36 lines
595 B
C
36 lines
595 B
C
#ifndef BT_RIGID_BODY_CL
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#define BT_RIGID_BODY_CL
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#include "parallel_primitives/host/btScalar.h"
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#include "parallel_primitives/host/btMatrix3x3.h"
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ATTRIBUTE_ALIGNED16(struct) btRigidBodyCL
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{
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BT_DECLARE_ALIGNED_ALLOCATOR();
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btVector3 m_pos;
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btQuaternion m_quat;
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btVector3 m_linVel;
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btVector3 m_angVel;
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int m_collidableIdx;
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float m_invMass;
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float m_restituitionCoeff;
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float m_frictionCoeff;
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float getInvMass() const
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{
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return m_invMass;
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}
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};
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struct Inertia
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{
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btMatrix3x3 m_invInertiaWorld;
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btMatrix3x3 m_initInvInertia;
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};
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#endif//BT_RIGID_BODY_CL
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