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  /external/libgdx/extensions/gdx-bullet/jni/src/bullet/BulletDynamics/Dynamics/
btRigidBody.cpp 335 btMatrix3x3 skew1; local
336 om.getSkewSymmetricMatrix(&skew1[0],&skew1[1],&skew1[2]);
339 btMatrix3x3 J = Ib + (skew0*Ib - skew1)*step;

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