void fillMultiBodyConstraintMixed(btMultiBodySolverConstraint &solverConstraint, btMultiBodyJacobianData &data, const btVector3 &contactNormalOnB, const btVector3 &posAworld, const btVector3 &posBworld, btScalar position, const btContactSolverInfo &infoGlobal, btScalar &relaxation, bool isFriction, btScalar desiredVelocity=0, btScalar cfmSlip=0)
virtual ~btMultiBodyPoint2Point()
const btMultibodyLink & getLink(int index) const
1D constraint along a normal axis between bodyA and bodyB. It can be combined to solve contact and fr...
btScalar m_maxAppliedImpulse
class btMultiBodyLinkCollider * m_collider
virtual int getIslandIdA() const
btMultiBodyPoint2Point(btMultiBody *body, int link, btRigidBody *bodyB, const btVector3 &pivotInA, const btVector3 &pivotInB)
This file was written by Erwin Coumans.
btRigidBody * m_rigidBodyB
const btTransform & getCenterOfMassTransform() const
btRigidBody * m_rigidBodyA
virtual void createConstraintRows(btMultiBodyConstraintArray &constraintRows, btMultiBodyJacobianData &data, const btContactSolverInfo &infoGlobal)
The btRigidBody is the main class for rigid body objects.
const btMultiBodyLinkCollider * getBaseCollider() const
virtual int getIslandIdB() const
btVector3 localPosToWorld(int i, const btVector3 &vec) const