32 	if (cti.m_colObj->hasContactResponse())  in getVa()
38 		if (cti.m_colObj->getInternalType() == btCollisionObject::CO_RIGID_BODY)  in getVa()
40 			rigidCol = (btRigidBody*)btRigidBody::upcast(cti.m_colObj);  in getVa()
43 		else if (cti.m_colObj->getInternalType() == btCollisionObject::CO_FEATHERSTONE_LINK)  in getVa()
45 			multibodyLinkCol = (btMultiBodyLinkCollider*)btMultiBodyLinkCollider::upcast(cti.m_colObj);  in getVa()
95 	if (cti.m_colObj->getInternalType() == btCollisionObject::CO_RIGID_BODY)  in solveConstraint()
98 		rigidCol = (btRigidBody*)btRigidBody::upcast(cti.m_colObj);  in solveConstraint()
104 	else if (cti.m_colObj->getInternalType() == btCollisionObject::CO_FEATHERSTONE_LINK)  in solveConstraint()
107 		multibodyLinkCol = (btMultiBodyLinkCollider*)btMultiBodyLinkCollider::upcast(cti.m_colObj);  in solveConstraint()
157 	if (cti.m_colObj->hasContactResponse())  in getVa()
163 		if (cti.m_colObj->getInternalType() == btCollisionObject::CO_RIGID_BODY)  in getVa()
165 			rigidCol = (btRigidBody*)btRigidBody::upcast(cti.m_colObj);  in getVa()
168 		else if (cti.m_colObj->getInternalType() == btCollisionObject::CO_FEATHERSTONE_LINK)  in getVa()
170 			multibodyLinkCol = (btMultiBodyLinkCollider*)btMultiBodyLinkCollider::upcast(cti.m_colObj);  in getVa()
209 	if (cti.m_colObj->hasContactResponse())  in getSplitVa()
215 		if (cti.m_colObj->getInternalType() == btCollisionObject::CO_RIGID_BODY)  in getSplitVa()
217 			rigidCol = (btRigidBody*)btRigidBody::upcast(cti.m_colObj);  in getSplitVa()
220 		else if (cti.m_colObj->getInternalType() == btCollisionObject::CO_FEATHERSTONE_LINK)  in getSplitVa()
222 			multibodyLinkCol = (btMultiBodyLinkCollider*)btMultiBodyLinkCollider::upcast(cti.m_colObj);  in getSplitVa()
325 	if (cti.m_colObj->getInternalType() == btCollisionObject::CO_RIGID_BODY)  in solveConstraint()
328 		rigidCol = (btRigidBody*)btRigidBody::upcast(cti.m_colObj);  in solveConstraint()
334 	else if (cti.m_colObj->getInternalType() == btCollisionObject::CO_FEATHERSTONE_LINK)  in solveConstraint()
337 		multibodyLinkCol = (btMultiBodyLinkCollider*)btMultiBodyLinkCollider::upcast(cti.m_colObj);  in solveConstraint()
388 	if (cti.m_colObj->getInternalType() == btCollisionObject::CO_RIGID_BODY)  in solveSplitImpulse()
391 		rigidCol = (btRigidBody*)btRigidBody::upcast(cti.m_colObj);  in solveSplitImpulse()
397 	else if (cti.m_colObj->getInternalType() == btCollisionObject::CO_FEATHERSTONE_LINK)  in solveSplitImpulse()
400 		multibodyLinkCol = (btMultiBodyLinkCollider*)btMultiBodyLinkCollider::upcast(cti.m_colObj);  in solveSplitImpulse()