@bloomengine/engine 0.3.1

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

@@ -0,0 +1,597 @@
+// Jolt Physics Library (https://github.com/jrouwe/JoltPhysics)
+// SPDX-FileCopyrightText: 2021 Jorrit Rouwe
+// SPDX-License-Identifier: MIT
+
+#pragma once
+
+#include <Jolt/Geometry/Ellipse.h>
+#include <Jolt/Physics/Constraints/ConstraintPart/RotationEulerConstraintPart.h>
+#include <Jolt/Physics/Constraints/ConstraintPart/AngleConstraintPart.h>
+
+JPH_NAMESPACE_BEGIN
+
+/// How the swing limit behaves
+enum class ESwingType : uint8
+{
+	Cone,						///< Swing is limited by a cone shape, note that this cone starts to deform for larger swing angles. Cone limits only support limits that are symmetric around 0.
+	Pyramid,					///< Swing is limited by a pyramid shape, note that this pyramid starts to deform for larger swing angles.
+};
+
+/// 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
+///
+/// - Rotation around the twist (x-axis) is within [inTwistMinAngle, inTwistMaxAngle].
+/// - Rotation around the swing axis (y and z axis) are limited to an ellipsoid in quaternion space formed by the equation:
+///
+/// (q_swing.y / sin(inSwingYHalfAngle / 2))^2 + (q_swing.z / sin(inSwingZHalfAngle / 2))^2 <= 1
+///
+/// Which roughly corresponds to an elliptic cone shape with major axis (inSwingYHalfAngle, inSwingZHalfAngle).
+///
+/// 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.
+class SwingTwistConstraintPart
+{
+public:
+	/// Override the swing type
+	void						SetSwingType(ESwingType inSwingType)
+	{
+		mSwingType = inSwingType;
+	}
+
+	/// Get the swing type for this part
+	ESwingType					GetSwingType() const
+	{
+		return mSwingType;
+	}
+
+	/// Set limits for this constraint (see description above for parameters)
+	void						SetLimits(float inTwistMinAngle, float inTwistMaxAngle, float inSwingYMinAngle, float inSwingYMaxAngle, float inSwingZMinAngle, float inSwingZMaxAngle)
+	{
+		constexpr float cLockedAngle = DegreesToRadians(0.5f);
+		constexpr float cFreeAngle = DegreesToRadians(179.5f);
+
+		// Assume sane input
+		JPH_ASSERT(inTwistMinAngle <= inTwistMaxAngle);
+		JPH_ASSERT(inSwingYMinAngle <= inSwingYMaxAngle);
+		JPH_ASSERT(inSwingZMinAngle <= inSwingZMaxAngle);
+		JPH_ASSERT(inSwingYMinAngle >= -JPH_PI && inSwingYMaxAngle <= JPH_PI);
+		JPH_ASSERT(inSwingZMinAngle >= -JPH_PI && inSwingZMaxAngle <= JPH_PI);
+
+		// Calculate the sine and cosine of the half angles
+		Vec4 half_twist = 0.5f * Vec4(inTwistMinAngle, inTwistMaxAngle, 0, 0);
+		Vec4 twist_s, twist_c;
+		half_twist.SinCos(twist_s, twist_c);
+		Vec4 half_swing = 0.5f * Vec4(inSwingYMinAngle, inSwingYMaxAngle, inSwingZMinAngle, inSwingZMaxAngle);
+		Vec4 swing_s, swing_c;
+		half_swing.SinCos(swing_s, swing_c);
+
+		// Store half angles for pyramid limit
+		mSwingYHalfMinAngle = half_swing.GetX();
+		mSwingYHalfMaxAngle = half_swing.GetY();
+		mSwingZHalfMinAngle = half_swing.GetZ();
+		mSwingZHalfMaxAngle = half_swing.GetW();
+
+		// Store axis flags which are used at runtime to quickly decided which constraints to apply
+		mRotationFlags = 0;
+		if (inTwistMinAngle > -cLockedAngle && inTwistMaxAngle < cLockedAngle)
+		{
+			mRotationFlags |= TwistXLocked;
+			mSinTwistHalfMinAngle = 0.0f;
+			mSinTwistHalfMaxAngle = 0.0f;
