Catto presented at GDC 2007. On slide 78 it is suggested to split up the Baumgarte
+			// stabilization for positional drift so that it does not actually add to the momentum. We combine an Euler velocity
+			// integrate + a position integrate and then discard the velocity change.
+			Vec3 impulse = inN1 * lambda[0] + inN2 * lambda[1];
+			if (ioBody1.IsDynamic())
+			{
+				ioBody1.SubPositionStep(ioBody1.GetMotionProperties()->GetInverseMass() * impulse);
+				ioBody1.SubRotationStep(mInvI1_R1PlusUxN1 * lambda[0] + mInvI1_R1PlusUxN2 * lambda[1]);
+			}
+			if (ioBody2.IsDynamic())
+			{
+				ioBody2.AddPositionStep(ioBody2.GetMotionProperties()->GetInverseMass() * impulse);
+				ioBody2.AddRotationStep(mInvI2_R2xN1 * lambda[0] + mInvI2_R2xN2 * lambda[1]);
+			}
+			return true;
+		}
+
+		return false;
+	}
+
+	/// Override total lagrange multiplier, can be used to set the initial value for warm starting
+	inline void					SetTotalLambda(const Vec2 &inLambda)
+	{
+		mTotalLambda = inLambda;
+	}
+
+	/// Return lagrange multiplier
+	inline const Vec2 &			GetTotalLambda() const
+	{
+		return mTotalLambda;
+	}
+
+	/// Save state of this constraint part
+	void						SaveState(StateRecorder &inStream) const
+	{
+		inStream.Write(mTotalLambda);
+	}
+
+	/// Restore state of this constraint part
+	void						RestoreState(StateRecorder &inStream)
+	{
+		inStream.Read(mTotalLambda);
+	}
+
+private:
+	Vec3						mR1PlusUxN1;
+	Vec3						mR1PlusUxN2;
+	Vec3						mR2xN1;
+	Vec3						mR2xN2;
+	Vec3						mInvI1_R1PlusUxN1;
+	Vec3						mInvI1_R1PlusUxN2;
+	Vec3						mInvI2_R2xN1;
+	Vec3						mInvI2_R2xN2;
+	Mat22						mEffectiveMass;
+	Vec2						mTotalLambda { Vec2::sZero() };
+};
+
+JPH_NAMESPACE_END

package/native/third_party/JoltPhysics/Jolt/Physics/Constraints/ConstraintPart/GearConstraintPart.h

@@ -0,0 +1,195 @@
+// Jolt Physics Library (https://github.com/jrouwe/JoltPhysics)
+// SPDX-FileCopyrightText: 2021 Jorrit Rouwe
+// SPDX-License-Identifier: MIT
+
+#pragma once
+
+#include <Jolt/Physics/Body/Body.h>
+#include <Jolt/Physics/StateRecorder.h>
+
+JPH_NAMESPACE_BEGIN
+
+/// Constraint that constrains two rotations using a gear (rotating in opposite direction)
+///
+/// Constraint equation:
+///
+/// C = Rotation1(t) + r Rotation2(t)
+///
+/// Derivative:
+///
+/// d/dt C = 0
+/// <=> w1 . a + r w2 . b = 0
+///
+/// Jacobian:
+///
+/// \f[J = \begin{bmatrix}0 & a^T & 0 & r b^T\end{bmatrix}\f]
+///
+/// Used terms (here and below, everything in world space):\n
+/// a = axis around which body 1 rotates (normalized).\n
+/// b = axis along which body 2 slides (normalized).\n
+/// Rotation1(t) = rotation around a of body 1.\n
+/// Rotation2(t) = rotation around b of body 2.\n
+/// r = ratio between rotation for body 1 and 2.\n
+/// v = [v1, w1, v2, w2].\n
+/// v1, v2 = linear velocity of body 1 and 2.\n
+/// w1, w2 = angular velocity of body 1 and 2.\n
+/// M = mass matrix, a diagonal matrix of the mass and inertia with diagonal [m1, I1, m2, I2].\n
+/// \f$K^{-1} = \left( J M^{-1} J^T \right)^{-1}\f$ = effective mass.\n
+/// \f$\beta\f$ = baumgarte constant.
