128 body2.getCenterOfMassTransform().getBasis().transpose(),
130 body2.getInvInertiaDiagLocal(),
body2.getInvMass());
136 body1.getLinearVelocity(),
137 body1.getCenterOfMassTransform().getBasis().transpose() *
body1.getAngularVelocity(),
138 body2.getLinearVelocity(),
139 body2.getCenterOfMassTransform().getBasis().transpose() *
body2.getAngularVelocity());
146#ifdef ONLY_USE_LINEAR_MASS
const T & btMax(const T &a, const T &b)
float btScalar
The btScalar type abstracts floating point numbers, to easily switch between double and single floati...
btScalar btFabs(btScalar x)
@ CONTACT_CONSTRAINT_TYPE
btCollisionObject can be used to manage collision detection objects.
Jacobian entry is an abstraction that allows to describe constraints it can be used in combination wi...
btPersistentManifold is a contact point cache, it stays persistent as long as objects are overlapping...
The btRigidBody is the main class for rigid body objects.
static const btRigidBody * upcast(const btCollisionObject *colObj)
to keep collision detection and dynamics separate we don't store a rigidbody pointer but a rigidbody ...
TypedConstraint is the baseclass for Bullet constraints and vehicles.
btVector3 can be used to represent 3D points and vectors.
btScalar dot(const btVector3 &v) const
Return the dot product.
btScalar length2() const
Return the length of the vector squared.