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| static btScalar | computeDeltaVelocityInConstraintSpace (const btVector3 &angularDeltaVelocity, const btVector3 &contactNormal, btScalar invMass, const btVector3 &angularJacobian, const btVector3 &linearJacobian) |
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| static btScalar | computeDeltaVelocityInConstraintSpace (const btVector3 &angularDeltaVelocity, btScalar invMass, const btVector3 &angularJacobian) |
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| static btScalar | computeDeltaVelocityInConstraintSpace (const btScalar *deltaVelocity, const btScalar *jacobian, int size) |
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| static btScalar | computeConstraintMatrixDiagElementMultiBody (const btAlignedObjectArray< btSolverBody > &solverBodyPool, const btMultiBodyJacobianData &data, const btMultiBodySolverConstraint &constraint) |
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| static btScalar | computeConstraintMatrixOffDiagElementMultiBody (const btAlignedObjectArray< btSolverBody > &solverBodyPool, const btMultiBodyJacobianData &data, const btMultiBodySolverConstraint &constraint, const btMultiBodySolverConstraint &offDiagConstraint) |
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◆ DIRECTLY_UPDATE_VELOCITY_DURING_SOLVER_ITERATIONS
| #define DIRECTLY_UPDATE_VELOCITY_DURING_SOLVER_ITERATIONS |
◆ computeConstraintMatrixDiagElementMultiBody()
◆ computeConstraintMatrixOffDiagElementMultiBody()
◆ computeDeltaVelocityInConstraintSpace() [1/3]
| static btScalar computeDeltaVelocityInConstraintSpace |
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const btScalar * | deltaVelocity, |
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const btScalar * | jacobian, |
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int | size ) |
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◆ computeDeltaVelocityInConstraintSpace() [2/3]
◆ computeDeltaVelocityInConstraintSpace() [3/3]
◆ interleaveContactAndFriction1
| bool interleaveContactAndFriction1 = false |
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