+			mCosTwistHalfMinAngle = 1.0f;
+			mCosTwistHalfMaxAngle = 1.0f;
+		}
+		else if (inTwistMinAngle < -cFreeAngle && inTwistMaxAngle > cFreeAngle)
+		{
+			mRotationFlags |= TwistXFree;
+			mSinTwistHalfMinAngle = -1.0f;
+			mSinTwistHalfMaxAngle = 1.0f;
+			mCosTwistHalfMinAngle = 0.0f;
+			mCosTwistHalfMaxAngle = 0.0f;
+		}
+		else
+		{
+			mSinTwistHalfMinAngle = twist_s.GetX();
+			mSinTwistHalfMaxAngle = twist_s.GetY();
+			mCosTwistHalfMinAngle = twist_c.GetX();
+			mCosTwistHalfMaxAngle = twist_c.GetY();
+		}
+
+		if (inSwingYMinAngle > -cLockedAngle && inSwingYMaxAngle < cLockedAngle)
+		{
+			mRotationFlags |= SwingYLocked;
+			mSinSwingYHalfMinAngle = 0.0f;
+			mSinSwingYHalfMaxAngle = 0.0f;
+			mCosSwingYHalfMinAngle = 1.0f;
+			mCosSwingYHalfMaxAngle = 1.0f;
+		}
+		else if (inSwingYMinAngle < -cFreeAngle && inSwingYMaxAngle > cFreeAngle)
+		{
+			mRotationFlags |= SwingYFree;
+			mSinSwingYHalfMinAngle = -1.0f;
+			mSinSwingYHalfMaxAngle = 1.0f;
+			mCosSwingYHalfMinAngle = 0.0f;
+			mCosSwingYHalfMaxAngle = 0.0f;
+		}
+		else
+		{
+			mSinSwingYHalfMinAngle = swing_s.GetX();
+			mSinSwingYHalfMaxAngle = swing_s.GetY();
+			mCosSwingYHalfMinAngle = swing_c.GetX();
+			mCosSwingYHalfMaxAngle = swing_c.GetY();
+			JPH_ASSERT(mSinSwingYHalfMinAngle <= mSinSwingYHalfMaxAngle);
+		}
+
+		if (inSwingZMinAngle > -cLockedAngle && inSwingZMaxAngle < cLockedAngle)
+		{
+			mRotationFlags |= SwingZLocked;
+			mSinSwingZHalfMinAngle = 0.0f;
+			mSinSwingZHalfMaxAngle = 0.0f;
+			mCosSwingZHalfMinAngle = 1.0f;
+			mCosSwingZHalfMaxAngle = 1.0f;
+		}
+		else if (inSwingZMinAngle < -cFreeAngle && inSwingZMaxAngle > cFreeAngle)
+		{
+			mRotationFlags |= SwingZFree;
+			mSinSwingZHalfMinAngle = -1.0f;
+			mSinSwingZHalfMaxAngle = 1.0f;
+			mCosSwingZHalfMinAngle = 0.0f;
+			mCosSwingZHalfMaxAngle = 0.0f;
+		}
+		else
+		{
+			mSinSwingZHalfMinAngle = swing_s.GetZ();
+			mSinSwingZHalfMaxAngle = swing_s.GetW();
+			mCosSwingZHalfMinAngle = swing_c.GetZ();
+			mCosSwingZHalfMaxAngle = swing_c.GetW();
+			JPH_ASSERT(mSinSwingZHalfMinAngle <= mSinSwingZHalfMaxAngle);
+		}
+	}
+
+	/// Flags to indicate which axis got clamped by ClampSwingTwist
+	static constexpr uint		cClampedTwistMin = 1 << 0;
+	static constexpr uint		cClampedTwistMax = 1 << 1;
+	static constexpr uint		cClampedSwingYMin = 1 << 2;
+	static constexpr uint		cClampedSwingYMax = 1 << 3;
+	static constexpr uint		cClampedSwingZMin = 1 << 4;
+	static constexpr uint		cClampedSwingZMax = 1 << 5;
+
+	/// Helper function to determine if we're clamped against the min or max limit
+	static JPH_INLINE bool		sDistanceToMinShorter(float inDeltaMin, float inDeltaMax)
+	{
+		// We're outside of the limits, get actual delta to min/max range
+		// Note that a swing/twist of -1 and 1 represent the same angle, so if the difference is bigger than 1, the shortest angle is the other way around (2 - difference)
+		// We should actually be working with angles rather than sin(angle / 2). When the difference is small the approximation is accurate, but
+		// when working with extreme values the calculation is off and e.g. when the limit is between 0 and 180 a value of approx -60 will clamp
+		// to 180 rather than 0 (you'd expect anything > -90 to go to 0).
