Searched refs:multiBodyB (Results 1 – 2 of 2) sorted by relevance
80 btMultiBody* multiBodyB = solverConstraint.m_multiBodyB; in fillMultiBodyConstraint() local83 …btSolverBody* bodyB = multiBodyB ? 0 : &data.m_solverBodyPool->at(solverConstraint.m_solverBodyIdB… in fillMultiBodyConstraint()86 btRigidBody* rb1 = multiBodyB ? 0 : bodyB->m_originalBody; in fillMultiBodyConstraint()160 if (multiBodyB) in fillMultiBodyConstraint()164 rel_pos2 = posBworld - multiBodyB->getBasePos(); in fillMultiBodyConstraint()167 …rel_pos2 = posBworld - multiBodyB->getLink(solverConstraint.m_linkB).m_cachedWorldTransform.getOri… in fillMultiBodyConstraint()170 …const int ndofB = (multiBodyB->isMultiDof() ? multiBodyB->getNumDofs() : multiBodyB->getNumLinks(… in fillMultiBodyConstraint()172 solverConstraint.m_deltaVelBindex = multiBodyB->getCompanionId(); in fillMultiBodyConstraint()176 multiBodyB->setCompanionId(solverConstraint.m_deltaVelBindex); in fillMultiBodyConstraint()192 if(multiBodyB->isMultiDof()) in fillMultiBodyConstraint()[all …]
269 btMultiBody* multiBodyB = solverConstraint.m_multiBodyB; in setupMultiBodyContactConstraint() local275 btSolverBody* bodyB = multiBodyB ? 0 : &m_tmpSolverBodyPool[solverConstraint.m_solverBodyIdB]; in setupMultiBodyContactConstraint()278 btRigidBody* rb1 = multiBodyB ? 0 : bodyB->m_originalBody; in setupMultiBodyContactConstraint()342 if (multiBodyB) in setupMultiBodyContactConstraint()346 rel_pos2 = pos2 - multiBodyB->getBasePos(); in setupMultiBodyContactConstraint()349 …rel_pos2 = pos2 - multiBodyB->getLink(solverConstraint.m_linkB).m_cachedWorldTransform.getOrigin(); in setupMultiBodyContactConstraint()352 …const int ndofB = (multiBodyB->isMultiDof() ? multiBodyB->getNumDofs() : multiBodyB->getNumLinks(… in setupMultiBodyContactConstraint()354 solverConstraint.m_deltaVelBindex = multiBodyB->getCompanionId(); in setupMultiBodyContactConstraint()358 multiBodyB->setCompanionId(solverConstraint.m_deltaVelBindex); in setupMultiBodyContactConstraint()368 if(multiBodyB->isMultiDof()) in setupMultiBodyContactConstraint()[all …]