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#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
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