32 if (
cti.m_colObj->hasContactResponse())
147 : m_contact(other.m_contact),
btDeformableContactConstraint(other), m_penetration(other.m_penetration), m_total_split_impulse(other.m_total_split_impulse), m_binding(other.m_binding)
157 if (
cti.m_colObj->hasContactResponse())
209 if (
cti.m_colObj->hasContactResponse())
447 contact->m_node->m_splitv -= dv;
497 v0 -= dv *
contact->m_weights[0];
499 v1 -= dv *
contact->m_weights[1];
501 v2 -= dv *
contact->m_weights[2];
508#ifdef USE_STRAIN_RATE_LIMITING
519 for (
int i = 0; i < 3; ++i)
525 u[i].safeNormalize();
580 v0 -= dv *
contact->m_weights[0];
584 v1 -= dv *
contact->m_weights[1];
588 v2 -= dv *
contact->m_weights[2];
620 return dv *
contact->m_weights[0];
624 return dv *
contact->m_weights[1];
627 return dv *
contact->m_weights[2];
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 btSqrt(btScalar y)
btScalar btDot(const btVector3 &v1, const btVector3 &v2)
Return the dot product between two vectors.
btMatrix3x3 inverse() const
Return the inverse of the matrix.
void setZero()
Set the matrix to the identity.
static btMultiBodyLinkCollider * upcast(btCollisionObject *colObj)
btMultiBody * m_multiBody
The btRigidBody is the main class for rigid body objects.
void applyImpulse(const btVector3 &impulse, const btVector3 &rel_pos)
void applyPushImpulse(const btVector3 &impulse, const btVector3 &rel_pos)
static const btRigidBody * upcast(const btCollisionObject *colObj)
to keep collision detection and dynamics separate we don't store a rigidbody pointer but a rigidbody ...
btMultiBodyJacobianData jacobianData_t1
btMultiBodyJacobianData jacobianData_normal
btMultiBodyJacobianData jacobianData_t2
btVector3 can be used to represent 3D points and vectors.
btScalar safeNorm() const
Return the norm (length) of the vector.
btScalar dot(const btVector3 &v) const
Return the dot product.
btScalar norm() const
Return the norm (length) of the vector.
btVector3 normalized() const
Return a normalized version of this vector.
btAlignedObjectArray< btScalar > m_deltaVelocitiesUnitImpulse
btAlignedObjectArray< btScalar > m_jacobians