Searched refs:getJointVel (Results 1 – 2 of 2) sorted by relevance
388 btScalar btMultiBody::getJointVel(int i) const in getJointVel() function in btMultiBody513 omega[i+1] += getJointVel(i) * m_links[i].getAxisTop(0); in compTreeLinkVelocities()514 vel[i+1] += getJointVel(i) * m_links[i].getAxisBottom(0); in compTreeLinkVelocities()1344 + 2 * vel_top_angular[i+1].cross(m_links[i].getAxisBottom(0)) * getJointVel(i); in stepVelocities()1346 … coriolis_top_angular[i] = vel_top_angular[i+1].cross(m_links[i].getAxisTop(0)) * getJointVel(i); in stepVelocities()1347 …coriolis_bottom_linear[i] += (getJointVel(i) * getJointVel(i)) * m_links[i].getAxisTop(0).cross(m_… in stepVelocities()1354 vel_top_angular[i+1] += getJointVel(i) * m_links[i].getAxisTop(0); in stepVelocities()1355 vel_bottom_linear[i+1] += getJointVel(i) * m_links[i].getAxisBottom(0); in stepVelocities()1971 float jointVel = getJointVel(i); in stepPositions()
229 btScalar getJointVel(int i) const;