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deltaVelWorld2 *= inverseInertiaTensor[1];
deltaVelWorld2 *= impulseToTorque;
deltaVelWorld2 *= -1;
// Add to the total delta velocity.
deltaVelWorld += deltaVelWorld2;
}
// Do a change of basis to convert into contact coordinates.
Matrix3 deltaVelocity = contactToWorld.transpose();
deltaVelocity *= deltaVelWorld;
deltaVelocity *= contactToWorld;
where the same matrix is reused for intermediate stages of the calculation, as in chap-
ter 14.
What we are effectively doing here is performing all the calculations in world
coordinates (i.e., we end up with a matrix that transforms impulse into velocity, both
in world coordinates) for each body. Then we add the two results together, and then
change the basis of this matrix so that it transforms impulse into velocity in contact
coordinates. Recall from section 9.4.6 that we change the basis of a matrix by
BMB 1
where B is the basis matrix and M is the matrix being transformed. This is equivalent
to BMB when B is a rotation matrix only (as it is for the contactToWorld matrix).
Hence the last three lines of the code snippet.
Velocity from Linear Motion
So far we only have the change in velocity caused by rotation. We also need to include
the change in linear velocity from the impulse. As before, this is simply given by the
inverse mass:
m 1 g
˙
p
=
This again is a transformation from a vector (impulse) into another vector (veloc-
ity). Because we are trying to end up with one matrix combining linear and angular
components of velocity, it would be useful to express inverse mass as a matrix so that
it can be added to the angular matrix we already have.
This can be done simply. Multiplying a vector by a scalar quantity k is equivalent
to transforming it by the matrix
k 00
0 k 0
00 k
You can manually check this by trying a vector multiplication.
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