Searched refs:penetrationImpulse (Results 1 – 5 of 5) sorted by relevance
179 btScalar penetrationImpulse = positionalError*constraintRow.m_jacDiagABInv; in createConstraintRows() local184 constraintRow.m_rhs = penetrationImpulse+velocityImpulse; in createConstraintRows()191 constraintRow.m_rhsPenetration = penetrationImpulse; in createConstraintRows()
370 btScalar penetrationImpulse = positionalError*solverConstraint.m_jacDiagABInv; in fillMultiBodyConstraint() local376 solverConstraint.m_rhs = penetrationImpulse+velocityImpulse; in fillMultiBodyConstraint()383 solverConstraint.m_rhsPenetration = penetrationImpulse; in fillMultiBodyConstraint()
574 btScalar penetrationImpulse = positionalError*solverConstraint.m_jacDiagABInv; in setupMultiBodyContactConstraint() local582 solverConstraint.m_rhs = penetrationImpulse+velocityImpulse; in setupMultiBodyContactConstraint()589 solverConstraint.m_rhsPenetration = penetrationImpulse; in setupMultiBodyContactConstraint()
106 btScalar penetrationImpulse = positionalError * jacDiagABInv; in resolveSingleCollision() local109 btScalar normalImpulse = penetrationImpulse+velocityImpulse; in resolveSingleCollision()
903 btScalar penetrationImpulse = positionalError*solverConstraint.m_jacDiagABInv; in setupContactConstraint() local909 …solverConstraint.m_rhs = penetrationImpulse+velocityImpulse;//-solverConstraint.m_contactNormal1.d… in setupContactConstraint()916 solverConstraint.m_rhsPenetration = penetrationImpulse; in setupContactConstraint()1476 btScalar penetrationImpulse = positionalError*solverConstraint.m_jacDiagABInv; in solveGroupCacheFriendlySetup() local1478 solverConstraint.m_rhs = penetrationImpulse+velocityImpulse; in solveGroupCacheFriendlySetup()