Searched refs:frictionConstraint (Results 1 – 1 of 1) sorted by relevance
65 btMultiBodySolverConstraint& frictionConstraint = m_multiBodyFrictionContactConstraints[j]; in solveSingleIteration() local66 …btScalar totalImpulse = m_multiBodyNormalContactConstraints[frictionConstraint.m_frictionIndex].m_… in solveSingleIteration()70 frictionConstraint.m_lowerLimit = -(frictionConstraint.m_friction*totalImpulse); in solveSingleIteration()71 frictionConstraint.m_upperLimit = frictionConstraint.m_friction*totalImpulse; in solveSingleIteration()72 resolveSingleConstraintRowGeneric(frictionConstraint); in solveSingleIteration()74 if(frictionConstraint.m_multiBodyA) in solveSingleIteration()75 frictionConstraint.m_multiBodyA->setPosUpdated(false); in solveSingleIteration()76 if(frictionConstraint.m_multiBodyB) in solveSingleIteration()77 frictionConstraint.m_multiBodyB->setPosUpdated(false); in solveSingleIteration()