68                 btSoftBody::Tetra& tetra = psb->m_tetras[j];  in addScaledDampingForce()  local
69                 btSoftBody::Node* node0 = tetra.m_n[0];  in addScaledDampingForce()
70                 btSoftBody::Node* node1 = tetra.m_n[1];  in addScaledDampingForce()
71                 btSoftBody::Node* node2 = tetra.m_n[2];  in addScaledDampingForce()
72                 btSoftBody::Node* node3 = tetra.m_n[3];  in addScaledDampingForce()
77                 btMatrix3x3 dF = DsFromVelocity(node0, node1, node2, node3) * tetra.m_Dm_inverse;  in addScaledDampingForce()
82                 btVector3 df_on_node0 = dP * (tetra.m_Dm_inverse.transpose()*grad_N_hat_1st_col);  in addScaledDampingForce()
83                 btMatrix3x3 df_on_node123 = dP * tetra.m_Dm_inverse.transpose();  in addScaledDampingForce()
86                 btScalar scale1 = scale * tetra.m_element_measure;  in addScaledDampingForce()
107                 btSoftBody::Tetra& tetra = psb->m_tetras[j];  in totalElasticEnergy()  local
109                 energy += tetra.m_element_measure * elasticEnergyDensity(s);  in totalElasticEnergy()
174                 btSoftBody::Tetra& tetra = psb->m_tetras[j];  in addScaledElasticForce()  local
204                 btMatrix3x3 force_on_node123 = P * tetra.m_Dm_inverse.transpose();  in addScaledElasticForce()
207                 btSoftBody::Node* node0 = tetra.m_n[0];  in addScaledElasticForce()
208                 btSoftBody::Node* node1 = tetra.m_n[1];  in addScaledElasticForce()
209                 btSoftBody::Node* node2 = tetra.m_n[2];  in addScaledElasticForce()
210                 btSoftBody::Node* node3 = tetra.m_n[3];  in addScaledElasticForce()
217                 btScalar scale1 = scale * tetra.m_element_measure;  in addScaledElasticForce()
243                 btSoftBody::Tetra& tetra = psb->m_tetras[j];  in addScaledDampingForceDifferential()  local
244                 btSoftBody::Node* node0 = tetra.m_n[0];  in addScaledDampingForceDifferential()
245                 btSoftBody::Node* node1 = tetra.m_n[1];  in addScaledDampingForceDifferential()
246                 btSoftBody::Node* node2 = tetra.m_n[2];  in addScaledDampingForceDifferential()
247                 btSoftBody::Node* node3 = tetra.m_n[3];  in addScaledDampingForceDifferential()
252                 btMatrix3x3 dF = Ds(id0, id1, id2, id3, dv) * tetra.m_Dm_inverse;  in addScaledDampingForceDifferential()
258                 btMatrix3x3 df_on_node123 = dP * tetra.m_Dm_inverse.transpose();  in addScaledDampingForceDifferential()
262                 btScalar scale1 = scale * tetra.m_element_measure;  in addScaledDampingForceDifferential()
285                 btSoftBody::Tetra& tetra = psb->m_tetras[j];  in addScaledElasticForceDifferential()  local
286                 btSoftBody::Node* node0 = tetra.m_n[0];  in addScaledElasticForceDifferential()
287                 btSoftBody::Node* node1 = tetra.m_n[1];  in addScaledElasticForceDifferential()
288                 btSoftBody::Node* node2 = tetra.m_n[2];  in addScaledElasticForceDifferential()
289                 btSoftBody::Node* node3 = tetra.m_n[3];  in addScaledElasticForceDifferential()
294                 btMatrix3x3 dF = Ds(id0, id1, id2, id3, dx) * tetra.m_Dm_inverse;  in addScaledElasticForceDifferential()
298                 btMatrix3x3 df_on_node123 = dP * tetra.m_Dm_inverse.transpose();  in addScaledElasticForceDifferential()
302                 btScalar scale1 = scale * tetra.m_element_measure;  in addScaledElasticForceDifferential()