btMultiBodyJacobianData m_data
btMultiBodyConstraintArray m_multiBodySpinningFrictionContactConstraints
btMultiBodyConstraintArray m_multiBodyNormalContactConstraints
1D constraint along a normal axis between bodyA and bodyB. It can be combined to solve contact and fr...
int m_tmpNumMultiBodyConstraints
btMultiBodyConstraintArray m_multiBodyFrictionContactConstraints
btMultiBodyConstraintArray m_multiBodyNonContactConstraints
btMultiBodyConstraint ** m_tmpMultiBodyConstraints
void setupMultiBodyJointLimitConstraint(btMultiBodySolverConstraint &constraintRow, btScalar *jacA, btScalar *jacB, btScalar penetration, btScalar combinedFrictionCoeff, btScalar combinedRestitutionCoeff, const btContactSolverInfo &infoGlobal)
BT_DECLARE_ALIGNED_ALLOCATOR()
btMultiBodyConstraintArray m_multiBodyTorsionalFrictionContactConstraints