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a guest May 22nd, 2019 47 Never
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  1. for (unsigned i = 0; i < numContacts; i++)
  2.         {
  3.             // Check each body in the contact
  4.             for (unsigned b = 0; b < 2; b++) if (c[i].body[b])
  5.             {
  6.                 // Check for a match with each body in the newly
  7.                 // resolved contact
  8.                 for (unsigned d = 0; d < 2; d++)
  9.                 {
  10.                     if (c[i].body[b] == c[index].body[d])
  11.                     {
  12.                         deltaVel = velocityChange[d] +
  13.                             rotationChange[d].vectorProduct(
  14.                                 c[i].relativeContactPosition[b]);
  15.  
  16.                         // The sign of the change is negative if we're dealing
  17.                         // with the second body in a contact.
  18.                         c[i].contactVelocity +=
  19.                             c[i].contactToWorld.transformTranspose(deltaVel)
  20.                             * (b?-1:1);
  21.                         c[i].calculateDesiredDeltaVelocity(duration);
  22.                     }
  23.                 }
  24.             }
  25.         }
  26.         velocityIterationsUsed++;
  27.     }
  28. }
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