NewtonImmediateModeConstraint
typedef struct NewtonImmediateModeConstraint
{
dFloat m_jacobian01[8][6];
dFloat m_jacobian10[8][6];
dFloat m_minFriction[8];
dFloat m_maxFriction[8];
dFloat m_jointAccel[8];
dFloat m_jointStiffness[8];
} NewtonConstraintDescriptor;