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...
The btAlignedObjectArray template class uses a subset of the stl::vector interface for its methods It...
int size() const
return the number of elements in the array
The btMatrix3x3 class implements a 3x3 rotation matrix, to perform linear algebra in combination with...
btMatrix3x3 transpose() const
Return the transpose of the matrix.
void setIdentity()
Set the matrix to the identity.
This class is used to compute the polar decomposition of a matrix.
unsigned int decompose(const btMatrix3x3 &a, btMatrix3x3 &u, btMatrix3x3 &h) const
Decomposes a matrix into orthogonal and symmetric, positive-definite parts.
The btSoftBody is an class to simulate cloth and volumetric soft bodies.
btVector3 can be used to represent 3D points and vectors.