331 if (
contact.m_node->index <
rsb->m_nodes.size())
const T & btMax(const T &a, const T &b)
btScalar dot(const btQuaternion &q1, const btQuaternion &q2)
Calculate the dot product between two quaternions.
float btScalar
The btScalar type abstracts floating point numbers, to easily switch between double and single floati...
static T sum(const btAlignedObjectArray< T > &items)
btScalar btDot(const btVector3 &v1, const btVector3 &v2)
Return the dot product between two vectors.
int getInternalType() const
reserved for Bullet internal usage
bool isStaticObject() const
const btTransform & getInterpolationWorldTransform() const
static btMultiBodyLinkCollider * upcast(btCollisionObject *colObj)
btMultiBody * m_multiBody
virtual btMatrix3x3 getImpulseFactor(int n_node)
const btVector3 internalComputeNodeDeltaVelocity(const btTransform &ref_trans, int n_node) const
void internalApplyFullSpaceImpulse(const btVector3 &impulse, const btVector3 &rel_pos, int n_node, btScalar dt)
btTransform & getRigidTransform()
const btMatrix3x3 & getInvInertiaTensorWorld() const
btMultiBodyJacobianData jacobianData_t1
btMultiBodyJacobianData jacobianData_normal
btMultiBodyJacobianData jacobianData_t2
btVector3 can be used to represent 3D points and vectors.
btVector3 cross(const btVector3 &v) const
Return the cross product between this and another vector.
btScalar dot(const btVector3 &v) const
Return the dot product.
btVector3 normalized() const
Return a normalized version of this vector.
btAlignedObjectArray< btScalar > m_deltaVelocitiesUnitImpulse
btAlignedObjectArray< btScalar > m_jacobians
const btCollisionObject * m_colObj
The btSolverBody is an internal datastructure for the constraint solver. Only necessary data is packe...
btVector3 & internalGetDeltaAngularVelocity()
btRigidBody * m_originalBody
btVector3 & internalGetDeltaLinearVelocity()
some internal methods, don't use them
void internalApplyImpulse(const btVector3 &linearComponent, const btVector3 &angularComponent, const btScalar impulseMagnitude)
const btVector3 & internalGetInvMass() const