Bullet Collision Detection & Physics Library
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16 #ifndef BT_COROTATED_H
17 #define BT_COROTATED_H
76 size_t id0 = node0->
index;
77 size_t id1 = node1->
index;
78 size_t id2 = node2->
index;
79 size_t id3 = node3->
index;
84 force[id0] -= scale1 * force_on_node0;
85 force[id1] -= scale1 * force_on_node123.getColumn(0);
86 force[id2] -= scale1 * force_on_node123.getColumn(1);
87 force[id3] -= scale1 * force_on_node123.getColumn(2);
105 P += (F-R) * 2 *
m_mu;
float btScalar
The btScalar type abstracts floating point numbers, to easily switch between double and single floati...
btScalar m_element_measure
The btMatrix3x3 class implements a 3x3 rotation matrix, to perform linear algebra in combination with...
btScalar determinant() const
Return the determinant of the matrix.
btMatrix3x3 transpose() const
Return the transpose of the matrix.
btVector3 can be used to represent 3D points and vectors.
This class is used to compute the polar decomposition of a matrix.
The btSoftBody is an class to simulate cloth and volumetric soft bodies.
btMatrix3x3 adjoint() const
Return the adjoint of the matrix.
void setIdentity()
Set the matrix to the identity.
unsigned int decompose(const btMatrix3x3 &a, btMatrix3x3 &u, btMatrix3x3 &h) const
Decomposes a matrix into orthogonal and symmetric, positive-definite parts.
int size() const
return the number of elements in the array