68 static const int MAX_NUM_CONTACT_POINTS = 4;
74 bool contactHasRollingFriction[MAX_NUM_CONTACT_POINTS];
84 void internalInitMultipleJoints(
btTypedConstraint * *constraints,
int iBegin,
int iEnd);
96 static const int CACHE_LINE_SIZE = 64;
106 char m_antiFalseSharingPadding[CACHE_LINE_SIZE];
110 virtual void randomizeConstraintOrdering(
int iteration,
int numIterations);
111 virtual btScalar resolveAllJointConstraints(
int iteration);
112 virtual btScalar resolveAllContactConstraints();
113 virtual btScalar resolveAllContactFrictionConstraints();
114 virtual btScalar resolveAllContactConstraintsInterleaved();
115 virtual btScalar resolveAllRollingFrictionConstraints();
117 virtual void setupBatchedContactConstraints();
118 virtual void setupBatchedJointConstraints();
143 void internalSetupContactConstraints(
int iContactConstraint,
const btContactSolverInfo& infoGlobal);
145 void internalWriteBackContacts(
int iBegin,
int iEnd,
const btContactSolverInfo& infoGlobal);