45 for (
int j = 0; j < numNonContactPool; ++j)
56 for (
int j = 0; j < numConstraintPool; ++j)
64 for (
int j = 0; j < numFrictionPool; ++j)
84 deltaflengthsqr += deltaf * deltaf;
128 for (
int j = 0; j < numConstraints; j++)
130 if (constraints[j]->isEnabled())
146 for (
int c = 0; c < numPoolConstraints; c++)
154 deltaflengthsqr += deltaf * deltaf;
157 bool applyFriction =
true;
169 deltaflengthsqr += deltaf * deltaf;
187 deltaflengthsqr += deltaf * deltaf;
203 for (j = 0; j < numPoolConstraints; j++)
208 deltaflengthsqr += deltaf * deltaf;
214 for (j = 0; j < numFrictionPoolConstraints; j++)
226 deltaflengthsqr += deltaf * deltaf;
237 for (
int j = 0; j < numRollingFrictionPoolConstraints; j++)
243 btScalar rollingFrictionMagnitude = rollingFrictionConstraint.
m_friction * totalImpulse;
244 if (rollingFrictionMagnitude > rollingFrictionConstraint.
m_friction)
245 rollingFrictionMagnitude = rollingFrictionConstraint.
m_friction;
247 rollingFrictionConstraint.
m_lowerLimit = -rollingFrictionMagnitude;
248 rollingFrictionConstraint.
m_upperLimit = rollingFrictionMagnitude;
252 deltaflengthsqr += deltaf * deltaf;
352 return deltaflengthsqr;