35 lines
746 B
C++
35 lines
746 B
C++
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#ifndef B3_CONTACT_CONSTRAINT5_H
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#define B3_CONTACT_CONSTRAINT5_H
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#include "Bullet3Common/shared/b3Float4.h"
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typedef struct b3ContactConstraint4 b3ContactConstraint4_t;
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struct b3ContactConstraint4
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{
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b3Float4 m_linear;//normal?
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b3Float4 m_worldPos[4];
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b3Float4 m_center; // friction
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float m_jacCoeffInv[4];
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float m_b[4];
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float m_appliedRambdaDt[4];
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float m_fJacCoeffInv[2]; // friction
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float m_fAppliedRambdaDt[2]; // friction
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unsigned int m_bodyA;
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unsigned int m_bodyB;
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int m_batchIdx;
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unsigned int m_paddings;
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};
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//inline void setFrictionCoeff(float value) { m_linear[3] = value; }
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inline float b3GetFrictionCoeff(b3ContactConstraint4_t* constraint)
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{
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return constraint->m_linear.w;
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}
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#endif //B3_CONTACT_CONSTRAINT5_H
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