1 #ifndef B3_CONTACT_CONSTRAINT5_H 2 #define B3_CONTACT_CONSTRAINT5_H 3 4 #include "Bullet3Common/shared/b3Float4.h" 5 6 typedef struct b3ContactConstraint4 b3ContactConstraint4_t; 7 8 struct b3ContactConstraint4 9 { 10 b3Float4 m_linear; //normal? 11 b3Float4 m_worldPos[4]; 12 b3Float4 m_center; // friction 13 float m_jacCoeffInv[4]; 14 float m_b[4]; 15 float m_appliedRambdaDt[4]; 16 float m_fJacCoeffInv[2]; // friction 17 float m_fAppliedRambdaDt[2]; // friction 18 19 unsigned int m_bodyA; 20 unsigned int m_bodyB; 21 int m_batchIdx; 22 unsigned int m_paddings; 23 }; 24 25 //inline void setFrictionCoeff(float value) { m_linear[3] = value; } b3GetFrictionCoeff(b3ContactConstraint4_t * constraint)26inline float b3GetFrictionCoeff(b3ContactConstraint4_t* constraint) 27 { 28 return constraint->m_linear.w; 29 } 30 31 #endif //B3_CONTACT_CONSTRAINT5_H 32