Searched refs:spatJointVel (Results 1 – 1 of 1) sorted by relevance
741 …static btSpatialMotionVector spatJointVel; //spatial velocity due to the joint motion (i.e. wi… in stepVelocitiesMultiDof() local819 spatJointVel.setZero(); in stepVelocitiesMultiDof()822 spatJointVel += m_links[i].m_axes[dof] * getJointVelMultiDof(i)[dof]; in stepVelocitiesMultiDof()825 spatVel[i+1] += spatJointVel; in stepVelocitiesMultiDof()835 fromWorld.transformRotationOnly(m_links[i].m_absFrameLocVelocity, spatJointVel); in stepVelocitiesMultiDof()839 spatVel[i+1].cross(spatJointVel, spatCoriolisAcc[i]); in stepVelocitiesMultiDof()1197 spatJointVel.setZero(); in stepVelocitiesMultiDof()1200 spatJointVel += m_links[i].m_axes[dof] * getJointVelMultiDof(i)[dof]; in stepVelocitiesMultiDof()1203 spatVel[i+1] += spatJointVel; in stepVelocitiesMultiDof()1207 fromWorld.transformInverseRotationOnly(spatJointVel, m_links[i].m_absFrameLocVelocity); in stepVelocitiesMultiDof()