@bloomengine/engine 0.3.1

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

@@ -0,0 +1,246 @@
+// Jolt Physics Library (https://github.com/jrouwe/JoltPhysics)
+// SPDX-FileCopyrightText: 2022 Jorrit Rouwe
+// SPDX-License-Identifier: MIT
+
+#pragma once
+
+#include <Jolt/Physics/Body/Body.h>
+#include <Jolt/Physics/StateRecorder.h>
+
+JPH_NAMESPACE_BEGIN
+
+/// Constraint part to an AxisConstraintPart but both bodies have an independent axis on which the force is applied.
+///
+/// Constraint equation:
+///
+/// \f[C = (x_1 + r_1 - f_1) . n_1 + r (x_2 + r_2 - f_2) \cdot n_2\f]
+///
+/// Calculating the Jacobian:
+///
+/// \f[dC/dt = (v_1 + w_1 \times r_1) \cdot n_1 + (x_1 + r_1 - f_1) \cdot d n_1/dt + r (v_2 + w_2 \times r_2) \cdot n_2 + r (x_2 + r_2 - f_2) \cdot d n_2/dt\f]
+///
+/// Assuming that d n1/dt and d n2/dt are small this becomes:
+///
+/// \f[(v_1 + w_1 \times r_1) \cdot n_1 + r (v_2 + w_2 \times r_2) \cdot n_2\f]
+/// \f[= v_1 \cdot n_1 + r_1 \times n_1 \cdot w_1 + r v_2 \cdot n_2 + r r_2 \times n_2 \cdot w_2\f]
+///
+/// Jacobian:
+///
+/// \f[J = \begin{bmatrix}n_1 & r_1 \times n_1 & r n_2 & r r_2 \times n_2\end{bmatrix}\f]
+///
+/// Effective mass:
+///
+/// \f[K = m_1^{-1} + r_1 \times n_1 I_1^{-1} r_1 \times n_1 + r^2 m_2^{-1} + r^2 r_2 \times n_2 I_2^{-1} r_2 \times n_2\f]
+///
+/// Used terms (here and below, everything in world space):\n
+/// n1 = (x1 + r1 - f1) / |x1 + r1 - f1|, axis along which the force is applied for body 1\n
+/// n2 = (x2 + r2 - f2) / |x2 + r2 - f2|, axis along which the force is applied for body 2\n
+/// r = ratio how forces are applied between bodies.\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 IndependentAxisConstraintPart
+{
+	/// 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, float inRatio, 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
+			if (ioBody1.IsDynamic())
+			{
+				MotionProperties *mp1 = ioBody1.GetMotionProperties();
+				mp1->AddLinearVelocityStep((mp1->GetInverseMass() * inLambda) * inN1);
+				mp1->AddAngularVelocityStep(mInvI1_R1xN1 * inLambda);
+			}
+			if (ioBody2.IsDynamic())
+			{
+				MotionProperties *mp2 = ioBody2.GetMotionProperties();
+				mp2->AddLinearVelocityStep((inRatio * mp2->GetInverseMass() * inLambda) * inN2);
+				mp2->AddAngularVelocityStep(mInvI2_RatioR2xN2 * inLambda);
+			}
+			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 inR1 The position on which the constraint operates on body 1 relative to COM
+	/// @param inN1 The world space normal in which the constraint operates for body 1
+	/// @param inR2 The position on which the constraint operates on body 1 relative to COM
+	/// @param inN2 The world space normal in which the constraint operates for body 2
+	/// @param inRatio The ratio how forces are applied between bodies
+	inline void					CalculateConstraintProperties(const Body &inBody1, const Body &inBody2, Vec3Arg inR1, Vec3Arg inN1, Vec3Arg inR2, Vec3Arg inN2, float inRatio)
+	{
+		JPH_ASSERT(inN1.IsNormalized(1.0e-4f) && inN2.IsNormalized(1.0e-4f));
+
+		float inv_effective_mass = 0.0f;
+
+		if (!inBody1.IsStatic())
+		{
+			const MotionProperties *mp1 = inBody1.GetMotionProperties();
+
+			mR1xN1 = inR1.Cross(inN1);
+			mInvI1_R1xN1 = mp1->MultiplyWorldSpaceInverseInertiaByVector(inBody1.GetRotation(), mR1xN1);
+
+			inv_effective_mass += mp1->GetInverseMass() + mInvI1_R1xN1.Dot(mR1xN1);
+		}
+
+		if (!inBody2.IsStatic())
+		{
+			const MotionProperties *mp2 = inBody2.GetMotionProperties();
+
+			mRatioR2xN2 = inRatio * inR2.Cross(inN2);
+			mInvI2_RatioR2xN2 = mp2->MultiplyWorldSpaceInverseInertiaByVector(inBody2.GetRotation(), mRatioR2xN2);
+
+			inv_effective_mass += Square(inRatio) * mp2->GetInverseMass() + mInvI2_RatioR2xN2.Dot(mRatioR2xN2);
