Lines Matching defs:vel
497 void btMultiBody::compTreeLinkVelocities(btVector3 *omega, btVector3 *vel) const
502 vel[0] = quatRotate(m_baseQuat ,getBaseVel());
507 // transform parent vel into this frame, store in omega[i+1], vel[i+1]
509 omega[parent+1], vel[parent+1],
510 omega[i+1], vel[i+1]);
514 vel
523 btAlignedObjectArray<btVector3> vel;vel.resize(num_links+1);
524 compTreeLinkVelocities(&omega[0], &vel[0]);
527 btScalar result = m_baseMass * vel[0].dot(vel[0]);
531 result += m_links[i].m_mass * vel[i+1].dot(vel[i+1]);
543 btAlignedObjectArray<btVector3> vel;vel.resize(num_links+1);
545 compTreeLinkVelocities(&omega[0], &vel[0]);
