btRigidBody * m_rigidBodyA
btVector3 m_relpos1CrossNormal
btAlignedObjectArray< btVector3 > scratch_v
virtual void createConstraintRows(btMultiBodyConstraintArray &constraintRows, btMultiBodyJacobianData &data, const btContactSolverInfo &infoGlobal)
The btRigidBody is the main class for rigid body objects.
virtual int getIslandIdA() const
btVector3 m_angularComponentB
btMultiBodyConstraint * m_orgConstraint
virtual void finalizeMultiDof()
btVector3 m_angularComponentA
const btTransform & getCenterOfMassTransform() const
1D constraint along a normal axis between bodyA and bodyB. It can be combined to solve contact and fr...
virtual int getIslandIdB() const
btScalar m_maxAppliedImpulse
btScalar fillMultiBodyConstraint(btMultiBodySolverConstraint &solverConstraint, btMultiBodyJacobianData &data, btScalar *jacOrgA, btScalar *jacOrgB, const btVector3 &constraintNormalAng, const btVector3 &constraintNormalLin, const btVector3 &posAworld, const btVector3 &posBworld, btScalar posError, const btContactSolverInfo &infoGlobal, btScalar lowerLimit, btScalar upperLimit, bool angConstraint=false, btScalar relaxation=1.f, bool isFriction=false, btScalar desiredVelocity=0, btScalar cfmSlip=0)
virtual ~btMultiBodyPoint2Point()
virtual void debugDraw(class btIDebugDraw *drawer)
btAlignedObjectArray< btScalar > scratch_r
const btMultibodyLink & getLink(int index) const
class btMultiBodyLinkCollider * m_collider
btScalar * jacobianA(int row)
#define BTMBP2PCONSTRAINT_DIM
This file was written by Erwin Coumans.
btVector3 m_contactNormal1
btAlignedObjectArray< btScalar > m_data
btMultiBodyPoint2Point(btMultiBody *body, int link, btRigidBody *bodyB, const btVector3 &pivotInA, const btVector3 &pivotInB)
btVector3 m_relpos2CrossNormal
btVector3 localPosToWorld(int i, const btVector3 &vec) const
btVector3 m_contactNormal2
const btMultiBodyLinkCollider * getBaseCollider() const
btAlignedObjectArray< btMatrix3x3 > scratch_m
btRigidBody * m_rigidBodyB