btTypedConstraint.h File Reference

#include "LinearMath/btScalar.h"
#include "btSolverConstraint.h"
#include "BulletDynamics/Dynamics/btRigidBody.h"

Go to the source code of this file.

Classes
struct	btConstraintInfo1
struct	btConstraintInfo2
struct	btTypedConstraintFloatData
	do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64 More...
struct	btTypedConstraintData
	this structure is not used, except for loading pre-2.82 .bullet files More...
struct	btTypedConstraintDoubleData
class	btAngularLimit

Macros
#define	btTypedConstraintData2   btTypedConstraintFloatData
#define	btTypedConstraintDataName   "btTypedConstraintFloatData"
#define	btAssertConstrParams(_par)
#define	BT_BACKWARDS_COMPATIBLE_SERIALIZATION
	do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64

Enumerations
enum	btTypedConstraintType {   POINT2POINT_CONSTRAINT_TYPE = 3 , HINGE_CONSTRAINT_TYPE , CONETWIST_CONSTRAINT_TYPE , D6_CONSTRAINT_TYPE ,   SLIDER_CONSTRAINT_TYPE , CONTACT_CONSTRAINT_TYPE , D6_SPRING_CONSTRAINT_TYPE , GEAR_CONSTRAINT_TYPE ,   FIXED_CONSTRAINT_TYPE , D6_SPRING_2_CONSTRAINT_TYPE , MAX_CONSTRAINT_TYPE }
enum	btConstraintParams { BT_CONSTRAINT_ERP = 1 , BT_CONSTRAINT_STOP_ERP , BT_CONSTRAINT_CFM , BT_CONSTRAINT_STOP_CFM }

Functions
btTypedConstraint &	operator= (btTypedConstraint &other)
btScalar	getMotorFactor (btScalar pos, btScalar lowLim, btScalar uppLim, btScalar vel, btScalar timeFact)
	internal method used by the constraint solver, don't use them directly
	BT_DECLARE_ALIGNED_ALLOCATOR ()
virtual	~btTypedConstraint ()
	btTypedConstraint (btTypedConstraintType type, btRigidBody &rbA)
	btTypedConstraint (btTypedConstraintType type, btRigidBody &rbA, btRigidBody &rbB)
static btRigidBody &	getFixedBody ()
int	getOverrideNumSolverIterations () const
void	setOverrideNumSolverIterations (int overideNumIterations)
virtual void	buildJacobian ()
	internal method used by the constraint solver, don't use them directly
virtual void	setupSolverConstraint (btConstraintArray &ca, int solverBodyA, int solverBodyB, btScalar timeStep)
	internal method used by the constraint solver, don't use them directly
virtual void	getInfo1 (btConstraintInfo1 *info)=0
	internal method used by the constraint solver, don't use them directly
virtual void	getInfo2 (btConstraintInfo2 *info)=0
	internal method used by the constraint solver, don't use them directly
void	internalSetAppliedImpulse (btScalar appliedImpulse)
	internal method used by the constraint solver, don't use them directly
btScalar	internalGetAppliedImpulse ()
	internal method used by the constraint solver, don't use them directly
btScalar	getBreakingImpulseThreshold () const
void	setBreakingImpulseThreshold (btScalar threshold)
bool	isEnabled () const
void	setEnabled (bool enabled)
virtual void	solveConstraintObsolete (btSolverBody &, btSolverBody &, btScalar)
	internal method used by the constraint solver, don't use them directly
const btRigidBody &	getRigidBodyA () const
const btRigidBody &	getRigidBodyB () const
int	getUserConstraintType () const
void	setUserConstraintType (int userConstraintType)
void	setUserConstraintId (int uid)
int	getUserConstraintId () const
void	setUserConstraintPtr (void *ptr)
void *	getUserConstraintPtr ()
void	setJointFeedback (btJointFeedback *jointFeedback)
const btJointFeedback *	getJointFeedback () const
int	getUid () const
bool	needsFeedback () const
void	enableFeedback (bool needsFeedback)
btScalar	getAppliedImpulse () const
btTypedConstraintType	getConstraintType () const
void	setDbgDrawSize (btScalar dbgDrawSize)
btScalar	getDbgDrawSize ()
virtual void	setParam (int num, btScalar value, int axis=-1)=0
virtual btScalar	getParam (int num, int axis=-1) const =0
	return the local value of parameter
virtual int	calculateSerializeBufferSize () const
virtual const char *	serialize (void *dataBuffer, btSerializer *serializer) const
	fills the dataBuffer and returns the struct name (and 0 on failure)
SIMD_FORCE_INLINE btScalar	btAdjustAngleToLimits (btScalar angleInRadians, btScalar angleLowerLimitInRadians, btScalar angleUpperLimitInRadians)