+class GearConstraintPart
+{
+	/// Internal helper function to update velocities of bodies after Lagrange multiplier is calculated
+	JPH_INLINE bool				ApplyVelocityStep(Body &ioBody1, Body &ioBody2, float inLambda) const
+	{
+		// Apply impulse if delta is not zero
+		if (inLambda != 0.0f)
+		{
+			// Calculate velocity change due to constraint
+			//
+			// Impulse:
+			// P = J^T lambda
+			//
+			// Euler velocity integration:
+			// v' = v + M^-1 P
+			ioBody1.GetMotionProperties()->AddAngularVelocityStep(inLambda * mInvI1_A);
+			ioBody2.GetMotionProperties()->AddAngularVelocityStep(inLambda * mInvI2_B);
+			return true;
+		}
+
+		return false;
+	}
+
+public:
+	/// Calculate properties used during the functions below
+	/// @param inBody1 The first body that this constraint is attached to
+	/// @param inBody2 The second body that this constraint is attached to
+	/// @param inWorldSpaceHingeAxis1 The axis around which body 1 rotates
+	/// @param inWorldSpaceHingeAxis2 The axis around which body 2 rotates
+	/// @param inRatio The ratio between rotation and translation
+	inline void					CalculateConstraintProperties(const Body &inBody1, Vec3Arg inWorldSpaceHingeAxis1, const Body &inBody2, Vec3Arg inWorldSpaceHingeAxis2, float inRatio)
+	{
+		JPH_ASSERT(inWorldSpaceHingeAxis1.IsNormalized(1.0e-4f));
+		JPH_ASSERT(inWorldSpaceHingeAxis2.IsNormalized(1.0e-4f));
+
+		// Calculate: I1^-1 a
+		mInvI1_A = inBody1.GetMotionProperties()->MultiplyWorldSpaceInverseInertiaByVector(inBody1.GetRotation(), inWorldSpaceHingeAxis1);
+
+		// Calculate: I2^-1 b
+		mInvI2_B = inBody2.GetMotionProperties()->MultiplyWorldSpaceInverseInertiaByVector(inBody2.GetRotation(), inWorldSpaceHingeAxis2);
+
+		// K^-1 = 1 / (J M^-1 J^T) = 1 / (a^T I1^-1 a + r^2 * b^T I2^-1 b)
+		float inv_effective_mass = (inWorldSpaceHingeAxis1.Dot(mInvI1_A) + inWorldSpaceHingeAxis2.Dot(mInvI2_B) * Square(inRatio));
+		if (inv_effective_mass == 0.0f)
+			Deactivate();
+		else
+			mEffectiveMass = 1.0f / inv_effective_mass;
+	}
+
+	/// Deactivate this constraint
+	inline void					Deactivate()
+	{
+		mEffectiveMass = 0.0f;
+		mTotalLambda = 0.0f;
+	}
+
+	/// Check if constraint is active
+	inline bool					IsActive() const
+	{
+		return mEffectiveMass != 0.0f;
+	}
+
+	/// Must be called from the WarmStartVelocityConstraint call to apply the previous frame's impulses
+	/// @param ioBody1 The first body that this constraint is attached to
+	/// @param ioBody2 The second body that this constraint is attached to
+	/// @param inWarmStartImpulseRatio Ratio of new step to old time step (dt_new / dt_old) for scaling the lagrange multiplier of the previous frame
+	inline void					WarmStart(Body &ioBody1, Body &ioBody2, float inWarmStartImpulseRatio)
+	{
+		mTotalLambda *= inWarmStartImpulseRatio;
+		ApplyVelocityStep(ioBody1, ioBody2, mTotalLambda);
+	}
+
+	/// Iteratively update the velocity constraint. Makes sure d/dt C(...) = 0, where C is the constraint equation.
+	/// @param ioBody1 The first body that this constraint is attached to
+	/// @param ioBody2 The second body that this constraint is attached to
+	/// @param inWorldSpaceHingeAxis1 The axis around which body 1 rotates
+	/// @param inWorldSpaceHingeAxis2 The axis around which body 2 rotates
+	/// @param inRatio The ratio between rotation and translation
+	inline bool					SolveVelocityConstraint(Body &ioBody1, Vec3Arg inWorldSpaceHingeAxis1, Body &ioBody2, Vec3Arg inWorldSpaceHingeAxis2, float inRatio)
+	{
+		// Lagrange multiplier is:
+		//
+		// lambda = -K^-1 (J v + b)
+		float lambda = -mEffectiveMass * (inWorldSpaceHingeAxis1.Dot(ioBody1.GetAngularVelocity()) + inRatio * inWorldSpaceHingeAxis2.Dot(ioBody2.GetAngularVelocity()));
+		mTotalLambda += lambda; // Store accumulated impulse
+
+		return ApplyVelocityStep(ioBody1, ioBody2, lambda);
+	}
+
+	/// Return lagrange multiplier
+	float						GetTotalLambda() const
+	{
+		return mTotalLambda;
+	}
+
+	/// Iteratively update the position constraint. Makes sure C(...) == 0.
