From d5c1578f536ef4954bb79234450d3552b85702ff Mon Sep 17 00:00:00 2001 From: jingqi Date: Fri, 6 Aug 2021 12:19:46 +0800 Subject: [PATCH] Fix wrong operator in ContactSolverSystem::initializeForIsland() --- src/systems/ContactSolverSystem.cpp | 8 ++++---- 1 file changed, 4 insertions(+), 4 deletions(-) diff --git a/src/systems/ContactSolverSystem.cpp b/src/systems/ContactSolverSystem.cpp index 85b9b811..842ece98 100644 --- a/src/systems/ContactSolverSystem.cpp +++ b/src/systems/ContactSolverSystem.cpp @@ -205,13 +205,13 @@ void ContactSolverSystem::initializeForIsland(uint islandIndex) { mContactConstraints[mNbContactManifolds].frictionPointBody2.z += p2.z; // Compute the velocity difference - //deltaV = v2 + w2.cross(mContactPoints[mNbContactPoints].r2) - v1 - w1.cross(mContactPoints[mNbContactPoints].r1); + // deltaV = v2 + w2.cross(mContactPoints[mNbContactPoints].r2) - v1 - w1.cross(mContactPoints[mNbContactPoints].r1); Vector3 deltaV(v2.x + w2.y * mContactPoints[mNbContactPoints].r2.z - w2.z * mContactPoints[mNbContactPoints].r2.y - - v1.x - w1.y * mContactPoints[mNbContactPoints].r1.z - w1.z * mContactPoints[mNbContactPoints].r1.y, + - v1.x - w1.y * mContactPoints[mNbContactPoints].r1.z + w1.z * mContactPoints[mNbContactPoints].r1.y, v2.y + w2.z * mContactPoints[mNbContactPoints].r2.x - w2.x * mContactPoints[mNbContactPoints].r2.z - - v1.y - w1.z * mContactPoints[mNbContactPoints].r1.x - w1.x * mContactPoints[mNbContactPoints].r1.z, + - v1.y - w1.z * mContactPoints[mNbContactPoints].r1.x + w1.x * mContactPoints[mNbContactPoints].r1.z, v2.z + w2.x * mContactPoints[mNbContactPoints].r2.y - w2.y * mContactPoints[mNbContactPoints].r2.x - - v1.z - w1.x * mContactPoints[mNbContactPoints].r1.y - w1.y * mContactPoints[mNbContactPoints].r1.x); + - v1.z - w1.x * mContactPoints[mNbContactPoints].r1.y + w1.y * mContactPoints[mNbContactPoints].r1.x); // r1CrossN = mContactPoints[mNbContactPoints].r1.cross(mContactPoints[mNbContactPoints].normal); Vector3 r1CrossN(mContactPoints[mNbContactPoints].r1.y * mContactPoints[mNbContactPoints].normal.z -