42 globalAxisA =
m_rbA.getWorldTransform().getBasis() * this->
m_axisInA;
43 globalAxisB =
m_rbB.getWorldTransform().getBasis() * this->
m_axisInB;
btFixedConstraint btRigidBody & rbB
float btScalar
The btScalar type abstracts floating point numbers, to easily switch between double and single floati...
btTypedConstraint(btTypedConstraintType type, btRigidBody &rbA)
btVector3
btVector3 can be used to represent 3D points and vectors. It has an un-used w component to suit 16-by...
virtual ~btGearConstraint()
virtual void getInfo2(btConstraintInfo2 *info)
internal method used by the constraint solver, don't use them directly
virtual void getInfo1(btConstraintInfo1 *info)
internal method used by the constraint solver, don't use them directly
btGearConstraint(btRigidBody &rbA, btRigidBody &rbB, const btVector3 &axisInA, const btVector3 &axisInB, btScalar ratio=1.f)
Implemented by Erwin Coumans. The idea for the constraint comes from Dimitris Papavasiliou.
btScalar * m_J2angularAxis
btScalar * m_J1angularAxis