1 #ifndef B3_CONTACT_CONSTRAINT5_H
2 #define B3_CONTACT_CONSTRAINT5_H
4 #include "Bullet3Common/shared/b3Float4.h"
6 typedef struct b3ContactConstraint4 b3ContactConstraint4_t;
8 struct b3ContactConstraint4
10 b3Float4 m_linear; //normal?
11 b3Float4 m_worldPos[4];
12 b3Float4 m_center; // friction
13 float m_jacCoeffInv[4];
15 float m_appliedRambdaDt[4];
16 float m_fJacCoeffInv[2]; // friction
17 float m_fAppliedRambdaDt[2]; // friction
22 unsigned int m_paddings;
25 //inline void setFrictionCoeff(float value) { m_linear[3] = value; }
26 inline float b3GetFrictionCoeff(b3ContactConstraint4_t* constraint)
28 return constraint->m_linear.w;
31 #endif //B3_CONTACT_CONSTRAINT5_H