16 #ifndef BT_COROTATED_H
17 #define BT_COROTATED_H
75 size_t id0 = node0->
index;
76 size_t id1 = node1->
index;
77 size_t id2 = node2->
index;
78 size_t id3 = node3->
index;
83 force[id0] -= scale1 * force_on_node0;
84 force[id1] -= scale1 * force_on_node123.getColumn(0);
85 force[id2] -= scale1 * force_on_node123.getColumn(1);
86 force[id3] -= scale1 * force_on_node123.getColumn(2);
95 P =
F.adjoint().transpose() * (
m_lambda * (J - 1));
btMatrix3x3
The btMatrix3x3 class implements a 3x3 rotation matrix, to perform linear algebra in combination with...
float btScalar
The btScalar type abstracts floating point numbers, to easily switch between double and single floati...
btVector3
btVector3 can be used to represent 3D points and vectors. It has an un-used w component to suit 16-by...
SIMD_FORCE_INLINE int size() const
return the number of elements in the array
unsigned int decompose(const btMatrix3x3 &a, btMatrix3x3 &u, btMatrix3x3 &h) const
btScalar m_element_measure