45                         for (
int j = 0; j < numNonContactPool; ++j)
 
   56                                 for (
int j = 0; j < numConstraintPool; ++j)
 
   64                                 for (
int j = 0; j < numFrictionPool; ++j)
 
   84                                 deltaflengthsqr += deltaf * deltaf;
 
  128                         for (
int j = 0; j < numConstraints; j++)
 
  130                                 if (constraints[j]->isEnabled())
 
  146                                 for (
int c = 0; c < numPoolConstraints; c++)
 
  154                                                 deltaflengthsqr += deltaf * deltaf;
 
  157                                         bool applyFriction = 
true;
 
  169                                                                 deltaflengthsqr += deltaf * deltaf;
 
  187                                                                 deltaflengthsqr += deltaf * deltaf;
 
  203                                 for (j = 0; j < numPoolConstraints; j++)
 
  208                                         deltaflengthsqr += deltaf * deltaf;
 
  214                                 for (j = 0; j < numFrictionPoolConstraints; j++)
 
  226                                                 deltaflengthsqr += deltaf * deltaf;
 
  237                                 for (
int j = 0; j < numRollingFrictionPoolConstraints; j++)
 
  243                                                 btScalar rollingFrictionMagnitude = rollingFrictionConstraint.
m_friction * totalImpulse;
 
  244                                                 if (rollingFrictionMagnitude > rollingFrictionConstraint.
m_friction)
 
  245                                                         rollingFrictionMagnitude = rollingFrictionConstraint.
m_friction;
 
  247                                                 rollingFrictionConstraint.
m_lowerLimit = -rollingFrictionMagnitude;
 
  248                                                 rollingFrictionConstraint.
m_upperLimit = rollingFrictionMagnitude;
 
  252                                                 deltaflengthsqr += deltaf * deltaf;
 
  352         return deltaflengthsqr;