49 		b2Body* bodyB = fixtureB->GetBody();  in b2ContactSolver()  local
58 		cc->bodyB = bodyB;  in b2ContactSolver()
113 		b2Body* bodyB = cc->bodyB;  in InitializeVelocityConstraints()  local
117 		b2Vec2 vB = bodyB->m_linearVelocity;  in InitializeVelocityConstraints()
119 		qreal wB = bodyB->m_angularVelocity;  in InitializeVelocityConstraints()
124 		worldManifold.Initialize(manifold, bodyA->m_xf, radiusA, bodyB->m_xf, radiusB);  in InitializeVelocityConstraints()
134 			ccp->rB = worldManifold.points[j] - bodyB->m_sweep.c;  in InitializeVelocityConstraints()
141 			qreal kNormal = bodyA->m_invMass + bodyB->m_invMass + bodyA->m_invI * rnA + bodyB->m_invI * rnB;  in InitializeVelocityConstraints()
153 			qreal kTangent = bodyA->m_invMass + bodyB->m_invMass + bodyA->m_invI * rtA + bodyB->m_invI * rtB;  in InitializeVelocityConstraints()
175 			qreal invMassB = bodyB->m_invMass;  in InitializeVelocityConstraints()
176 			qreal invIB = bodyB->m_invI;  in InitializeVelocityConstraints()
214 		b2Body* bodyB = c->bodyB;  in WarmStart()  local
217 		qreal invMassB = bodyB->m_invMass;  in WarmStart()
218 		qreal invIB = bodyB->m_invI;  in WarmStart()
228 			bodyB->m_angularVelocity += invIB * b2Cross(ccp->rB, P);  in WarmStart()
229 			bodyB->m_linearVelocity += invMassB * P;  in WarmStart()
240 		b2Body* bodyB = c->bodyB;  in SolveVelocityConstraints()  local
242 		qreal wB = bodyB->m_angularVelocity;  in SolveVelocityConstraints()
244 		b2Vec2 vB = bodyB->m_linearVelocity;  in SolveVelocityConstraints()
247 		qreal invMassB = bodyB->m_invMass;  in SolveVelocityConstraints()
248 		qreal invIB = bodyB->m_invI;  in SolveVelocityConstraints()
528 		bodyB->m_linearVelocity = vB;  in SolveVelocityConstraints()
529 		bodyB->m_angularVelocity = wB;  in SolveVelocityConstraints()
559 				b2Vec2 pointB = cc->bodyB->GetWorldPoint(cc->points[0].localPoint);  in Initialize()
580 				b2Vec2 clipPoint = cc->bodyB->GetWorldPoint(cc->points[index].localPoint);  in Initialize()
588 				normal = cc->bodyB->GetWorldVector(cc->localNormal);  in Initialize()
589 				b2Vec2 planePoint = cc->bodyB->GetWorldPoint(cc->localPoint);  in Initialize()
616 		b2Body* bodyB = c->bodyB;  in SolvePositionConstraints()  local
620 		qreal invMassB = bodyB->m_mass * bodyB->m_invMass;  in SolvePositionConstraints()
621 		qreal invIB = bodyB->m_mass * bodyB->m_invI;  in SolvePositionConstraints()
634 			b2Vec2 rB = point - bodyB->m_sweep.c;  in SolvePositionConstraints()
656 			bodyB->m_sweep.c += invMassB * P;  in SolvePositionConstraints()
657 			bodyB->m_sweep.a += invIB * b2Cross(rB, P);  in SolvePositionConstraints()
658 			bodyB->SynchronizeTransform();  in SolvePositionConstraints()
676 		b2Body* bodyB = c->bodyB;  in SolveTOIPositionConstraints()  local
692 		qreal invMassB = bodyB->m_mass * bodyB->m_invMass;  in SolveTOIPositionConstraints()
693 		qreal invIB = bodyB->m_mass * bodyB->m_invI;  in SolveTOIPositionConstraints()
706 			b2Vec2 rB = point - bodyB->m_sweep.c;  in SolveTOIPositionConstraints()
728 			bodyB->m_sweep.c += invMassB * P;  in SolveTOIPositionConstraints()
729 			bodyB->m_sweep.a += invIB * b2Cross(rB, P);  in SolveTOIPositionConstraints()
730 			bodyB->SynchronizeTransform();  in SolveTOIPositionConstraints()