+	/// @param ioBody1 The first body that this constraint is attached to
+	/// @param ioBody2 The second body that this constraint is attached to
+	/// @param inC Value of the constraint equation (C)
+	/// @param inBaumgarte Baumgarte constant (fraction of the error to correct)
+	inline bool					SolvePositionConstraint(Body &ioBody1, Body &ioBody2, float inC, float inBaumgarte) const
+	{
+		// Only apply position constraint when the constraint is hard, otherwise the velocity bias will fix the constraint
+		if (inC != 0.0f)
+		{
+			// Calculate lagrange multiplier (lambda) for Baumgarte stabilization:
+			//
+			// lambda = -K^-1 * beta / dt * C
+			//
+			// We should divide by inDeltaTime, but we should multiply by inDeltaTime in the Euler step below so they're cancelled out
+			float lambda = -mEffectiveMass * inBaumgarte * inC;
+
+			// Directly integrate velocity change for one time step
+			//
+			// Euler velocity integration:
+			// dv = M^-1 P
+			//
+			// Impulse:
+			// P = J^T lambda
+			//
+			// Euler position integration:
+			// x' = x + dv * dt
+			//
+			// Note we don't accumulate velocities for the stabilization. This is using the approach described in 'Modeling and
+			// Solving Constraints' by Erin Catto presented at GDC 2007. On slide 78 it is suggested to split up the Baumgarte
+			// stabilization for positional drift so that it does not actually add to the momentum. We combine an Euler velocity
+			// integrate + a position integrate and then discard the velocity change.
+			if (ioBody1.IsDynamic())
+				ioBody1.AddRotationStep(lambda * mInvI1_A);
+			if (ioBody2.IsDynamic())
+				ioBody2.AddRotationStep(lambda * mInvI2_B);
+			return true;
+		}
+
+		return false;
+	}
+
+	/// Save state of this constraint part
+	void						SaveState(StateRecorder &inStream) const
+	{
+		inStream.Write(mTotalLambda);
+	}
+
+	/// Restore state of this constraint part
+	void						RestoreState(StateRecorder &inStream)
+	{
+		inStream.Read(mTotalLambda);
+	}
+
+private:
+	Vec3						mInvI1_A;
+	Vec3						mInvI2_B;
+	float						mEffectiveMass = 0.0f;
+	float						mTotalLambda = 0.0f;
+};
+
+JPH_NAMESPACE_END

package/native/third_party/JoltPhysics/Jolt/Physics/Constraints/ConstraintPart/HingeRotationConstraintPart.h

@@ -0,0 +1,222 @@
+// Jolt Physics Library (https://github.com/jrouwe/JoltPhysics)
+// SPDX-FileCopyrightText: 2021 Jorrit Rouwe
+// SPDX-License-Identifier: MIT
+
+#pragma once
+
+#include <Jolt/Physics/Body/Body.h>
+#include <Jolt/Physics/StateRecorder.h>
+#include <Jolt/Math/Vector.h>
+#include <Jolt/Math/Matrix.h>
+
+JPH_NAMESPACE_BEGIN
+
+/**
+	Constrains rotation around 2 axis so that it only allows rotation around 1 axis
+
+	Based on: "Constraints Derivation for Rigid Body Simulation in 3D" - Daniel Chappuis, section 2.4.1
+
+	Constraint equation (eq 87):
+
+	\f[C = \begin{bmatrix}a_1 \cdot b_2 \\ a_1 \cdot c_2\end{bmatrix}\f]
+
+	Jacobian (eq 90):
+
+	\f[J = \begin{bmatrix}
+	0	& -b_2 \times a_1	& 0		& b_2 \times a_1	\\
+	0	& -c_2 \times a_1	& 0		& c2 \times a_1
+	\end{bmatrix}\f]
+
+	Used terms (here and below, everything in world space):\n
+	a1 = hinge axis on body 1.\n
+	b2, c2 = axis perpendicular to hinge axis on body 2.\n
+	x1, x2 = center of mass for the bodies.\n
+	v = [v1, w1, v2, w2].\n
+	v1, v2 = linear velocity of body 1 and 2.\n
+	w1, w2 = angular velocity of body 1 and 2.\n
+	M = mass matrix, a diagonal matrix of the mass and inertia with diagonal [m1, I1, m2, I2].\n
+	\f$K^{-1} = \left( J M^{-1} J^T \right)^{-1}\f$ = effective mass.\n
+	b = velocity bias.\n
+	\f$\beta\f$ = baumgarte constant.\n
+	E = identity matrix.
