/usr/include/bullet/Bullet3Dynamics/shared/b3ContactConstraint4.h is in libbullet-dev 2.87+dfsg-2.
This file is owned by root:root, with mode 0o644.
The actual contents of the file can be viewed below.
1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 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
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