Variables
	btJointFeedback
btVector3	m_appliedForceBodyA
btVector3	m_appliedTorqueBodyA
btVector3	m_appliedForceBodyB
btVector3	m_appliedTorqueBodyB
btTypedConstraint	__pad0__
	TypedConstraint is the baseclass for Bullet constraints and vehicles.
union {
int   m_userConstraintId
void *   m_userConstraintPtr
};
btScalar	m_breakingImpulseThreshold
bool	m_isEnabled
bool	m_needsFeedback
int	m_overrideNumSolverIterations
btRigidBody &	m_rbA
btRigidBody &	m_rbB
btScalar	m_appliedImpulse
btScalar	m_dbgDrawSize
btJointFeedback *	m_jointFeedback

Macro Definition Documentation

BT_BACKWARDS_COMPATIBLE_SERIALIZATION

#define BT_BACKWARDS_COMPATIBLE_SERIALIZATION

do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64

Definition at line 384 of file btTypedConstraint.h.

btAssertConstrParams

#define btAssertConstrParams

(

_par

)

Value:

btAssert(_par)

Definition at line 58 of file btTypedConstraint.h.

btTypedConstraintData2

#define btTypedConstraintData2   btTypedConstraintFloatData

Definition at line 27 of file btTypedConstraint.h.

btTypedConstraintDataName

#define btTypedConstraintDataName   "btTypedConstraintFloatData"

Definition at line 28 of file btTypedConstraint.h.

Enumeration Type Documentation

btConstraintParams

enum btConstraintParams

Enumerator
BT_CONSTRAINT_ERP
BT_CONSTRAINT_STOP_ERP
BT_CONSTRAINT_CFM
BT_CONSTRAINT_STOP_CFM

Definition at line 49 of file btTypedConstraint.h.

btTypedConstraintType

enum btTypedConstraintType

Enumerator
POINT2POINT_CONSTRAINT_TYPE
HINGE_CONSTRAINT_TYPE
CONETWIST_CONSTRAINT_TYPE
D6_CONSTRAINT_TYPE
SLIDER_CONSTRAINT_TYPE
CONTACT_CONSTRAINT_TYPE
D6_SPRING_CONSTRAINT_TYPE
GEAR_CONSTRAINT_TYPE
FIXED_CONSTRAINT_TYPE
D6_SPRING_2_CONSTRAINT_TYPE
MAX_CONSTRAINT_TYPE

Definition at line 34 of file btTypedConstraint.h.

Function Documentation

BT_DECLARE_ALIGNED_ALLOCATOR()

BT_DECLARE_ALIGNED_ALLOCATOR

(

)

btAdjustAngleToLimits()

SIMD_FORCE_INLINE btScalar btAdjustAngleToLimits	(	btScalar	angleInRadians,
		btScalar	angleLowerLimitInRadians,
		btScalar	angleUpperLimitInRadians )

Definition at line 331 of file btTypedConstraint.h.

References btFabs(), btNormalizeAngle(), SIMD_2_PI, and SIMD_FORCE_INLINE.

Referenced by testAngLimits(), testAngularLimitMotor(), and testLimit().

btTypedConstraint() [1/2]

btTypedConstraint::btTypedConstraint	(	btTypedConstraintType	type,
		btRigidBody &	rbA )

Definition at line 22 of file btTypedConstraint.cpp.

References DEFAULT_DEBUGDRAW_SIZE, false, getFixedBody(), m_appliedImpulse, m_breakingImpulseThreshold, m_dbgDrawSize, m_isEnabled, m_jointFeedback, m_needsFeedback, m_overrideNumSolverIterations, m_rbA, m_rbB, m_userConstraintPtr, SIMD_INFINITY, and true.

