*/
VG_STATIC void rb_presolve_contacts( rb_ct *buffer, int len )
{
- for( int i=0; i<len; i++ )
- {
+ for( int i=0; i<len; i++ ){
rb_ct *ct = &buffer[i];
rb_prepare_contact( ct, k_rb_delta );
ct->normal_mass += v3_dot( rbCn, rbCnI );
ct->normal_mass = 1.0f/ct->normal_mass;
- for( int j=0; j<2; j++ )
- {
+ for( int j=0; j<2; j++ ){
v3f raCtI, rbCtI;
v3_cross( ct->t[j], ra, raCt );
v3_cross( ct->t[j], rb, rbCt );
*/
VG_STATIC void rb_solve_contacts( rb_ct *buf, int len )
{
- for( int i=0; i<len; i++ )
- {
+ for( int i=0; i<len; i++ ){
struct contact *ct = &buf[i];
v3f rv, ra, rb;
rb_rcv( ct->rba, ct->rbb, ra, rb, rv );
/* Friction */
- for( int j=0; j<2; j++ )
- {
+ for( int j=0; j<2; j++ ){
float f = k_friction * ct->norm_impulse,
vt = v3_dot( rv, ct->t[j] ),
lambda = ct->tangent_mass[j] * -vt;