computeGW method

double computeGW()

Computes G*W, where W are the body velocities

Implementation

double computeGW() {
  final ga = jacobianElementA;
  final gb = jacobianElementB;
  final bi = this.bi;
  final bj = this.bj;
  final vi = bi.velocity;
  final vj = bj.velocity;
  final wi = bi.angularVelocity;
  final wj = bj.angularVelocity;
  return ga.multiplyVectors(vi, wi) + gb.multiplyVectors(vj, wj);
}