+		inDeltaMin = abs(inDeltaMin);
+		if (inDeltaMin > 1.0f) inDeltaMin = 2.0f - inDeltaMin;
+		inDeltaMax = abs(inDeltaMax);
+		if (inDeltaMax > 1.0f) inDeltaMax = 2.0f - inDeltaMax;
+		return inDeltaMin < inDeltaMax;
+	}
+
+	/// Clamp twist and swing against the constraint limits, returns which parts were clamped (everything assumed in constraint space)
+	inline void					ClampSwingTwist(Quat &ioSwing, Quat &ioTwist, uint &outClampedAxis) const
+	{
+		// Start with not clamped
+		outClampedAxis = 0;
+
+		// Check that swing and twist quaternions don't contain rotations around the wrong axis
+		JPH_ASSERT(ioSwing.GetX() == 0.0f);
+		JPH_ASSERT(ioTwist.GetY() == 0.0f);
+		JPH_ASSERT(ioTwist.GetZ() == 0.0f);
+
+		// Ensure quaternions have w > 0
+		bool negate_swing = ioSwing.GetW() < 0.0f;
+		if (negate_swing)
+			ioSwing = -ioSwing;
+		bool negate_twist = ioTwist.GetW() < 0.0f;
+		if (negate_twist)
+			ioTwist = -ioTwist;
+
+		if (mRotationFlags & TwistXLocked)
+		{
+			// Twist axis is locked, clamp whenever twist is not identity
+			outClampedAxis |= ioTwist.GetX() != 0.0f? (cClampedTwistMin | cClampedTwistMax) : 0;
+			ioTwist = Quat::sIdentity();
+		}
+		else if ((mRotationFlags & TwistXFree) == 0)
+		{
+			// Twist axis has limit, clamp whenever out of range
+			float delta_min = mSinTwistHalfMinAngle - ioTwist.GetX();
+			float delta_max = ioTwist.GetX() - mSinTwistHalfMaxAngle;
+			if (delta_min > 0.0f || delta_max > 0.0f)
+			{
+				// Pick the twist that corresponds to the smallest delta
+				if (sDistanceToMinShorter(delta_min, delta_max))
+				{
+					ioTwist = Quat(mSinTwistHalfMinAngle, 0, 0, mCosTwistHalfMinAngle);
+					outClampedAxis |= cClampedTwistMin;
+				}
+				else
+				{
+					ioTwist = Quat(mSinTwistHalfMaxAngle, 0, 0, mCosTwistHalfMaxAngle);
+					outClampedAxis |= cClampedTwistMax;
+				}
+			}
+		}
+
+		// Clamp swing
+		if (mRotationFlags & SwingYLocked)
+		{
+			if (mRotationFlags & SwingZLocked)
+			{
+				// Both swing Y and Z are disabled, no degrees of freedom in swing
+				outClampedAxis |= ioSwing.GetY() != 0.0f? (cClampedSwingYMin | cClampedSwingYMax) : 0;
+				outClampedAxis |= ioSwing.GetZ() != 0.0f? (cClampedSwingZMin | cClampedSwingZMax) : 0;
+				ioSwing = Quat::sIdentity();
+			}
+			else
+			{
+				// Swing Y angle disabled, only 1 degree of freedom in swing
+				outClampedAxis |= ioSwing.GetY() != 0.0f? (cClampedSwingYMin | cClampedSwingYMax) : 0;
+				float delta_min = mSinSwingZHalfMinAngle - ioSwing.GetZ();
+				float delta_max = ioSwing.GetZ() - mSinSwingZHalfMaxAngle;
+				if (delta_min > 0.0f || delta_max > 0.0f)
+				{
+					// Pick the swing that corresponds to the smallest delta
+					if (sDistanceToMinShorter(delta_min, delta_max))
+					{
+						ioSwing = Quat(0, 0, mSinSwingZHalfMinAngle, mCosSwingZHalfMinAngle);
