btMultiBodyJacobianData m_data
btMultiBodyConstraintArray m_multiBodyNormalContactConstraints
1D constraint along a normal axis between bodyA and bodyB. It can be combined to solve contact and fr...
int m_tmpNumMultiBodyConstraints
btMultiBodyConstraintArray m_multiBodyFrictionContactConstraints
btMultiBodyConstraintArray m_multiBodyNonContactConstraints
btMultiBodyConstraint ** m_tmpMultiBodyConstraints
btMultiBodyConstraintArray m_multiBodyTorsionalFrictionContactConstraints