public static void ApplyImpulse(ref Jacobians jacobians, ref BodyInertias inertiaA,
ref Vector2Wide correctiveImpulse, ref BodyVelocities wsvA)
{
Matrix2x3Wide.Transform(correctiveImpulse, jacobians.LinearA, out var linearImpulseA);
Matrix2x3Wide.Transform(correctiveImpulse, jacobians.AngularA, out var angularImpulseA);
BodyVelocities correctiveVelocityA;
Vector3Wide.Scale(linearImpulseA, inertiaA.InverseMass, out correctiveVelocityA.Linear);
Symmetric3x3Wide.TransformWithoutOverlap(angularImpulseA, inertiaA.InverseInertiaTensor, out correctiveVelocityA.Angular);
Vector3Wide.Add(wsvA.Linear, correctiveVelocityA.Linear, out wsvA.Linear);
Vector3Wide.Add(wsvA.Angular, correctiveVelocityA.Angular, out wsvA.Angular);
}
public static void ApplyImpulse(ref Jacobians jacobians, ref BodyInertias inertiaA, ref BodyInertias inertiaB,
ref Vector2Wide correctiveImpulse, ref BodyVelocities wsvA, ref BodyVelocities wsvB)
{
Matrix2x3Wide.Transform(correctiveImpulse, jacobians.LinearA, out var linearImpulseA);
Matrix2x3Wide.Transform(correctiveImpulse, jacobians.AngularA, out var angularImpulseA);
Matrix2x3Wide.Transform(correctiveImpulse, jacobians.AngularB, out var angularImpulseB);
BodyVelocities correctiveVelocityA, correctiveVelocityB;
Vector3Wide.Scale(linearImpulseA, inertiaA.InverseMass, out correctiveVelocityA.Linear);
Symmetric3x3Wide.TransformWithoutOverlap(angularImpulseA, inertiaA.InverseInertiaTensor, out correctiveVelocityA.Angular);
Vector3Wide.Scale(linearImpulseA, inertiaB.InverseMass, out correctiveVelocityB.Linear);
Symmetric3x3Wide.TransformWithoutOverlap(angularImpulseB, inertiaB.InverseInertiaTensor, out correctiveVelocityB.Angular);
Vector3Wide.Add(wsvA.Linear, correctiveVelocityA.Linear, out wsvA.Linear);
Vector3Wide.Add(wsvA.Angular, correctiveVelocityA.Angular, out wsvA.Angular);
Vector3Wide.Subtract(wsvB.Linear, correctiveVelocityB.Linear, out wsvB.Linear); //note subtract- we based it on the LinearA jacobian.
Vector3Wide.Add(wsvB.Angular, correctiveVelocityB.Angular, out wsvB.Angular);
}