52 btMultiBodySolverConstraint& addMultiBodyFrictionConstraint(
const btVector3& normalAxis,
const btScalar& appliedImpulse,
btPersistentManifold* manifold,
int frictionIndex,
btManifoldPoint& cp,
btCollisionObject* colObj0,
btCollisionObject* colObj1,
btScalar relaxation,
const btContactSolverInfo& infoGlobal,
btScalar desiredVelocity = 0,
btScalar cfmSlip = 0);
88 void applyDeltaVee(
btScalar * deltaV,
btScalar impulse,
int velocityIndex,
int ndof);
98 virtual void solveMultiBodyGroup(
btCollisionObject * *bodies,
int numBodies,
btPersistentManifold** manifold,
int numManifolds,
btTypedConstraint** constraints,
int numConstraints,
btMultiBodyConstraint** multiBodyConstraints,
int numMultiBodyConstraints,
const btContactSolverInfo& info,
btIDebugDraw* debugDrawer,
btDispatcher* dispatcher);
btMultiBodyConstraint ** m_tmpMultiBodyConstraints
int m_tmpNumMultiBodyConstraints
btMultiBodyConstraintArray m_multiBodyTorsionalFrictionContactConstraints
btMultiBodyConstraintArray m_multiBodyNormalContactConstraints
btMultiBodyConstraintArray m_multiBodySpinningFrictionContactConstraints
btMultiBodyConstraintArray m_multiBodyFrictionContactConstraints
btMultiBodyJacobianData m_data
BT_DECLARE_ALIGNED_ALLOCATOR()
void setupMultiBodyJointLimitConstraint(btMultiBodySolverConstraint &constraintRow, btScalar *jacA, btScalar *jacB, btScalar penetration, btScalar combinedFrictionCoeff, btScalar combinedRestitutionCoeff, const btContactSolverInfo &infoGlobal)
btMultiBodyConstraintArray m_multiBodyNonContactConstraints
1D constraint along a normal axis between bodyA and bodyB. It can be combined to solve contact and fr...