The btRigidBody is the main class for rigid body objects.
virtual void finalizeMultiDof()
const btMatrix3x3 & getFrameInB() const
btMultiBodyFixedConstraint(btMultiBody *body, int link, btRigidBody *bodyB, const btVector3 &pivotInA, const btVector3 &pivotInB, const btMatrix3x3 &frameInA, const btMatrix3x3 &frameInB)
void setFrameInA(const btMatrix3x3 &frameInA)
virtual int getIslandIdA() const
virtual void setFrameInB(const btMatrix3x3 &frameInB)
const btMatrix3x3 & getFrameInA() const
const btVector3 & getPivotInB() const
btRigidBody * m_rigidBodyA
This file was written by Erwin Coumans.
virtual void createConstraintRows(btMultiBodyConstraintArray &constraintRows, btMultiBodyJacobianData &data, const btContactSolverInfo &infoGlobal)
const btVector3 & getPivotInA() const
btRigidBody * m_rigidBodyB
void setPivotInA(const btVector3 &pivotInA)
virtual int getIslandIdB() const
virtual void debugDraw(class btIDebugDraw *drawer)
virtual void setPivotInB(const btVector3 &pivotInB)
virtual ~btMultiBodyFixedConstraint()