internal static float GetJacVelocity(float3 linear, ContactJacobianAngular jacAngular, MotionVelocity velocityA, MotionVelocity velocityB)
{
float3 temp = (velocityA.LinearVelocity - velocityB.LinearVelocity) * linear;
temp += velocityA.AngularVelocity * jacAngular.AngularA;
temp += velocityB.AngularVelocity * jacAngular.AngularB;
return(math.csum(temp));
}
internal static float GetJacVelocity(float3 linear, ContactJacobianAngular jacAngular,
float3 linVelA, float3 angVelA, float3 linVelB, float3 angVelB)
{
float3 temp = (linVelA - linVelB) * linear;
temp += angVelA * jacAngular.AngularA;
temp += angVelB * jacAngular.AngularB;
return(math.csum(temp));
}