private Fix64 KScalar(
VoltBody bodyA,
VoltBody bodyB,
VoltVector2 normal)
{
Fix64 massSum = bodyA.InvMass + bodyB.InvMass;
Fix64 r1cnSqr = VoltMath.Square(VoltMath.Cross(this.toA, normal));
Fix64 r2cnSqr = VoltMath.Square(VoltMath.Cross(this.toB, normal));
return
(massSum +
bodyA.InvInertia * r1cnSqr +
bodyB.InvInertia * r2cnSqr);
}
private float KScalar(
VoltBody bodyA,
VoltBody bodyB,
Vector2 normal)
{
float massSum = bodyA.InvMass + bodyB.InvMass;
float r1cnSqr = VoltMath.Square(VoltMath.Cross(this.toA, normal));
float r2cnSqr = VoltMath.Square(VoltMath.Cross(this.toB, normal));
return
(massSum +
bodyA.InvInertia * r1cnSqr +
bodyB.InvInertia * r2cnSqr);
}
