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