Referenced by addConstraint(), btDynamicsWorld::addConstraint(), btRigidBody::addConstraintRef(), btSimulationIslandManagerMt::addConstraintsToIslands(), btConeTwistConstraint(), btConeTwistConstraint(), btContactConstraint(), btGearConstraint::btGearConstraint(), btGeneric6DofConstraint(), btGeneric6DofConstraint(), btGeneric6DofSpring2Constraint(), btGeneric6DofSpring2Constraint(), btGetConstraintIslandId(), btGetConstraintIslandId1(), btGetConstraintIslandId2(), btHingeConstraint(), btHingeConstraint(), btHingeConstraint(), btHingeConstraint(), btPoint2PointConstraint(), btPoint2PointConstraint(), btSliderConstraint(), btSliderConstraint(), btSimulationIslandManagerMt::buildAndProcessIslands(), btMultiBodyDynamicsWorld::calculateSimulationIslands(), convertJoint(), convertJoints(), convertJoints(), ConvertJointsLoop::ConvertJointsLoop(), debugDrawConstraint(), btDynamicsWorld::getConstraint(), btDynamicsWorld::getConstraint(), getConstraint(), btRigidBody::getConstraintRef(), InitJointsLoop::InitJointsLoop(), internalConvertMultipleJoints(), internalInitMultipleJoints(), btSortConstraintOnIslandPredicate2::operator()(), btSortConstraintOnIslandPredicate::operator()(), operator=(), DeformableBodyInplaceSolverIslandCallback::processConstraints(), InplaceSolverIslandCallback::processConstraints(), MultiBodyInplaceSolverIslandCallback::processConstraints(), InplaceSolverIslandCallback::processIsland(), MultiBodyInplaceSolverIslandCallback::processIsland(), RB_body_delete(), RB_constraint_delete(), RB_constraint_new_6dof(), RB_constraint_new_6dof_spring(), RB_constraint_new_6dof_spring2(), RB_constraint_new_point(), RB_constraint_set_breaking_threshold(), RB_constraint_set_enabled(), RB_constraint_set_solver_iterations(), RB_dworld_add_constraint(), RB_dworld_remove_constraint(), removeCollisionObject(), btDynamicsWorld::removeConstraint(), removeConstraint(), btRigidBody::removeConstraintRef(), serializeRigidBodies(), InplaceSolverIslandCallback::setup(), MultiBodyInplaceSolverIslandCallback::setup(), btDeformableMultiBodyDynamicsWorld::setupConstraints(), solveDeformableBodyGroup(), solveDeformableGroupIterations(), btMultiBodyDynamicsWorld::solveExternalForces(), btConstraintSolver::solveGroup(), btConstraintSolverPoolMt::solveGroup(), solveGroup(), solveGroupCacheFriendlyFinish(), btMLCPSolver::solveGroupCacheFriendlyIterations(), btMultiBodyMLCPConstraintSolver::solveGroupCacheFriendlyIterations(), solveGroupCacheFriendlyIterations(), btMLCPSolver::solveGroupCacheFriendlySetup(), btMultiBodyMLCPConstraintSolver::solveGroupCacheFriendlySetup(), solveGroupCacheFriendlySetup(), solveGroupCacheFriendlySetup(), solveGroupCacheFriendlySplitImpulseIterations(), solveGroupCacheFriendlySplitImpulseIterations(), btSimulationIslandManagerMt::solveIsland(), solveMultiBodyGroup(), solveSingleIteration(), solveSingleIteration(), and writeBackJoints().

btTypedConstraint() [2/2]

btTypedConstraint::btTypedConstraint	(	btTypedConstraintType	type,
		btRigidBody &	rbA,
		btRigidBody &	rbB )

Definition at line 38 of file btTypedConstraint.cpp.

References DEFAULT_DEBUGDRAW_SIZE, false, m_appliedImpulse, m_breakingImpulseThreshold, m_dbgDrawSize, m_isEnabled, m_jointFeedback, m_needsFeedback, m_overrideNumSolverIterations, m_rbA, m_rbB, m_userConstraintPtr, rbB, SIMD_INFINITY, and true.

buildJacobian()

virtual void buildJacobian ( )

virtual

internal method used by the constraint solver, don't use them directly

we need it for both methods

Definition at line 163 of file btTypedConstraint.h.