+		}
+
+		// Calculate inverse effective mass: K = J M^-1 J^T
+		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 inN1 The world space normal in which the constraint operates for body 1
+	/// @param inN2 The world space normal in which the constraint operates for body 2
+	/// @param inRatio The ratio how forces are applied between bodies
+	/// @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, Vec3Arg inN1, Vec3Arg inN2, float inRatio, float inWarmStartImpulseRatio)
+	{
+		mTotalLambda *= inWarmStartImpulseRatio;
+		ApplyVelocityStep(ioBody1, ioBody2, inN1, inN2, inRatio, 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 inN1 The world space normal in which the constraint operates for body 1
+	/// @param inN2 The world space normal in which the constraint operates for body 2
+	/// @param inRatio The ratio how forces are applied between bodies
+	/// @param inMinLambda Minimum angular impulse to apply (N m s)
+	/// @param inMaxLambda Maximum angular impulse to apply (N m s)
+	inline bool					SolveVelocityConstraint(Body &ioBody1, Body &ioBody2, Vec3Arg inN1, Vec3Arg inN2, float inRatio, float inMinLambda, float inMaxLambda)
+	{
+		// Lagrange multiplier is:
+		//
+		// lambda = -K^-1 (J v + b)
+		float lambda = -mEffectiveMass * (inN1.Dot(ioBody1.GetLinearVelocity()) + mR1xN1.Dot(ioBody1.GetAngularVelocity()) + inRatio * inN2.Dot(ioBody2.GetLinearVelocity()) + mRatioR2xN2.Dot(ioBody2.GetAngularVelocity()));
+		float new_lambda = Clamp(mTotalLambda + lambda, inMinLambda, inMaxLambda); // Clamp impulse
+		lambda = new_lambda - mTotalLambda; // Lambda potentially got clamped, calculate the new impulse to apply
+		mTotalLambda = new_lambda; // Store accumulated impulse
+
+		return ApplyVelocityStep(ioBody1, ioBody2, inN1, inN2, inRatio, 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 inN1 The world space normal in which the constraint operates for body 1
+	/// @param inN2 The world space normal in which the constraint operates for body 2
+	/// @param inRatio The ratio how forces are applied between bodies
+	/// @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, Vec3Arg inN1, Vec3Arg inN2, float inRatio, float inC, float inBaumgarte) const
+	{
+		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.AddPositionStep((lambda * ioBody1.GetMotionPropertiesUnchecked()->GetInverseMass()) * inN1);
+				ioBody1.AddRotationStep(lambda * mInvI1_R1xN1);
+			}
+			if (ioBody2.IsDynamic())
+			{
+				ioBody2.AddPositionStep((lambda * inRatio * ioBody2.GetMotionPropertiesUnchecked()->GetInverseMass()) * inN2);
+				ioBody2.AddRotationStep(lambda * mInvI2_RatioR2xN2);
+			}
+			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						mR1xN1;
+	Vec3						mInvI1_R1xN1;
+	Vec3						mRatioR2xN2;
+	Vec3						mInvI2_RatioR2xN2;
+	float						mEffectiveMass = 0.0f;
+	float						mTotalLambda = 0.0f;
+};
+
+JPH_NAMESPACE_END

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

@@ -0,0 +1,239 @@
+// 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
+
+/// Constrains movement along 3 axis
+///
+/// @see "Constraints Derivation for Rigid Body Simulation in 3D" - Daniel Chappuis, section 2.2.1
+///
+/// Constraint equation (eq 45):
+///
+/// \f[C = p_2 - p_1\f]
+///
+/// Jacobian (transposed) (eq 47):
+///
+/// \f[J^T = \begin{bmatrix}-E & r1x & E & -r2x^T\end{bmatrix}
+/// = \begin{bmatrix}-E^T \\ r1x^T \\ E^T \\ -r2x^T\end{bmatrix}
+/// = \begin{bmatrix}-E \\ -r1x \\ E \\ r2x\end{bmatrix}\f]
+///
+/// Used terms (here and below, everything in world space):\n
+/// p1, p2 = constraint points.\n
+/// r1 = p1 - x1.\n
+/// r2 = p2 - x2.\n
+/// r1x = 3x3 matrix for which r1x v = r1 x v (cross product).\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 PointConstraintPart
