Searched refs:p_CB_G (Results 1 – 1 of 1) sorted by relevance
548 const Vec3 p_CB_G = X_GB.R()*p_CB; // exp. in G; 15 flops in ensureForceCacheValid() local549 const Vec3 p_G_CB = X_GB.p() + p_CB_G; // meas. in G; 3 flops in ensureForceCacheValid()552 fc.F_GB[mbx] = SpatialVec(p_CB_G % F_CB_G, F_CB_G); // body frc; 9 flops in ensureForceCacheValid()