Searched refs:r_cross (Results 1 – 2 of 2) sorted by relevance
272 const btMatrix3x3 r_cross( 0, -m_trnVec[2], m_trnVec[1],279 …LeftMat = m_rotMat.transpose() * ( inMat.m_topLeftMat - inMat.m_topRightMat * r_cross ) * m_rotMat;281 …nspose() * (r_cross * (inMat.m_topLeftMat - inMat.m_topRightMat * r_cross) + inMat.m_bottomLeftMat…285 …eftMat += m_rotMat.transpose() * ( inMat.m_topLeftMat - inMat.m_topRightMat * r_cross ) * m_rotMat;287 …nspose() * (r_cross * (inMat.m_topLeftMat - inMat.m_topRightMat * r_cross) + inMat.m_bottomLeftMat…291 …eftMat -= m_rotMat.transpose() * ( inMat.m_topLeftMat - inMat.m_topRightMat * r_cross ) * m_rotMat;293 …nspose() * (r_cross * (inMat.m_topLeftMat - inMat.m_topRightMat * r_cross) + inMat.m_bottomLeftMat…
1408 btMatrix3x3 r_cross; in stepVelocities() local1409 r_cross.setValue( in stepVelocities()1414 …inertia_top_left[parent+1] += rot_from_parent[i+1].transpose() * ( TL - TR * r_cross ) * rot_from_… in stepVelocities()1417 (r_cross * (TL - TR * r_cross) + BL - TL.transpose() * r_cross) * rot_from_parent[i+1]; in stepVelocities()