References btJacobianEntry, btPlaneSpace1(), btVector3, calcAngleInfo2(), i, m_accMotorImpulse, m_accSwingLimitImpulse, m_accTwistLimitImpulse, m_angularOnly, m_appliedImpulse, m_rbA, m_rbAFrame, m_rbB, m_rbBFrame, m_useSolveConstraintObsolete, and SIMD_EPSILON.

Referenced by setFrames().

calculateSerializeBufferSize()

virtual int calculateSerializeBufferSize ( ) const

virtual

enableFeedback()

void enableFeedback

(

bool

needsFeedback

)

enableFeedback will allow to read the applied linear and angular impulse use getAppliedImpulse, getAppliedLinearImpulse and getAppliedAngularImpulse to read feedback information

Definition at line 289 of file btTypedConstraint.h.

References m_needsFeedback, and needsFeedback().

getAppliedImpulse()

btScalar getAppliedImpulse

(

)

const

getAppliedImpulse is an estimated total applied impulse. This feedback could be used to determine breaking constraints or playing sounds.

Definition at line 296 of file btTypedConstraint.h.

References btAssert, m_appliedImpulse, and m_needsFeedback.

getBreakingImpulseThreshold()

btScalar getBreakingImpulseThreshold

(

)

const

Definition at line 191 of file btTypedConstraint.h.

References m_breakingImpulseThreshold.

getConstraintType()

btTypedConstraintType getConstraintType

(

)

const

Definition at line 302 of file btTypedConstraint.h.

getDbgDrawSize()

btScalar getDbgDrawSize

(

)

Definition at line 311 of file btTypedConstraint.h.

References m_dbgDrawSize.

getFixedBody()

btRigidBody & getFixedBody ( )

static

Referenced by btGeneric6DofConstraint(), btGeneric6DofSpring2Constraint(), btSliderConstraint(), and btTypedConstraint().

getInfo1()

virtual void getInfo1 ( btConstraintInfo1 * info )

pure virtual

internal method used by the constraint solver, don't use them directly

getInfo2()

virtual void getInfo2 ( btConstraintInfo2 * info )

pure virtual

internal method used by the constraint solver, don't use them directly

getJointFeedback()

btJointFeedback * getJointFeedback

(

)

const

Definition at line 267 of file btTypedConstraint.h.

References btJointFeedback, and m_jointFeedback.

getMotorFactor()

btScalar btTypedConstraint::getMotorFactor ( btScalar pos, btScalar lowLim, btScalar uppLim, btScalar vel, btScalar timeFact )

protected

internal method used by the constraint solver, don't use them directly

Definition at line 54 of file btTypedConstraint.cpp.

References pos.

Referenced by get_limit_motor_info2(), get_limit_motor_info2(), getInfo2Internal(), getInfo2InternalUsingFrameOffset(), and getInfo2NonVirtual().

getOverrideNumSolverIterations()

int getOverrideNumSolverIterations

(

)

const

Definition at line 150 of file btTypedConstraint.h.

References m_overrideNumSolverIterations.

getParam()

virtual btScalar getParam ( int num, int axis = -1 ) const

pure virtual

return the local value of parameter

References num.

getRigidBodyA()

const btRigidBody & getRigidBodyA

(

)

const

Definition at line 214 of file btTypedConstraint.h.

References m_rbA.

getRigidBodyB()

const btRigidBody & getRigidBodyB

(

)

const

Definition at line 218 of file btTypedConstraint.h.

References m_rbB.

getUid()

int getUid

(

)

const

Definition at line 277 of file btTypedConstraint.h.

References m_userConstraintId.

getUserConstraintId()

int getUserConstraintId

(

)

const

Definition at line 247 of file btTypedConstraint.h.

References m_userConstraintId.

getUserConstraintPtr()

void * getUserConstraintPtr

(

)

Definition at line 257 of file btTypedConstraint.h.

References m_userConstraintPtr.

getUserConstraintType()

int getUserConstraintType

(

)

const

Definition at line 232 of file btTypedConstraint.h.

internalGetAppliedImpulse()

btScalar internalGetAppliedImpulse

(

)

internal method used by the constraint solver, don't use them directly

Definition at line 186 of file btTypedConstraint.h.

References m_appliedImpulse.

internalSetAppliedImpulse()

void internalSetAppliedImpulse

(

btScalar

appliedImpulse

)

internal method used by the constraint solver, don't use them directly

Definition at line 181 of file btTypedConstraint.h.

