computeGWlambda method

double computeGWlambda()

Computes G*Wlambda, where W are the body velocities

Implementation

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