+						outClampedAxis |= cClampedSwingZMin;
+					}
+					else
+					{
+						ioSwing = Quat(0, 0, mSinSwingZHalfMaxAngle, mCosSwingZHalfMaxAngle);
+						outClampedAxis |= cClampedSwingZMax;
+					}
+				}
+				else if ((outClampedAxis & cClampedSwingYMin) != 0)
+				{
+					float z = ioSwing.GetZ();
+					ioSwing = Quat(0, 0, z, sqrt(1.0f - Square(z)));
+				}
+			}
+		}
+		else if (mRotationFlags & SwingZLocked)
+		{
+			// Swing Z angle disabled, only 1 degree of freedom in swing
+			outClampedAxis |= ioSwing.GetZ() != 0.0f? (cClampedSwingZMin | cClampedSwingZMax) : 0;
+			float delta_min = mSinSwingYHalfMinAngle - ioSwing.GetY();
+			float delta_max = ioSwing.GetY() - mSinSwingYHalfMaxAngle;
+			if (delta_min > 0.0f || delta_max > 0.0f)
+			{
+				// Pick the swing that corresponds to the smallest delta
+				if (sDistanceToMinShorter(delta_min, delta_max))
+				{
+					ioSwing = Quat(0, mSinSwingYHalfMinAngle, 0, mCosSwingYHalfMinAngle);
+					outClampedAxis |= cClampedSwingYMin;
+				}
+				else
+				{
+					ioSwing = Quat(0, mSinSwingYHalfMaxAngle, 0, mCosSwingYHalfMaxAngle);
+					outClampedAxis |= cClampedSwingYMax;
+				}
+			}
+			else if ((outClampedAxis & cClampedSwingZMin) != 0)
+			{
+				float y = ioSwing.GetY();
+				ioSwing = Quat(0, y, 0, sqrt(1.0f - Square(y)));
+			}
+		}
+		else
+		{
+			// Two degrees of freedom
+			if (mSwingType == ESwingType::Cone)
+			{
+				// Use ellipse to solve limits
+				Ellipse ellipse(mSinSwingYHalfMaxAngle, mSinSwingZHalfMaxAngle);
+				Float2 point(ioSwing.GetY(), ioSwing.GetZ());
+				if (!ellipse.IsInside(point))
+				{
+					Float2 closest = ellipse.GetClosestPoint(point);
+					ioSwing = Quat(0, closest.x, closest.y, sqrt(max(0.0f, 1.0f - Square(closest.x) - Square(closest.y))));
+					outClampedAxis |= cClampedSwingYMin | cClampedSwingYMax | cClampedSwingZMin | cClampedSwingZMax; // We're not using the flags on which side we got clamped here
+				}
+			}
+			else
+			{
+				// Use pyramid to solve limits
+				// The quaternion rotating by angle y around the Y axis then rotating by angle z around the Z axis is:
+				// q = Quat::sRotation(Vec3::sAxisZ(), z) * Quat::sRotation(Vec3::sAxisY(), y)
+				// [q.x, q.y, q.z, q.w] = [-sin(y / 2) * sin(z / 2), sin(y / 2) * cos(z / 2), cos(y / 2) * sin(z / 2), cos(y / 2) * cos(z / 2)]
+				// So we can calculate y / 2 = atan2(q.y, q.w) and z / 2 = atan2(q.z, q.w)
+				Vec4 half_angle = Vec4::sATan2(ioSwing.GetXYZW().Swizzle<SWIZZLE_Y, SWIZZLE_Y, SWIZZLE_Z, SWIZZLE_Z>(), ioSwing.GetXYZW().SplatW());
+				Vec4 min_half_angle(mSwingYHalfMinAngle, mSwingYHalfMinAngle, mSwingZHalfMinAngle, mSwingZHalfMinAngle);
+				Vec4 max_half_angle(mSwingYHalfMaxAngle, mSwingYHalfMaxAngle, mSwingZHalfMaxAngle, mSwingZHalfMaxAngle);
+				Vec4 clamped_half_angle = Vec4::sMin(Vec4::sMax(half_angle, min_half_angle), max_half_angle);