References m_appliedImpulse.

isEnabled()

bool isEnabled

(

)

const

Definition at line 201 of file btTypedConstraint.h.

References m_isEnabled.

Referenced by convertJoints(), and solveSingleIteration().

needsFeedback()

bool needsFeedback

(

)

const

Definition at line 282 of file btTypedConstraint.h.

References m_needsFeedback.

Referenced by enableFeedback().

operator=()

btTypedConstraint & operator=

(

btTypedConstraint &

other

)

Definition at line 89 of file btTypedConstraint.h.

References btAssert, and btTypedConstraint().

serialize()

virtual const char * serialize ( void * dataBuffer, btSerializer * serializer ) const

virtual

fills the dataBuffer and returns the struct name (and 0 on failure)

setBreakingImpulseThreshold()

void setBreakingImpulseThreshold

(

btScalar

threshold

)

Definition at line 196 of file btTypedConstraint.h.

References m_breakingImpulseThreshold.

setDbgDrawSize()

void setDbgDrawSize

(

btScalar

dbgDrawSize

)

Definition at line 307 of file btTypedConstraint.h.

References m_dbgDrawSize.

setEnabled()

void setEnabled

(

bool

enabled

)

Definition at line 206 of file btTypedConstraint.h.

References enabled, and m_isEnabled.

setJointFeedback()

void setJointFeedback

(

btJointFeedback *

jointFeedback

)

Definition at line 262 of file btTypedConstraint.h.

References btJointFeedback, and m_jointFeedback.

setOverrideNumSolverIterations()

void setOverrideNumSolverIterations

(

int

overideNumIterations

)

override the number of constraint solver iterations used to solve this constraint -1 will use the default number of iterations, as specified in SolverInfo.m_numIterations

Definition at line 157 of file btTypedConstraint.h.

References m_overrideNumSolverIterations.

setParam()

virtual void setParam ( int num, btScalar value, int axis = -1 )

pure virtual

override the default global value of a parameter (such as ERP or CFM), optionally provide the axis (0..5). If no axis is provided, it uses the default axis for this constraint.

References num.

setupSolverConstraint()

virtual void setupSolverConstraint ( btConstraintArray & ca, int solverBodyA, int solverBodyB, btScalar timeStep )

virtual

internal method used by the constraint solver, don't use them directly

Definition at line 166 of file btTypedConstraint.h.

setUserConstraintId()

void setUserConstraintId

(

int

uid

)

Definition at line 242 of file btTypedConstraint.h.

References m_userConstraintId.

setUserConstraintPtr()

void setUserConstraintPtr

(

void *

ptr

)

Definition at line 252 of file btTypedConstraint.h.

References m_userConstraintPtr, and ptr.

setUserConstraintType()

void setUserConstraintType

(

int

userConstraintType

)

Definition at line 237 of file btTypedConstraint.h.

solveConstraintObsolete()

virtual void solveConstraintObsolete ( btSolverBody & bodyA, btSolverBody & bodyB, btScalar timeStep )

virtual

internal method used by the constraint solver, don't use them directly

solve angular part

Definition at line 212 of file btTypedConstraint.h.

References btAssert, btMax(), btSolverBody, btTransform, btVector3, btTransformUtil::calculateVelocity(), btRigidBody::computeAngularImpulseDenominator(), dot(), getRigidBodyA(), getRigidBodyB(), i, btTransformUtil::integrateTransform(), m_accMotorImpulse, m_accSwingLimitImpulse, m_accTwistLimitImpulse, m_angularOnly, m_appliedImpulse, m_biasFactor, m_bMotorEnabled, m_bNormalizedMotorStrength, m_damping, m_kSwing, m_kTwist, m_maxMotorImpulse, m_qTarget, m_rbA, m_rbAFrame, m_rbB, m_rbBFrame, m_relaxationFactor, m_solveSwingLimit, m_solveTwistLimit, m_swingAxis, m_swingCorrection, m_swingLimitRatio, m_twistAxis, m_twistAxisA, m_twistCorrection, m_twistLimitRatio, m_useSolveConstraintObsolete, and SIMD_EPSILON.

