btScalar m_rhsPenetration
btScalar * jacobianB(int row)
virtual void createConstraintRows(btMultiBodyConstraintArray &constraintRows, btMultiBodyJacobianData &data, const btContactSolverInfo &infoGlobal)
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
btScalar * jacobianA(int row)
btScalar getJointPos(int i) const
virtual ~btMultiBodyJointLimitConstraint()
btMultiBody * m_multiBodyA
virtual int getIslandIdA() const
btScalar getPosition(int row) const
btMultiBody * m_multiBodyB
btMultiBodyJointLimitConstraint(btMultiBody *body, int link, btScalar lower, btScalar upper)
This file was written by Erwin Coumans.
btScalar fillConstraintRowMultiBodyMultiBody(btMultiBodySolverConstraint &constraintRow, btMultiBodyJacobianData &data, btScalar *jacOrgA, btScalar *jacOrgB, const btContactSolverInfo &infoGlobal, btScalar desiredVelocity, btScalar lowerLimit, btScalar upperLimit)
void setPosition(int row, btScalar pos)
virtual int getIslandIdB() const
const btMultiBodyLinkCollider * getBaseCollider() const