+				UVec4 unclamped = Vec4::sEquals(half_angle, clamped_half_angle);
+				if (!unclamped.TestAllTrue())
+				{
+					// We now calculate the quaternion again using the formula for q above,
+					// but we leave out the x component in order to not introduce twist
+					Vec4 s, c;
+					clamped_half_angle.SinCos(s, c);
+					ioSwing = Quat(0, s.GetY() * c.GetZ(), c.GetY() * s.GetZ(), c.GetY() * c.GetZ()).Normalized();
+					outClampedAxis |= cClampedSwingYMin | cClampedSwingYMax | cClampedSwingZMin | cClampedSwingZMax; // We're not using the flags on which side we got clamped here
+				}
+			}
+		}
+
+		// Flip sign back
+		if (negate_swing)
+			ioSwing = -ioSwing;
+		if (negate_twist)
+			ioTwist = -ioTwist;
+
+		JPH_ASSERT(ioSwing.IsNormalized());
+		JPH_ASSERT(ioTwist.IsNormalized());
+	}
+
+	/// 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 inConstraintRotation The current rotation of the constraint in constraint space
+	/// @param inConstraintToWorld Rotates from constraint space into world space
+	inline void					CalculateConstraintProperties(const Body &inBody1, const Body &inBody2, QuatArg inConstraintRotation, QuatArg inConstraintToWorld)
+	{
+		// Decompose into swing and twist
+		Quat q_swing, q_twist;
+		inConstraintRotation.GetSwingTwist(q_swing, q_twist);
+
+		// Clamp against joint limits
+		Quat q_clamped_swing = q_swing, q_clamped_twist = q_twist;
+		uint clamped_axis;
+		ClampSwingTwist(q_clamped_swing, q_clamped_twist, clamped_axis);
+
+		if (mRotationFlags & SwingYLocked)
+		{
+			Quat twist_to_world = inConstraintToWorld * q_swing;
+			mWorldSpaceSwingLimitYRotationAxis = twist_to_world.RotateAxisY();
+			mWorldSpaceSwingLimitZRotationAxis = twist_to_world.RotateAxisZ();
+
+			if (mRotationFlags & SwingZLocked)
+			{
+				// Swing fully locked
+				mSwingLimitYConstraintPart.CalculateConstraintProperties(inBody1, inBody2, mWorldSpaceSwingLimitYRotationAxis);
+				mSwingLimitZConstraintPart.CalculateConstraintProperties(inBody1, inBody2, mWorldSpaceSwingLimitZRotationAxis);
+			}
+			else
+			{
+				// Swing only locked around Y
+				mSwingLimitYConstraintPart.CalculateConstraintProperties(inBody1, inBody2, mWorldSpaceSwingLimitYRotationAxis);
+				if ((clamped_axis & (cClampedSwingZMin | cClampedSwingZMax)) != 0)
+				{
+					if ((clamped_axis & cClampedSwingZMin) != 0)
+						mWorldSpaceSwingLimitZRotationAxis = -mWorldSpaceSwingLimitZRotationAxis; // Flip axis if hitting min limit because the impulse limit is going to be between [-FLT_MAX, 0]
+					mSwingLimitZConstraintPart.CalculateConstraintProperties(inBody1, inBody2, mWorldSpaceSwingLimitZRotationAxis);
+				}
+				else
+					mSwingLimitZConstraintPart.Deactivate();
+			}
+		}
+		else if (mRotationFlags & SwingZLocked)
+		{
+			// Swing only locked around Z
