28 m_useSolveConstraintObsolete(false)
btScalar * m_constraintError
virtual void getInfo2(btConstraintInfo2 *info)
internal method used by the constraint solver, don't use them directly
btScalar * m_J2angularAxis
btConstraintSetting m_setting
const btVector3 & getPivotInA() const
Jacobian entry is an abstraction that allows to describe constraints it can be used in combination wi...
void updateRHS(btScalar timeStep)
const btVector3 & getPivotInB() const
const btTransform & getCenterOfMassTransform() const
bool m_useSolveConstraintObsolete
for backwards compatibility during the transition to 'getInfo/getInfo2'
btScalar * m_J1angularAxis
btPoint2PointConstraint(btRigidBody &rbA, btRigidBody &rbB, const btVector3 &pivotInA, const btVector3 &pivotInB)
btMatrix3x3 transpose() const
Return the transpose of the matrix.
virtual void setParam(int num, btScalar value, int axis=-1)
override the default global value of a parameter (such as ERP or CFM), optionally provide the axis (0...
const btVector3 & getInvInertiaDiagLocal() const
btScalar * m_J1linearAxis
void getInfo2NonVirtual(btConstraintInfo2 *info, const btTransform &body0_trans, const btTransform &body1_trans)
btScalar getInvMass() const
void getSkewSymmetricMatrix(btVector3 *v0, btVector3 *v1, btVector3 *v2) const
The btRigidBody is the main class for rigid body objects.
btVector3 can be used to represent 3D points and vectors.
virtual void buildJacobian()
internal method used by the constraint solver, don't use them directly
const btVector3 & getCenterOfMassPosition() const
btScalar * m_J2linearAxis
TypedConstraint is the baseclass for Bullet constraints and vehicles.
void getInfo1NonVirtual(btConstraintInfo1 *info)
btScalar m_appliedImpulse
virtual void getInfo1(btConstraintInfo1 *info)
internal method used by the constraint solver, don't use them directly
#define btAssertConstrParams(_par)
float btScalar
The btScalar type abstracts floating point numbers, to easily switch between double and single floati...
virtual btScalar getParam(int num, int axis=-1) const
return the local value of parameter