Bullet Collision Detection & Physics Library
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58 btJacobianEntry jacA(world2A, world2B, rel_posA1, rel_posA2, normalA, invInertiaADiag, invMassA,
59 invInertiaBDiag, invMassB);
60 btJacobianEntry jacB(world2A, world2B, rel_posB1, rel_posB2, normalB, invInertiaADiag, invMassA,
61 invInertiaBDiag, invMassB);
92 imp0 = dv0 * jacA.
getDiagonal() * invDet + dv1 * -nonDiag * invDet;
93 imp1 = dv1 * jacB.
getDiagonal() * invDet + dv0 * -nonDiag * invDet;
137 btJacobianEntry jacA(world2A, world2B, rel_posA1, rel_posA2, normalA, invInertiaADiag, invMassA,
138 invInertiaBDiag, invMassB);
139 btJacobianEntry jacB(world2A, world2B, rel_posB1, rel_posB2, normalB, invInertiaADiag, invMassA,
140 invInertiaBDiag, invMassB);
168 imp0 = dv0 * jacA.
getDiagonal() * invDet + dv1 * -nonDiag * invDet;
169 imp1 = dv1 * jacB.
getDiagonal() * invDet + dv0 * -nonDiag * invDet;
The btRigidBody is the main class for rigid body objects.
btScalar length() const
Return the length of the vector.
float btScalar
The btScalar type abstracts floating point numbers, to easily switch between double and single floati...
btScalar getNonDiagonal(const btJacobianEntry &jacB, const btScalar massInvA) const
Jacobian entry is an abstraction that allows to describe constraints it can be used in combination wi...
btScalar dot(const btVector3 &v) const
Return the dot product.
btScalar btFabs(btScalar x)
The btMatrix3x3 class implements a 3x3 rotation matrix, to perform linear algebra in combination with...
btScalar getDiagonal() const
btVector3 can be used to represent 3D points and vectors.
btVector3 getVelocityInLocalPoint(const btVector3 &rel_pos) const
void resolveBilateralPairConstraint(btRigidBody *body0, btRigidBody *body1, const btMatrix3x3 &world2A, const btMatrix3x3 &world2B, const btVector3 &invInertiaADiag, const btScalar invMassA, const btVector3 &linvelA, const btVector3 &angvelA, const btVector3 &rel_posA1, const btVector3 &invInertiaBDiag, const btScalar invMassB, const btVector3 &linvelB, const btVector3 &angvelB, const btVector3 &rel_posA2, btScalar depthA, const btVector3 &normalA, const btVector3 &rel_posB1, const btVector3 &rel_posB2, btScalar depthB, const btVector3 &normalB, btScalar &imp0, btScalar &imp1)
void resolveUnilateralPairConstraint(btRigidBody *body0, btRigidBody *body1, const btMatrix3x3 &world2A, const btMatrix3x3 &world2B, const btVector3 &invInertiaADiag, const btScalar invMassA, const btVector3 &linvelA, const btVector3 &angvelA, const btVector3 &rel_posA1, const btVector3 &invInertiaBDiag, const btScalar invMassB, const btVector3 &linvelB, const btVector3 &angvelB, const btVector3 &rel_posA2, btScalar depthA, const btVector3 &normalA, const btVector3 &rel_posB1, const btVector3 &rel_posB2, btScalar depthB, const btVector3 &normalB, btScalar &imp0, btScalar &imp1)