btAlignedObjectArray< btMultiBodySolverConstraint > btMultiBodyConstraintArray
btMultiBodyConstraint(btMultiBody *bodyA, btMultiBody *bodyB, int linkA, int linkB, int numRows, bool isUnilateral, int type)
btRigidBody * m_rigidBodyA
btMultiBodyPoint2Point(btMultiBody *body, int link, btRigidBody *bodyB, const btVector3 &pivotInA, const btVector3 &pivotInB)
virtual void finalizeMultiDof()
const btVector3 & getPivotInB() const
virtual int getIslandIdB() const
BT_DECLARE_ALIGNED_ALLOCATOR()
virtual void setPivotInB(const btVector3 &pivotInB)
virtual void createConstraintRows(btMultiBodyConstraintArray &constraintRows, btMultiBodyJacobianData &data, const btContactSolverInfo &infoGlobal)
btRigidBody * m_rigidBodyB
virtual int getIslandIdA() const
The btRigidBody is the main class for rigid body objects.