+{
+	JPH_INLINE bool				ApplyVelocityStep(Body &ioBody1, Body &ioBody2, Vec3Arg inLambda) const
+	{
+		// Apply impulse if delta is not zero
+		if (inLambda != Vec3::sZero())
+		{
+			// Calculate velocity change due to constraint
+			//
+			// Impulse:
+			// P = J^T lambda
+			//
+			// Euler velocity integration:
+			// v' = v + M^-1 P
+			if (ioBody1.IsDynamic())
+			{
+				MotionProperties *mp1 = ioBody1.GetMotionProperties();
+				mp1->SubLinearVelocityStep(mp1->GetInverseMass() * inLambda);
+				mp1->SubAngularVelocityStep(mInvI1_R1X * inLambda);
+			}
+			if (ioBody2.IsDynamic())
+			{
+				MotionProperties *mp2 = ioBody2.GetMotionProperties();
+				mp2->AddLinearVelocityStep(mp2->GetInverseMass() * inLambda);
+				mp2->AddAngularVelocityStep(mInvI2_R2X * inLambda);
+			}
+			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 inRotation1 The 3x3 rotation matrix for body 1 (translation part is ignored)
+	/// @param inRotation2 The 3x3 rotation matrix for body 2 (translation part is ignored)
+	/// @param inR1 Local space vector from center of mass to constraint point for body 1
+	/// @param inR2 Local space vector from center of mass to constraint point for body 2
+	inline void					CalculateConstraintProperties(const Body &inBody1, Mat44Arg inRotation1, Vec3Arg inR1, const Body &inBody2, Mat44Arg inRotation2, Vec3Arg inR2)
+	{
+		// Positions where the point constraint acts on (middle point between center of masses) in world space
+		mR1 = inRotation1.Multiply3x3(inR1);
+		mR2 = inRotation2.Multiply3x3(inR2);
+
+		// Calculate effective mass: K^-1 = (J M^-1 J^T)^-1
+		// Using: I^-1 = R * Ibody^-1 * R^T
+		float summed_inv_mass;
+		Mat44 inv_effective_mass;
+		if (inBody1.IsDynamic())
+		{
+			const MotionProperties *mp1 = inBody1.GetMotionProperties();
+			Mat44 inv_i1 = mp1->GetInverseInertiaForRotation(inRotation1);
+			summed_inv_mass = mp1->GetInverseMass();
+
+			Mat44 r1x = Mat44::sCrossProduct(mR1);
+			mInvI1_R1X = inv_i1.Multiply3x3(r1x);
+			inv_effective_mass = r1x.Multiply3x3(inv_i1).Multiply3x3RightTransposed(r1x);
+		}
+		else
+		{
+			JPH_IF_DEBUG(mInvI1_R1X = Mat44::sNaN();)
+
+			summed_inv_mass = 0.0f;
+			inv_effective_mass = Mat44::sZero();
+		}
+
+		if (inBody2.IsDynamic())
+		{
+			const MotionProperties *mp2 = inBody2.GetMotionProperties();
+			Mat44 inv_i2 = mp2->GetInverseInertiaForRotation(inRotation2);
+			summed_inv_mass += mp2->GetInverseMass();
+
+			Mat44 r2x = Mat44::sCrossProduct(mR2);
+			mInvI2_R2X = inv_i2.Multiply3x3(r2x);
+			inv_effective_mass += r2x.Multiply3x3(inv_i2).Multiply3x3RightTransposed(r2x);
+		}
+		else
+		{
+			JPH_IF_DEBUG(mInvI2_R2X = Mat44::sNaN();)
+		}
+
+		inv_effective_mass += Mat44::sScale(summed_inv_mass);
+		if (!mEffectiveMass.SetInversed3x3(inv_effective_mass))
+			Deactivate();
+	}
+
+	/// Deactivate this constraint
+	inline void					Deactivate()
+	{
+		mEffectiveMass = Mat44::sZero();
+		mTotalLambda = Vec3::sZero();
+	}
+
+	/// Check if constraint is active
+	inline bool					IsActive() const
+	{
+		return mEffectiveMass(3, 3) != 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
+	inline bool					SolveVelocityConstraint(Body &ioBody1, Body &ioBody2)
+	{
+		// Calculate lagrange multiplier:
+		//
+		// lambda = -K^-1 (J v + b)
+		Vec3 lambda = mEffectiveMass * (ioBody1.GetLinearVelocity() - mR1.Cross(ioBody1.GetAngularVelocity()) - ioBody2.GetLinearVelocity() + mR2.Cross(ioBody2.GetAngularVelocity()));
+		mTotalLambda += lambda; // Store accumulated lambda
+		return ApplyVelocityStep(ioBody1, ioBody2, lambda);
+	}
+
+	/// 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 inBaumgarte Baumgarte constant (fraction of the error to correct)
