void NewtonUserJoint::AddGeneralRowJacobian (const dgFloat32 * const jacobian0, const dgFloat32 * const jacobian1) { m_lastPosit0 = dgVector (dgFloat32 (0.0f)); m_lastPosit1 = dgVector (dgFloat32 (0.0f)); m_lastJointAngle = 0.0f; SetJacobianDerivative (m_rows, *m_param, jacobian0, jacobian1, &m_forceArray[m_rows]); m_rows ++; dgAssert (m_rows <= dgInt32 (m_maxDOF)); }
void NewtonUserJoint::AddGeneralRowJacobian (const dgFloat32* const jacobian0, const dgFloat32* const jacobian1) { SetJacobianDerivative (m_rows, *m_param, jacobian0, jacobian1, &m_forceArray[m_rows]); m_rows ++; dgAssert (m_rows <= dgInt32 (m_maxDOF)); }