42 const auto invRotInertiaA = bodyA->GetInvRotInertia();
44 const auto invMassB = bodyB->GetInvMass();
45 const auto invRotInertiaB = bodyB->GetInvRotInertia();
47 for (
auto j = decltype(pointCount){0}; j < pointCount; ++j)
55 const auto P = vcp.
normalImpulse * normal + vcp.tangentImpulse * tangent;