+**/
+class HingeRotationConstraintPart
+{
+public:
+	using Vec2 = Vector<2>;
+	using Mat22 = Matrix<2, 2>;
+
+private:
+	/// Internal helper function to update velocities of bodies after Lagrange multiplier is calculated
+	JPH_INLINE bool				ApplyVelocityStep(Body &ioBody1, Body &ioBody2, const Vec2 &inLambda) const
+	{
+		// Apply impulse if delta is not zero
+		if (!inLambda.IsZero())
+		{
+			// Calculate velocity change due to constraint
+			//
+			// Impulse:
+			// P = J^T lambda
+			//
+			// Euler velocity integration:
+			// v' = v + M^-1 P
+			Vec3 impulse = mB2xA1 * inLambda[0] + mC2xA1 * inLambda[1];
+			if (ioBody1.IsDynamic())
+				ioBody1.GetMotionProperties()->SubAngularVelocityStep(mInvI1.Multiply3x3(impulse));
+			if (ioBody2.IsDynamic())
+				ioBody2.GetMotionProperties()->AddAngularVelocityStep(mInvI2.Multiply3x3(impulse));
+			return true;
+		}
+
+		return false;
+	}
+
+public:
+	/// Calculate properties used during the functions below
+	inline void					CalculateConstraintProperties(const Body &inBody1, Mat44Arg inRotation1, Vec3Arg inWorldSpaceHingeAxis1, const Body &inBody2, Mat44Arg inRotation2, Vec3Arg inWorldSpaceHingeAxis2)
+	{
+		JPH_ASSERT(inWorldSpaceHingeAxis1.IsNormalized(1.0e-5f));
+		JPH_ASSERT(inWorldSpaceHingeAxis2.IsNormalized(1.0e-5f));
+
+		// Calculate hinge axis in world space
+		mA1 = inWorldSpaceHingeAxis1;
+		Vec3 a2 = inWorldSpaceHingeAxis2;
+		float dot = mA1.Dot(a2);
+		if (dot <= 1.0e-3f)
+		{
+			// World space axes are more than 90 degrees apart, get a perpendicular vector in the plane formed by mA1 and a2 as hinge axis until the rotation is less than 90 degrees
+			Vec3 perp = a2 - dot * mA1;
+			if (perp.LengthSq() < 1.0e-6f)
+			{
+				// mA1 ~ -a2, take random perpendicular
+				perp = mA1.GetNormalizedPerpendicular();
+			}
+
+			// Blend in a little bit from mA1 so we're less than 90 degrees apart
+			a2 = (0.99f * perp.Normalized() + 0.01f * mA1).Normalized();
+		}
+		mB2 = a2.GetNormalizedPerpendicular();
+		mC2 = a2.Cross(mB2);
+
+		// Calculate properties used during constraint solving
+		mInvI1 = inBody1.IsDynamic()? inBody1.GetMotionProperties()->GetInverseInertiaForRotation(inRotation1) : Mat44::sZero();
+		mInvI2 = inBody2.IsDynamic()? inBody2.GetMotionProperties()->GetInverseInertiaForRotation(inRotation2) : Mat44::sZero();
+		mB2xA1 = mB2.Cross(mA1);
+		mC2xA1 = mC2.Cross(mA1);
+
+		// Calculate effective mass: K^-1 = (J M^-1 J^T)^-1
+		Mat44 summed_inv_inertia = mInvI1 + mInvI2;
+		Mat22 inv_effective_mass;
+		inv_effective_mass(0, 0) = mB2xA1.Dot(summed_inv_inertia.Multiply3x3(mB2xA1));
+		inv_effective_mass(0, 1) = mB2xA1.Dot(summed_inv_inertia.Multiply3x3(mC2xA1));
+		inv_effective_mass(1, 0) = mC2xA1.Dot(summed_inv_inertia.Multiply3x3(mB2xA1));
+		inv_effective_mass(1, 1) = mC2xA1.Dot(summed_inv_inertia.Multiply3x3(mC2xA1));
+		if (!mEffectiveMass.SetInversed(inv_effective_mass))
+			Deactivate();
+	}
+
+	/// Deactivate this constraint
+	inline void					Deactivate()
+	{
+		mEffectiveMass.SetZero();
+		mTotalLambda.SetZero();
+	}
+
+	/// Must be called from the WarmStartVelocityConstraint call to apply the previous frame's impulses
+	inline void					WarmStart(Body &ioBody1, Body &ioBody2, float inWarmStartImpulseRatio)
+	{
+		mTotalLambda *= inWarmStartImpulseRatio;
+		ApplyVelocityStep(ioBody1, ioBody2, mTotalLambda);
+	}
+
+	/// Iteratively update the velocity constraint. Makes sure d/dt C(...) = 0, where C is the constraint equation.
