virtual int getIslandIdA() const
virtual int getIslandIdB() const
void setFrameInA(const btMatrix3x3 &frameInA)
btRigidBody * m_rigidBodyB
virtual void createConstraintRows(btMultiBodyConstraintArray &constraintRows, btMultiBodyJacobianData &data, const btContactSolverInfo &infoGlobal)
const btVector3 & getPivotInB() const
virtual ~btMultiBodyFixedConstraint()
const btVector3 & getPivotInA() const
const btMatrix3x3 & getFrameInA() const
virtual void setPivotInB(const btVector3 &pivotInB)
The btRigidBody is the main class for rigid body objects.
void setPivotInA(const btVector3 &pivotInA)
btRigidBody * m_rigidBodyA
const btMatrix3x3 & getFrameInB() const
btMultiBodyFixedConstraint(btMultiBody *body, int link, btRigidBody *bodyB, const btVector3 &pivotInA, const btVector3 &pivotInB, const btMatrix3x3 &frameInA, const btMatrix3x3 &frameInB)
virtual void setFrameInB(const btMatrix3x3 &frameInB)
virtual void debugDraw(class btIDebugDraw *drawer)
virtual void finalizeMultiDof()
This file was written by Erwin Coumans.