+			Quat twist_to_world = inConstraintToWorld * q_swing;
+			mWorldSpaceSwingLimitYRotationAxis = twist_to_world.RotateAxisY();
+			mWorldSpaceSwingLimitZRotationAxis = twist_to_world.RotateAxisZ();
+
+			if ((clamped_axis & (cClampedSwingYMin | cClampedSwingYMax)) != 0)
+			{
+				if ((clamped_axis & cClampedSwingYMin) != 0)
+					mWorldSpaceSwingLimitYRotationAxis = -mWorldSpaceSwingLimitYRotationAxis; // Flip axis if hitting min limit because the impulse limit is going to be between [-FLT_MAX, 0]
+				mSwingLimitYConstraintPart.CalculateConstraintProperties(inBody1, inBody2, mWorldSpaceSwingLimitYRotationAxis);
+			}
+			else
+				mSwingLimitYConstraintPart.Deactivate();
+			mSwingLimitZConstraintPart.CalculateConstraintProperties(inBody1, inBody2, mWorldSpaceSwingLimitZRotationAxis);
+		}
+		else if ((mRotationFlags & SwingYZFree) != SwingYZFree)
+		{
+			// Swing has limits around Y and Z
+			if ((clamped_axis & (cClampedSwingYMin | cClampedSwingYMax | cClampedSwingZMin | cClampedSwingZMax)) != 0)
+			{
+				// Calculate axis of rotation from clamped swing to swing
+				Vec3 current = (inConstraintToWorld * q_swing).RotateAxisX();
+				Vec3 desired = (inConstraintToWorld * q_clamped_swing).RotateAxisX();
+				mWorldSpaceSwingLimitYRotationAxis = desired.Cross(current);
+				float len = mWorldSpaceSwingLimitYRotationAxis.Length();
+				if (len != 0.0f)
+				{
+					mWorldSpaceSwingLimitYRotationAxis /= len;
+					mSwingLimitYConstraintPart.CalculateConstraintProperties(inBody1, inBody2, mWorldSpaceSwingLimitYRotationAxis);
+				}
+				else
+					mSwingLimitYConstraintPart.Deactivate();
+			}
+			else
+				mSwingLimitYConstraintPart.Deactivate();
+			mSwingLimitZConstraintPart.Deactivate();
+		}
+		else
+		{
+			// No swing limits
+			mSwingLimitYConstraintPart.Deactivate();
+			mSwingLimitZConstraintPart.Deactivate();
+		}
+
+		if (mRotationFlags & TwistXLocked)
+		{
+			// Twist locked, always activate constraint
+			mWorldSpaceTwistLimitRotationAxis = (inConstraintToWorld * q_swing).RotateAxisX();
+			mTwistLimitConstraintPart.CalculateConstraintProperties(inBody1, inBody2, mWorldSpaceTwistLimitRotationAxis);
+		}
+		else if ((mRotationFlags & TwistXFree) == 0)
+		{
+			// Twist has limits
+			if ((clamped_axis & (cClampedTwistMin | cClampedTwistMax)) != 0)
+			{
+				mWorldSpaceTwistLimitRotationAxis = (inConstraintToWorld * q_swing).RotateAxisX();
+				if ((clamped_axis & cClampedTwistMin) != 0)
+					mWorldSpaceTwistLimitRotationAxis = -mWorldSpaceTwistLimitRotationAxis; // Flip axis if hitting min limit because the impulse limit is going to be between [-FLT_MAX, 0]
+				mTwistLimitConstraintPart.CalculateConstraintProperties(inBody1, inBody2, mWorldSpaceTwistLimitRotationAxis);
+			}
+			else
+				mTwistLimitConstraintPart.Deactivate();
+		}
