Move stuff around
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@ -81,17 +81,9 @@ public:
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void Solve(float32 dt, const b3Vec3& gravity, u32 velocityIterations, u32 positionIterations);
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private:
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// Apply forces.
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void ApplyForces();
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// Apply constraints.
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void ApplyConstraints();
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// Solve Ax = b.
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void SolveMPCG(b3DenseVec3& x,
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const b3SparseSymMat33View& A, const b3DenseVec3& b,
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const b3DiagMat33& S, const b3DenseVec3& z, const b3DenseVec3& y, u32 maxIterations = 30) const;
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b3StackAllocator* m_allocator;
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u32 m_particleCapacity;
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