@ MULTIBODY_CONSTRAINT_FIXED
#define BTMBFIXEDCONSTRAINT_DIM
This file was written by Erwin Coumans.
btAlignedObjectArray< btScalar > m_data
btScalar m_maxAppliedImpulse
btScalar fillMultiBodyConstraint(btMultiBodySolverConstraint &solverConstraint, btMultiBodyJacobianData &data, btScalar *jacOrgA, btScalar *jacOrgB, const btVector3 &constraintNormalAng, const btVector3 &constraintNormalLin, const btVector3 &posAworld, const btVector3 &posBworld, btScalar posError, const btContactSolverInfo &infoGlobal, btScalar lowerLimit, btScalar upperLimit, bool angConstraint=false, btScalar relaxation=1.f, bool isFriction=false, btScalar desiredVelocity=0, btScalar cfmSlip=0, btScalar damping=1.0)
virtual int getIslandIdB() const
virtual void finalizeMultiDof()
virtual void debugDraw(class btIDebugDraw *drawer)
btMultiBodyFixedConstraint(btMultiBody *body, int link, btRigidBody *bodyB, const btVector3 &pivotInA, const btVector3 &pivotInB, const btMatrix3x3 &frameInA, const btMatrix3x3 &frameInB)
virtual ~btMultiBodyFixedConstraint()
virtual void createConstraintRows(btMultiBodyConstraintArray &constraintRows, btMultiBodyJacobianData &data, const btContactSolverInfo &infoGlobal)
btRigidBody * m_rigidBodyA
btRigidBody * m_rigidBodyB
virtual int getIslandIdA() const
btMatrix3x3 localFrameToWorld(int i, const btMatrix3x3 &local_frame) const
const btMultibodyLink & getLink(int index) const
const btMultiBodyLinkCollider * getBaseCollider() const
btVector3 localPosToWorld(int i, const btVector3 &local_pos) const
The btRigidBody is the main class for rigid body objects.
btQuaternion getOrientation() const
const btTransform & getCenterOfMassTransform() const
1D constraint along a normal axis between bodyA and bodyB. It can be combined to solve contact and fr...
btMultiBodyConstraint * m_orgConstraint
class btMultiBodyLinkCollider * m_collider