29         m_contactManifold(*contactManifold)
    85     const btVector3& normal = contactNormalOnB;
    94     rel_vel = normal.
dot(vel);
    97     btScalar restitution = combinedRestitution* -rel_vel;
   100     btScalar velocityError = -(1.0f + restitution) * rel_vel;
   104         btScalar jacDiagABInv = relaxation/(denom0+denom1);
   106     btScalar penetrationImpulse = positionalError * jacDiagABInv;
   107     btScalar velocityImpulse = velocityError * jacDiagABInv;
   109     btScalar normalImpulse = penetrationImpulse+velocityImpulse;
   110     normalImpulse = 0.f > normalImpulse ? 0.f: normalImpulse;
   116     return normalImpulse;
   153           btScalar rel_vel = jac.getRelativeVelocity(
   161         rel_vel = normal.dot(vel);
   166 #ifdef ONLY_USE_LINEAR_MASS   168         impulse = - contactDamping * rel_vel * massTerm;
   170         btScalar velocityImpulse = -contactDamping * rel_vel * jacDiagABInv;
   171         impulse = velocityImpulse;
 btScalar getInvMass() const 
static const btRigidBody * upcast(const btCollisionObject *colObj)
to keep collision detection and dynamics separate we don't store a rigidbody pointer but a rigidbody ...
btPersistentManifold is a contact point cache, it stays persistent as long as objects are overlapping...
Jacobian entry is an abstraction that allows to describe constraints it can be used in combination wi...
btScalar computeImpulseDenominator(const btVector3 &pos, const btVector3 &normal) const 
btScalar dot(const btVector3 &v) const 
Return the dot product. 
btVector3 getVelocityInLocalPoint(const btVector3 &rel_pos) const 
btTransform & getWorldTransform()
const btTransform & getCenterOfMassTransform() const 
btScalar getDiagonal() const 
const btVector3 & getAngularVelocity() const 
btCollisionObject can be used to manage collision detection objects. 
const btVector3 & getCenterOfMassPosition() const 
The btRigidBody is the main class for rigid body objects. 
btVector3 can be used to represent 3D points and vectors. 
btScalar length2() const 
Return the length of the vector squared. 
TypedConstraint is the baseclass for Bullet constraints and vehicles. 
btMatrix3x3 transpose() const 
Return the transpose of the matrix. 
const btVector3 & getInvInertiaDiagLocal() const 
const btVector3 & getLinearVelocity() const 
void applyImpulse(const btVector3 &impulse, const btVector3 &rel_pos)
float btScalar
The btScalar type abstracts floating point numbers, to easily switch between double and single floati...
btScalar btFabs(btScalar x)