Searched refs:linearTopVec (Results 1 – 1 of 1) sorted by relevance
1074 btVector3 linearTopVec = (spatInertia[i+1]*spatAcc[i+1]+zeroAccSpatFrc[i+1]).m_topVec; in stepVelocitiesMultiDof() local1081 angularBotVec = angularBotVec - linearTopVec.cross(m_links[i].m_dVector); in stepVelocitiesMultiDof()1090 …ntFeedback->m_reactionForces.m_topVec += m_links[i].m_cachedWorldTransform.getBasis()*linearTopVec; in stepVelocitiesMultiDof()1094 …intFeedback->m_reactionForces.m_topVec = m_links[i].m_cachedWorldTransform.getBasis()*linearTopVec; in stepVelocitiesMultiDof()1101 … m_links[i].m_jointFeedback->m_reactionForces.m_topVec += linearTopVec; in stepVelocitiesMultiDof()1107 m_links[i].m_jointFeedback->m_reactionForces.m_topVec = linearTopVec; in stepVelocitiesMultiDof()