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Fix wrong operator in ContactSolverSystem::initializeForIsland()

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This commit is contained in:
jingqi 2021-08-06 12:52:06 +08:00
parent d5c1578f53
commit 11efc8973d
1 changed files with 3 additions and 3 deletions
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src/systems/ContactSolverSystem.cpp
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@ -280,15 +280,15 @@ void ContactSolverSystem::initializeForIsland(uint islandIndex) {
// v1 - w1.cross(mContactConstraints[mNbContactManifolds].r1Friction); // v1 - w1.cross(mContactConstraints[mNbContactManifolds].r1Friction);
Vector3 deltaVFrictionPoint(v2.x + w2.y * mContactConstraints[mNbContactManifolds].r2Friction.z - Vector3 deltaVFrictionPoint(v2.x + w2.y * mContactConstraints[mNbContactManifolds].r2Friction.z -
w2.z * mContactConstraints[mNbContactManifolds].r2Friction.y - w2.z * mContactConstraints[mNbContactManifolds].r2Friction.y -
v1.x - w1.y * mContactConstraints[mNbContactManifolds].r1Friction.z - v1.x - w1.y * mContactConstraints[mNbContactManifolds].r1Friction.z +
w1.z * mContactConstraints[mNbContactManifolds].r1Friction.y, w1.z * mContactConstraints[mNbContactManifolds].r1Friction.y,
v2.y + w2.z * mContactConstraints[mNbContactManifolds].r2Friction.x - v2.y + w2.z * mContactConstraints[mNbContactManifolds].r2Friction.x -
w2.x * mContactConstraints[mNbContactManifolds].r2Friction.z - w2.x * mContactConstraints[mNbContactManifolds].r2Friction.z -
v1.y - w1.z * mContactConstraints[mNbContactManifolds].r1Friction.x - v1.y - w1.z * mContactConstraints[mNbContactManifolds].r1Friction.x +
w1.x * mContactConstraints[mNbContactManifolds].r1Friction.z, w1.x * mContactConstraints[mNbContactManifolds].r1Friction.z,
v2.z + w2.x * mContactConstraints[mNbContactManifolds].r2Friction.y - v2.z + w2.x * mContactConstraints[mNbContactManifolds].r2Friction.y -
w2.y * mContactConstraints[mNbContactManifolds].r2Friction.x - w2.y * mContactConstraints[mNbContactManifolds].r2Friction.x -
v1.z - w1.x * mContactConstraints[mNbContactManifolds].r1Friction.y - v1.z - w1.x * mContactConstraints[mNbContactManifolds].r1Friction.y +
w1.y * mContactConstraints[mNbContactManifolds].r1Friction.x); w1.y * mContactConstraints[mNbContactManifolds].r1Friction.x);
// Compute the friction vectors // Compute the friction vectors