public void CalculateContactMassesB(BurstRigidbody rigidbody, bool rollingContacts)
{
// initialize inverse linear masses:
normalInvMassB = tangentInvMassB = bitangentInvMassB = rigidbody.inverseMass;
if (rollingContacts)
{
float4 rB = ContactPointB - rigidbody.com;
normalInvMassB += BurstMath.RotationalInvMass(rigidbody.inverseInertiaTensor, rB, normal);
tangentInvMassB += BurstMath.RotationalInvMass(rigidbody.inverseInertiaTensor, rB, tangent);
bitangentInvMassB += BurstMath.RotationalInvMass(rigidbody.inverseInertiaTensor, rB, bitangent);
}
}
public static float4 GetRigidbodyVelocityAtPoint(BurstRigidbody rigidbody, float4 point, float4 linearDelta, float4 angularDelta, BurstAffineTransform transform)
{
// Point is assumed to be expressed in solver space. Since rigidbodies are expressed in world space, we need to convert the
// point to world space, and convert the resulting velocity back to solver space.
return(transform.InverseTransformVector(rigidbody.GetVelocityAtPoint(transform.TransformPoint(point), linearDelta, angularDelta)));
}