+		else
+		{
+			// No twist limits
+			mTwistLimitConstraintPart.Deactivate();
+		}
+	}
+
+	/// Deactivate this constraint
+	void						Deactivate()
+	{
+		mSwingLimitYConstraintPart.Deactivate();
+		mSwingLimitZConstraintPart.Deactivate();
+		mTwistLimitConstraintPart.Deactivate();
+	}
+
+	/// Check if constraint is active
+	inline bool					IsActive() const
+	{
+		return mSwingLimitYConstraintPart.IsActive() || mSwingLimitZConstraintPart.IsActive() || mTwistLimitConstraintPart.IsActive();
+	}
+
+	/// Must be called from the WarmStartVelocityConstraint call to apply the previous frame's impulses
+	inline void					WarmStart(Body &ioBody1, Body &ioBody2, float inWarmStartImpulseRatio)
+	{
+		mSwingLimitYConstraintPart.WarmStart(ioBody1, ioBody2, inWarmStartImpulseRatio);
+		mSwingLimitZConstraintPart.WarmStart(ioBody1, ioBody2, inWarmStartImpulseRatio);
+		mTwistLimitConstraintPart.WarmStart(ioBody1, ioBody2, inWarmStartImpulseRatio);
+	}
+
+	/// Iteratively update the velocity constraint. Makes sure d/dt C(...) = 0, where C is the constraint equation.
+	inline bool					SolveVelocityConstraint(Body &ioBody1, Body &ioBody2)
+	{
+		bool impulse = false;
+
+		// Solve swing constraint
+		if (mSwingLimitYConstraintPart.IsActive())
+			impulse |= mSwingLimitYConstraintPart.SolveVelocityConstraint(ioBody1, ioBody2, mWorldSpaceSwingLimitYRotationAxis, -FLT_MAX, mSinSwingYHalfMinAngle == mSinSwingYHalfMaxAngle? FLT_MAX : 0.0f);
+
+		if (mSwingLimitZConstraintPart.IsActive())
+			impulse |= mSwingLimitZConstraintPart.SolveVelocityConstraint(ioBody1, ioBody2, mWorldSpaceSwingLimitZRotationAxis, -FLT_MAX, mSinSwingZHalfMinAngle == mSinSwingZHalfMaxAngle? FLT_MAX : 0.0f);
+
+		// Solve twist constraint
+		if (mTwistLimitConstraintPart.IsActive())
+			impulse |= mTwistLimitConstraintPart.SolveVelocityConstraint(ioBody1, ioBody2, mWorldSpaceTwistLimitRotationAxis, -FLT_MAX, mSinTwistHalfMinAngle == mSinTwistHalfMaxAngle? FLT_MAX : 0.0f);
+
+		return impulse;
+	}
+
+	/// 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 inConstraintRotation The current rotation of the constraint in constraint space
+	/// @param inConstraintToBody1 , inConstraintToBody2 Rotates from constraint space to body 1/2 space
+	/// @param inBaumgarte Baumgarte constant (fraction of the error to correct)
+	inline bool					SolvePositionConstraint(Body &ioBody1, Body &ioBody2, QuatArg inConstraintRotation, QuatArg inConstraintToBody1, QuatArg inConstraintToBody2, float inBaumgarte) const
+	{
+		Quat q_swing, q_twist;
+		inConstraintRotation.GetSwingTwist(q_swing, q_twist);
+
+		uint clamped_axis;
+		ClampSwingTwist(q_swing, q_twist, clamped_axis);
+
+		// Solve rotation violations
+		if (clamped_axis != 0)
+		{
+			RotationEulerConstraintPart part;
+			Quat inv_initial_orientation = inConstraintToBody2 * (inConstraintToBody1 * q_swing * q_twist).Conjugated();
