1 files changed, 34 insertions, 0 deletions
diff --git a/thirdparty/bullet/Bullet3Dynamics/shared/b3ContactConstraint4.h b/thirdparty/bullet/Bullet3Dynamics/shared/b3ContactConstraint4.h
new file mode 100644
index 0000000000..68cf65e312
--- /dev/null
+++ b/thirdparty/bullet/Bullet3Dynamics/shared/b3ContactConstraint4.h
@@ -0,0 +1,34 @@
+#ifndef B3_CONTACT_CONSTRAINT5_H
+#define B3_CONTACT_CONSTRAINT5_H
+
+#include "Bullet3Common/shared/b3Float4.h"
+
+typedef struct b3ContactConstraint4 b3ContactConstraint4_t;
+
+
+struct b3ContactConstraint4
+{
+
+	b3Float4 m_linear;//normal?
+	b3Float4 m_worldPos[4];
+	b3Float4 m_center;	//	friction
+	float m_jacCoeffInv[4];
+	float m_b[4];
+	float m_appliedRambdaDt[4];
+	float m_fJacCoeffInv[2];	//	friction
+	float m_fAppliedRambdaDt[2];	//	friction
+
+	unsigned int m_bodyA;
+	unsigned int m_bodyB;
+	int			m_batchIdx;
+	unsigned int m_paddings;
+
+};
+
+//inline	void setFrictionCoeff(float value) { m_linear[3] = value; }
+inline	float b3GetFrictionCoeff(b3ContactConstraint4_t* constraint) 
+{
+	return constraint->m_linear.w; 
+}
+
+#endif //B3_CONTACT_CONSTRAINT5_H