38 for (
int i = 0; i < 3; i++)
99 a1neg.getSkewSymmetricMatrix(angular0, angular1, angular2);
113 a2.getSkewSymmetricMatrix(angular0, angular1, angular2);
120 for (j = 0; j < 3; j++)
122 info->
m_constraintError[j * info->
rowskip] = k * (a2[j] + body1_trans.getOrigin()[j] - a1[j] - body0_trans.getOrigin()[j]);
127 for (j = 0; j < 3; j++)
134 for (j = 0; j < 3; j++)
virtual void getInfo2(btConstraintInfo2 *info)
virtual void buildJacobian()
internal method used by the constraint solver, don't use them directly
virtual void setParam(int num, btScalar value, int axis=-1)
void updateRHS(btScalar timeStep)
bool m_useSolveConstraintObsolete
virtual void getInfo1(btConstraintInfo1 *info)
void getInfo2NonVirtual(btConstraintInfo2 *info, const btTransform &transA, const btTransform &transB, const btMatrix3x3 &invInertiaWorldA, const btMatrix3x3 &invInertiaWorldB)
virtual btScalar getParam(int num, int axis=-1) const
return the local value of parameter
void getInfo1NonVirtual(btConstraintInfo1 *info)
btFixedConstraint btRigidBody & rbB
btPoint2PointConstraint(btRigidBody &rbA, btRigidBody &rbB, const btVector3 &pivotInA, const btVector3 &pivotInB)
const btVector3 & getPivotInA() const
const btVector3 & getPivotInB() const
btConstraintSetting m_setting
float btScalar
The btScalar type abstracts floating point numbers, to easily switch between double and single floati...
btSimdScalar m_appliedImpulse
#define btAssertConstrParams(_par)
btTypedConstraint(btTypedConstraintType type, btRigidBody &rbA)
@ POINT2POINT_CONSTRAINT_TYPE
btVector3
btVector3 can be used to represent 3D points and vectors. It has an un-used w component to suit 16-by...
btScalar getInvMass() const
const btTransform & getCenterOfMassTransform() const
const btVector3 & getCenterOfMassPosition() const
const btVector3 & getInvInertiaDiagLocal() const
SyclQueue void void size_t num_bytes void
IconTextureDrawCall normal
btScalar * m_J2linearAxis
btScalar * m_J2angularAxis
btScalar * m_J1angularAxis
btScalar * m_constraintError
btScalar * m_J1linearAxis