+			part.CalculateConstraintProperties(ioBody1, Mat44::sRotation(ioBody1.GetRotation()), ioBody2, Mat44::sRotation(ioBody2.GetRotation()));
+			return part.SolvePositionConstraint(ioBody1, ioBody2, inv_initial_orientation, inBaumgarte);
+		}
+
+		return false;
+	}
+
+	/// Return lagrange multiplier for swing
+	inline float				GetTotalSwingYLambda() const
+	{
+		return mSwingLimitYConstraintPart.GetTotalLambda();
+	}
+
+	inline float				GetTotalSwingZLambda() const
+	{
+		return mSwingLimitZConstraintPart.GetTotalLambda();
+	}
+
+	/// Return lagrange multiplier for twist
+	inline float				GetTotalTwistLambda() const
+	{
+		return mTwistLimitConstraintPart.GetTotalLambda();
+	}
+
+	/// Save state of this constraint part
+	void						SaveState(StateRecorder &inStream) const
+	{
+		mSwingLimitYConstraintPart.SaveState(inStream);
+		mSwingLimitZConstraintPart.SaveState(inStream);
+		mTwistLimitConstraintPart.SaveState(inStream);
+	}
+
+	/// Restore state of this constraint part
+	void						RestoreState(StateRecorder &inStream)
+	{
+		mSwingLimitYConstraintPart.RestoreState(inStream);
+		mSwingLimitZConstraintPart.RestoreState(inStream);
+		mTwistLimitConstraintPart.RestoreState(inStream);
+	}
+
+private:
+	// CONFIGURATION PROPERTIES FOLLOW
+
+	enum ERotationFlags
+	{
+		/// Indicates that axis is completely locked (cannot rotate around this axis)
+		TwistXLocked			= 1 << 0,
+		SwingYLocked			= 1 << 1,
+		SwingZLocked			= 1 << 2,
+
+		/// Indicates that axis is completely free (can rotate around without limits)
+		TwistXFree				= 1 << 3,
+		SwingYFree				= 1 << 4,
+		SwingZFree				= 1 << 5,
+		SwingYZFree				= SwingYFree | SwingZFree
+	};
+
+	uint8						mRotationFlags;
+
+	// Constants
+	ESwingType					mSwingType = ESwingType::Cone;
+	float						mSinTwistHalfMinAngle;
+	float						mSinTwistHalfMaxAngle;
+	float						mCosTwistHalfMinAngle;
+	float						mCosTwistHalfMaxAngle;
+	float						mSwingYHalfMinAngle;
+	float						mSwingYHalfMaxAngle;
+	float						mSwingZHalfMinAngle;
+	float						mSwingZHalfMaxAngle;
+	float						mSinSwingYHalfMinAngle;
+	float						mSinSwingYHalfMaxAngle;
+	float						mSinSwingZHalfMinAngle;
+	float						mSinSwingZHalfMaxAngle;
+	float						mCosSwingYHalfMinAngle;
+	float						mCosSwingYHalfMaxAngle;
+	float						mCosSwingZHalfMinAngle;
+	float						mCosSwingZHalfMaxAngle;
+
+	// RUN TIME PROPERTIES FOLLOW
+
+	/// Rotation axis for the angle constraint parts
+	Vec3						mWorldSpaceSwingLimitYRotationAxis;
+	Vec3						mWorldSpaceSwingLimitZRotationAxis;
+	Vec3						mWorldSpaceTwistLimitRotationAxis;
+
+	/// The constraint parts
+	AngleConstraintPart			mSwingLimitYConstraintPart;
+	AngleConstraintPart			mSwingLimitZConstraintPart;
+	AngleConstraintPart			mTwistLimitConstraintPart;
+};
+
+JPH_NAMESPACE_END