Bullet Collision Detection & Physics Library
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TypedConstraint is the baseclass for Bullet constraints and vehicles.
const btVector3 & getPivotInA() const
The btRigidBody is the main class for rigid body objects.
#define btAssertConstrParams(_par)
btConstraintSetting m_setting
float btScalar
The btScalar type abstracts floating point numbers, to easily switch between double and single floati...
Jacobian entry is an abstraction that allows to describe constraints it can be used in combination wi...
virtual void getInfo2(btConstraintInfo2 *info)
internal method used by the constraint solver, don't use them directly
btScalar * m_J2angularAxis
btScalar * m_J2linearAxis
btPoint2PointConstraint(btRigidBody &rbA, btRigidBody &rbB, const btVector3 &pivotInA, const btVector3 &pivotInB)
const btVector3 & getPivotInB() const
const btTransform & getCenterOfMassTransform() const
bool m_useSolveConstraintObsolete
for backwards compatibility during the transition to 'getInfo/getInfo2'
const btVector3 & getInvInertiaDiagLocal() const
virtual void setParam(int num, btScalar value, int axis=-1)
override the default global value of a parameter (such as ERP or CFM), optionally provide the axis (0...
void getInfo2NonVirtual(btConstraintInfo2 *info, const btTransform &body0_trans, const btTransform &body1_trans)
btScalar * m_constraintError
btMatrix3x3 transpose() const
Return the transpose of the matrix.
btScalar getInvMass() const
btVector3 can be used to represent 3D points and vectors.
virtual void buildJacobian()
internal method used by the constraint solver, don't use them directly
btScalar m_appliedImpulse
virtual void getInfo1(btConstraintInfo1 *info)
internal method used by the constraint solver, don't use them directly
void getInfo1NonVirtual(btConstraintInfo1 *info)
const btVector3 & getCenterOfMassPosition() const
btScalar * m_J1angularAxis
void getSkewSymmetricMatrix(btVector3 *v0, btVector3 *v1, btVector3 *v2) const
virtual btScalar getParam(int num, int axis=-1) const
return the local value of parameter
btScalar * m_J1linearAxis
void updateRHS(btScalar timeStep)