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)26 inline float b3GetFrictionCoeff(b3ContactConstraint4_t* constraint)
27 {
28 	return constraint->m_linear.w;
29 }
30 
31 #endif  //B3_CONTACT_CONSTRAINT5_H
32