| public GetReactionTorque ( float inv_dt ) : float | ||
| inv_dt | float | |
| return | float | |
public override float GetReactionTorque(float inv_dt)
{
// TODO_ERIN not tested
Vec2 r = Common.Math.Mul(_body2.GetXForm().R, _localAnchor2 - _body2.GetLocalCenter());
Vec2 P = _impulse * _J.Linear2;
float L = _impulse * _J.Angular2 - Vec2.Cross(r, P);
return inv_dt * L;
}