+	inline bool					SolvePositionConstraint(Body &ioBody1, Body &ioBody2, float inBaumgarte) const
+	{
+		Vec3 separation = (Vec3(ioBody2.GetCenterOfMassPosition() - ioBody1.GetCenterOfMassPosition()) + mR2 - mR1);
+		if (separation != Vec3::sZero())
+		{
+			// 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
+			Vec3 lambda = mEffectiveMass * -inBaumgarte * separation;
+
+			// 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.SubPositionStep(ioBody1.GetMotionProperties()->GetInverseMass() * lambda);
+				ioBody1.SubRotationStep(mInvI1_R1X * lambda);
+			}
+			if (ioBody2.IsDynamic())
+			{
+				ioBody2.AddPositionStep(ioBody2.GetMotionProperties()->GetInverseMass() * lambda);
+				ioBody2.AddRotationStep(mInvI2_R2X * lambda);
+			}
+
+			return true;
+		}
+
+		return false;
+	}
+
+	/// Return lagrange multiplier
+	Vec3						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						mR1;
+	Vec3						mR2;
+	Mat44						mInvI1_R1X;
+	Mat44						mInvI2_R2X;
+	Mat44						mEffectiveMass;
+	Vec3						mTotalLambda { Vec3::sZero() };
+};
+
+JPH_NAMESPACE_END

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

@@ -0,0 +1,196 @@
+// 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 a rotation to a translation
+///
+/// Constraint equation:
+///
+/// C = Theta(t) - r d(t)
+///
+/// Derivative:
+///
+/// d/dt C = 0
+/// <=> w1 . a - r v2 . b = 0
+///
+/// Jacobian:
+///
+/// \f[J = \begin{bmatrix}0 & a^T & -r b^T & 0\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
+/// Theta(t) = rotation around a of body 1.\n
+/// d(t) = distance body 2 slides.\n
+/// r = ratio between rotation and translation.\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 RackAndPinionConstraintPart
+{
+	/// 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()->SubLinearVelocityStep(inLambda * mRatio_InvM2_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 inWorldSpaceHingeAxis The axis around which body 1 rotates
+	/// @param inWorldSpaceSliderAxis The axis along which body 2 slides
+	/// @param inRatio The ratio between rotation and translation
+	inline void					CalculateConstraintProperties(const Body &inBody1, Vec3Arg inWorldSpaceHingeAxis, const Body &inBody2, Vec3Arg inWorldSpaceSliderAxis, float inRatio)
+	{
+		JPH_ASSERT(inWorldSpaceHingeAxis.IsNormalized(1.0e-4f));
+		JPH_ASSERT(inWorldSpaceSliderAxis.IsNormalized(1.0e-4f));
+
+		// Calculate: I1^-1 a
+		mInvI1_A = inBody1.GetMotionProperties()->MultiplyWorldSpaceInverseInertiaByVector(inBody1.GetRotation(), inWorldSpaceHingeAxis);
+
+		// Calculate: r/m2 b
+		float inv_m2 = inBody2.GetMotionProperties()->GetInverseMass();
+		mRatio_InvM2_B = inRatio * inv_m2 * inWorldSpaceSliderAxis;
+
+		// K^-1 = 1 / (J M^-1 J^T) = 1 / (a^T I1^-1 a + 1/m2 * r^2 * b . b)
+		float inv_effective_mass = (inWorldSpaceHingeAxis.Dot(mInvI1_A) + inv_m2 * 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 inWorldSpaceHingeAxis The axis around which body 1 rotates
+	/// @param inWorldSpaceSliderAxis The axis along which body 2 slides
+	/// @param inRatio The ratio between rotation and translation
+	inline bool					SolveVelocityConstraint(Body &ioBody1, Vec3Arg inWorldSpaceHingeAxis, Body &ioBody2, Vec3Arg inWorldSpaceSliderAxis, float inRatio)
+	{
+		// Lagrange multiplier is:
+		//
+		// lambda = -K^-1 (J v + b)
+		float lambda = mEffectiveMass * (inRatio * inWorldSpaceSliderAxis.Dot(ioBody2.GetLinearVelocity()) - inWorldSpaceHingeAxis.Dot(ioBody1.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.SubPositionStep(lambda * mRatio_InvM2_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						mRatio_InvM2_B;
+	float						mEffectiveMass = 0.0f;
+	float						mTotalLambda = 0.0f;
+};
+
+JPH_NAMESPACE_END