btScalar m_rhsPenetration
btScalar * jacobianB(int row)
virtual void createConstraintRows(btMultiBodyConstraintArray &constraintRows, btMultiBodyJacobianData &data, const btContactSolverInfo &infoGlobal)
const btMultibodyLink & getLink(int index) const
btVector3 m_relpos1CrossNormal
1D constraint along a normal axis between bodyA and bodyB. It can be combined to solve contact and fr...
btVector3 m_contactNormal2
btScalar m_maxAppliedImpulse
eFeatherstoneJointType m_jointType
class btMultiBodyLinkCollider * m_collider
btMultiBodyConstraint * m_orgConstraint
btScalar * jacobianA(int row)
btScalar getJointPos(int i) const
virtual ~btMultiBodyJointLimitConstraint()
btMultiBody * m_multiBodyA
virtual int getIslandIdA() const
btSpatialMotionVector m_axes[6]
btScalar getPosition(int row) const
btMultiBody * m_multiBodyB
virtual void finalizeMultiDof()
btMultiBodyJointLimitConstraint(btMultiBody *body, int link, btScalar lower, btScalar upper)
This file was written by Erwin Coumans.
void setPosition(int row, btScalar pos)
virtual int getIslandIdB() const
btVector3 m_relpos2CrossNormal
btTransform m_cachedWorldTransform
const btMultiBodyLinkCollider * getBaseCollider() const
void allocateJacobiansMultiDof()
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)
btVector3 m_contactNormal1