cpBodyApplyImpulse ( body: cpBody j: cpVect r: cpVect -- )


Vocabulary
chipmunk.ffi

Inputs
bodya cpBody
ja cpVect
ra cpVect


Outputs
None

Definition
USING: accessors kernel math typed ;

IN: chipmunk.ffi

TYPED: cpBodyApplyImpulse
( body: cpBody j: cpVect r: cpVect -- )
[
drop [ drop dup v>> ] [ swap m_inv>> cpvmult ] 2bi
cpvadd >>v drop
] [
[ 2drop dup w_bias>> ]
[ swap cpvcross [ i_inv>> ] dip * ] 3bi + >>w_bias drop
] 3bi ; inline