Lines Matching refs:step
314 btVector3 btRigidBody::computeGyroscopicImpulseImplicit_Body(btScalar step) const
330 btVector3 f = step * omegab.cross(ibo);
339 btMatrix3x3 J = Ib + (skew0*Ib - skew1)*step;
355 btVector3 btRigidBody::computeGyroscopicImpulseImplicit_World(btScalar step) const
358 // calculate using implicit euler step so it's stable.
369 // f(w') = -(T*step + Iw) + Iw' + w' + w'xIw'*step = 0
370 // df/dw' = I + 1xIw'*step + w'xI*step
374 // one step of newton's method
376 const btVector3 fw = evalEulerEqn(w1, w0, btVector3(0, 0, 0), step, I);
377 const btMatrix3x3 dfw = evalEulerEqnDeriv(w1, w0, step, I);
392 void btRigidBody::integrateVelocities(btScalar step)
397 m_linearVelocity += m_totalForce * (m_inverseMass * step);
398 m_angularVelocity += m_invInertiaTensorWorld * m_totalTorque * step;
403 if (angvel*step > MAX_ANGVEL)
405 m_angularVelocity *= (MAX_ANGVEL/step) /angvel;
