16 #ifndef BT_MULTIBODY_CONSTRAINT_H    17 #define BT_MULTIBODY_CONSTRAINT_H    86         void updateJacobianSizes();
    87         void allocateJacobiansMultiDof();
    89         virtual void finalizeMultiDof()=0;
    91         virtual int getIslandIdA() 
const =0;
    92         virtual int getIslandIdB() 
const =0;
   116                 m_data[dof] = appliedImpulse;
   130                 return m_data[m_posOffset + row];
   135                 m_data[m_posOffset + row] = pos;
   141                 return m_isUnilateral;
   149                 return &m_data[m_numRows + row * m_jacSizeBoth];
   153                 return &m_data[m_numRows + (row * m_jacSizeBoth)];
   157                 return &m_data[m_numRows + (row * m_jacSizeBoth) + m_jacSizeA];
   161                 return &m_data[m_numRows + (row * m_jacSizeBoth) + m_jacSizeA];
   166                 return m_maxAppliedImpulse;
   170                 m_maxAppliedImpulse = maxImp;
   177 #endif //BT_MULTIBODY_CONSTRAINT_H btScalar getMaxAppliedImpulse() const 
btScalar * jacobianB(int row)
btMultiBody * getMultiBodyA()
1D constraint along a normal axis between bodyA and bodyB. It can be combined to solve contact and fr...
btAlignedObjectArray< btScalar > scratch_r
btAlignedObjectArray< btScalar > m_deltaVelocities
btAlignedObjectArray< btSolverBody > * m_solverBodyPool
btScalar m_maxAppliedImpulse
btScalar getAppliedImpulse(int dof)
void internalSetAppliedImpulse(int dof, btScalar appliedImpulse)
btScalar * jacobianA(int row)
btAlignedObjectArray< btMatrix3x3 > scratch_m
btAlignedObjectArray< btScalar > m_deltaVelocitiesUnitImpulse
bool isUnilateral() const 
btScalar getPosition(int row) const 
The btIDebugDraw interface class allows hooking up a debug renderer to visually debug simulations...
btAlignedObjectArray< btScalar > m_data
btAlignedObjectArray< btScalar > m_jacobians
const btScalar * jacobianA(int row) const 
btVector3 can be used to represent 3D points and vectors. 
btAlignedObjectArray< btVector3 > scratch_v
void setPosition(int row, btScalar pos)
void setMaxAppliedImpulse(btScalar maxImp)
const btScalar * jacobianB(int row) const 
btMultiBody * getMultiBodyB()
float btScalar
The btScalar type abstracts floating point numbers, to easily switch between double and single floati...