+	inline bool					SolveVelocityConstraint(Body &ioBody1, Body &ioBody2)
+	{
+		// Calculate lagrange multiplier:
+		//
+		// lambda = -K^-1 (J v + b)
+		Vec3 delta_ang = ioBody1.GetAngularVelocity() - ioBody2.GetAngularVelocity();
+		Vec2 jv;
+		jv[0] = mB2xA1.Dot(delta_ang);
+		jv[1] = mC2xA1.Dot(delta_ang);
+		Vec2 lambda = mEffectiveMass * jv;
+
+		// Store accumulated lambda
+		mTotalLambda += lambda;
+
+		return ApplyVelocityStep(ioBody1, ioBody2, lambda);
+	}
+
+	/// Iteratively update the position constraint. Makes sure C(...) = 0.
+	inline bool					SolvePositionConstraint(Body &ioBody1, Body &ioBody2, float inBaumgarte) const
+	{
+		// Constraint needs Axis of body 1 perpendicular to both B and C from body 2 (which are both perpendicular to the Axis of body 2)
+		Vec2 c;
+		c[0] = mA1.Dot(mB2);
+		c[1] = mA1.Dot(mC2);
+		if (!c.IsZero())
+		{
+			// Calculate lagrange multiplier (lambda) for Baumgarte stabilization:
+			//
+			// lambda = -K^-1 * beta / dt * C
+			//
+			// We should divide by inDeltaTime, but we should multiply by inDeltaTime in the Euler step below so they're cancelled out
+			Vec2 lambda = -inBaumgarte * (mEffectiveMass * c);
+
+			// Directly integrate velocity change for one time step
+			//
+			// Euler velocity integration:
+			// dv = M^-1 P
+			//
+			// Impulse:
+			// P = J^T lambda
+			//
+			// Euler position integration:
+			// x' = x + dv * dt
+			//
+			// Note we don't accumulate velocities for the stabilization. This is using the approach described in 'Modeling and
+			// Solving Constraints' by Erin Catto presented at GDC 2007. On slide 78 it is suggested to split up the Baumgarte
+			// stabilization for positional drift so that it does not actually add to the momentum. We combine an Euler velocity
+			// integrate + a position integrate and then discard the velocity change.
+			Vec3 impulse = mB2xA1 * lambda[0] + mC2xA1 * lambda[1];
+			if (ioBody1.IsDynamic())
+				ioBody1.SubRotationStep(mInvI1.Multiply3x3(impulse));
+			if (ioBody2.IsDynamic())
+				ioBody2.AddRotationStep(mInvI2.Multiply3x3(impulse));
+			return true;
+		}
+
+		return false;
+	}
+
+	/// Return lagrange multiplier
+	const Vec2 &				GetTotalLambda() const
+	{
+		return mTotalLambda;
+	}
+
+	/// Save state of this constraint part
+	void						SaveState(StateRecorder &inStream) const
+	{
+		inStream.Write(mTotalLambda);
+	}
+
+	/// Restore state of this constraint part
+	void						RestoreState(StateRecorder &inStream)
+	{
+		inStream.Read(mTotalLambda);
+	}
+
+private:
+	Vec3						mA1;						///< World space hinge axis for body 1
+	Vec3						mB2;						///< World space perpendiculars of hinge axis for body 2
+	Vec3						mC2;
+	Mat44						mInvI1;
+	Mat44						mInvI2;
+	Vec3						mB2xA1;
+	Vec3						mC2xA1;
+	Mat22						mEffectiveMass;
+	Vec2						mTotalLambda { Vec2::sZero() };
+};
+
+JPH_NAMESPACE_END