~btTypedConstraint()

virtual ~btTypedConstraint ( )

virtual

Definition at line 109 of file btTypedConstraint.h.

Variable Documentation

[union]

union { ... }

__pad0__

btTypedConstraint __pad0__

TypedConstraint is the baseclass for Bullet constraints and vehicles.

Definition at line 75 of file btTypedConstraint.h.

btJointFeedback

btJointFeedback

Initial value:

{
    BT_DECLARE_ALIGNED_ALLOCATOR()

Definition at line 64 of file btTypedConstraint.h.

Referenced by convertJoints(), getJointFeedback(), internalInitMultipleJoints(), setJointFeedback(), and writeBackJoints().

m_appliedForceBodyA

btVector3 m_appliedForceBodyA

Definition at line 67 of file btTypedConstraint.h.

m_appliedForceBodyB

btVector3 m_appliedForceBodyB

Definition at line 69 of file btTypedConstraint.h.

m_appliedImpulse

btScalar m_appliedImpulse

protected

Definition at line 99 of file btTypedConstraint.h.

m_appliedTorqueBodyA

btVector3 m_appliedTorqueBodyA

Definition at line 68 of file btTypedConstraint.h.

m_appliedTorqueBodyB

btVector3 m_appliedTorqueBodyB

Definition at line 70 of file btTypedConstraint.h.

m_breakingImpulseThreshold

btScalar m_breakingImpulseThreshold

Definition at line 84 of file btTypedConstraint.h.

Referenced by btTypedConstraint(), btTypedConstraint(), getBreakingImpulseThreshold(), and setBreakingImpulseThreshold().

m_dbgDrawSize

btScalar m_dbgDrawSize

protected

Definition at line 100 of file btTypedConstraint.h.

Referenced by btTypedConstraint(), btTypedConstraint(), getDbgDrawSize(), and setDbgDrawSize().

m_isEnabled

bool m_isEnabled

Definition at line 85 of file btTypedConstraint.h.

Referenced by btTypedConstraint(), btTypedConstraint(), isEnabled(), and setEnabled().

m_jointFeedback

btJointFeedback* m_jointFeedback

protected

Definition at line 101 of file btTypedConstraint.h.

Referenced by btTypedConstraint(), btTypedConstraint(), computeAccelerationsArticulatedBodyAlgorithmMultiDof(), getJointFeedback(), and setJointFeedback().

m_needsFeedback

bool m_needsFeedback

Definition at line 86 of file btTypedConstraint.h.

Referenced by btTypedConstraint(), btTypedConstraint(), enableFeedback(), getAppliedImpulse(), and needsFeedback().

m_overrideNumSolverIterations

int m_overrideNumSolverIterations

Definition at line 87 of file btTypedConstraint.h.

m_rbA

btRigidBody& m_rbA

protected

Definition at line 97 of file btTypedConstraint.h.

Referenced by btHingeConstraint(), btTypedConstraint(), btTypedConstraint(), buildAngularJacobian(), buildJacobian(), buildLinearJacobian(), calcAnchorPos(), calculateTransforms(), get_limit_motor_info2(), getAncorInA(), getHingeAngle(), btGearConstraint::getInfo2(), getInfo2NonVirtual(), getRigidBodyA(), initParams(), setAxis(), setAxis(), setFrames(), setMotorTarget(), and solveConstraintObsolete().

m_rbB

btRigidBody& m_rbB

protected

Definition at line 98 of file btTypedConstraint.h.

Referenced by btTypedConstraint(), btTypedConstraint(), buildAngularJacobian(), buildJacobian(), buildLinearJacobian(), calcAnchorPos(), calculateTransforms(), get_limit_motor_info2(), getHingeAngle(), btGearConstraint::getInfo2(), getInfo2NonVirtual(), getRigidBodyB(), initParams(), setAxis(), setAxis(), setFrames(), setMotorTarget(), and solveConstraintObsolete().

m_userConstraintId

int m_userConstraintId

Definition at line 80 of file btTypedConstraint.h.

Referenced by getUid(), getUserConstraintId(), and setUserConstraintId().

m_userConstraintPtr

void* m_userConstraintPtr

Definition at line 81 of file btTypedConstraint.h.

Referenced by btTypedConstraint(), btTypedConstraint(), getUserConstraintPtr(), and setUserConstraintPtr().