64         btJacobianEntry jacA(world2A,world2B,rel_posA1,rel_posA2,normalA,invInertiaADiag,invMassA,
    65                 invInertiaBDiag,invMassB);
    66         btJacobianEntry jacB(world2A,world2B,rel_posB1,rel_posB2,normalB,invInertiaADiag,invMassA,
    67                 invInertiaBDiag,invMassB);
   101         imp0 = dv0 * jacA.
getDiagonal() * invDet + dv1 * -nonDiag * invDet;
   102         imp1 = dv1 * jacB.
getDiagonal() * invDet + dv0 * - nonDiag * invDet;
   153         btJacobianEntry jacA(world2A,world2B,rel_posA1,rel_posA2,normalA,invInertiaADiag,invMassA,
   154                 invInertiaBDiag,invMassB);
   155         btJacobianEntry jacB(world2A,world2B,rel_posB1,rel_posB2,normalB,invInertiaADiag,invMassA,
   156                 invInertiaBDiag,invMassB);
   185         imp0 = dv0 * jacA.
getDiagonal() * invDet + dv1 * -nonDiag * invDet;
   186         imp1 = dv1 * jacB.
getDiagonal() * invDet + dv0 * - nonDiag * invDet;
 
Jacobian entry is an abstraction that allows to describe constraints it can be used in combination wi...
btScalar dot(const btVector3 &v) const 
Return the dot product. 
btVector3 getVelocityInLocalPoint(const btVector3 &rel_pos) const 
btScalar getNonDiagonal(const btJacobianEntry &jacB, const btScalar massInvA) const 
btScalar getDiagonal() const 
The btRigidBody is the main class for rigid body objects. 
btScalar length() const 
Return the length of the vector. 
btVector3 can be used to represent 3D points and vectors. 
void resolveUnilateralPairConstraint(btRigidBody *body0, btRigidBody *body1, const btMatrix3x3 &world2A, const btMatrix3x3 &world2B, const btVector3 &invInertiaADiag, const btScalar invMassA, const btVector3 &linvelA, const btVector3 &angvelA, const btVector3 &rel_posA1, const btVector3 &invInertiaBDiag, const btScalar invMassB, const btVector3 &linvelB, const btVector3 &angvelB, const btVector3 &rel_posA2, btScalar depthA, const btVector3 &normalA, const btVector3 &rel_posB1, const btVector3 &rel_posB2, btScalar depthB, const btVector3 &normalB, btScalar &imp0, btScalar &imp1)
The btMatrix3x3 class implements a 3x3 rotation matrix, to perform linear algebra in combination with...
void resolveBilateralPairConstraint(btRigidBody *body0, btRigidBody *body1, const btMatrix3x3 &world2A, const btMatrix3x3 &world2B, const btVector3 &invInertiaADiag, const btScalar invMassA, const btVector3 &linvelA, const btVector3 &angvelA, const btVector3 &rel_posA1, const btVector3 &invInertiaBDiag, const btScalar invMassB, const btVector3 &linvelB, const btVector3 &angvelB, const btVector3 &rel_posA2, btScalar depthA, const btVector3 &normalA, const btVector3 &rel_posB1, const btVector3 &rel_posB2, btScalar depthB, const btVector3 &normalB, btScalar &imp0, btScalar &imp1)
float btScalar
The btScalar type abstracts floating point numbers, to easily switch between double and single floati...
btScalar btFabs(btScalar x)