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Merge branch 'jingqi-develop' into develop

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This commit is contained in:
Daniel Chappuis 2021-08-11 12:23:49 +02:00
commit 37bee078aa
2 changed files with 10 additions and 10 deletions
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6
src/body/RigidBody.cpp
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@ -330,7 +330,7 @@ void RigidBody::setLocalCenterOfMass(const Vector3& centerOfMass) {
mWorld.mRigidBodyComponents.setCenterOfMassWorld(mEntity, mWorld.mTransformComponents.getTransform(mEntity) * centerOfMass);
// Update the linear velocity of the center of mass
Vector3 linearVelocity = mWorld.mRigidBodyComponents.getAngularVelocity(mEntity);
Vector3 linearVelocity = mWorld.mRigidBodyComponents.getLinearVelocity(mEntity);
const Vector3& angularVelocity = mWorld.mRigidBodyComponents.getAngularVelocity(mEntity);
const Vector3& centerOfMassWorld = mWorld.mRigidBodyComponents.getCenterOfMassWorld(mEntity);
linearVelocity += angularVelocity.cross(centerOfMassWorld - oldCenterOfMass);
@ -367,7 +367,7 @@ void RigidBody::updateLocalCenterOfMassFromColliders() {
mWorld.mRigidBodyComponents.setCenterOfMassWorld(mEntity, centerOfMassWorld);
// Update the linear velocity of the center of mass
Vector3 linearVelocity = mWorld.mRigidBodyComponents.getAngularVelocity(mEntity);
Vector3 linearVelocity = mWorld.mRigidBodyComponents.getLinearVelocity(mEntity);
const Vector3& angularVelocity = mWorld.mRigidBodyComponents.getAngularVelocity(mEntity);
linearVelocity += angularVelocity.cross(centerOfMassWorld - oldCenterOfMassWorld);
mWorld.mRigidBodyComponents.setLinearVelocity(mEntity, linearVelocity);
@ -553,7 +553,7 @@ void RigidBody::updateMassPropertiesFromColliders() {
if (type == BodyType::DYNAMIC) {
// Update the linear velocity of the center of mass
Vector3 linearVelocity = mWorld.mRigidBodyComponents.getAngularVelocity(mEntity);
Vector3 linearVelocity = mWorld.mRigidBodyComponents.getLinearVelocity(mEntity);
const Vector3& angularVelocity = mWorld.mRigidBodyComponents.getAngularVelocity(mEntity);
linearVelocity += angularVelocity.cross(centerOfMassWorld - oldCenterOfMassWorld);
mWorld.mRigidBodyComponents.setLinearVelocity(mEntity, linearVelocity);

14
src/systems/ContactSolverSystem.cpp
View File

@ -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 -
@ -280,15 +280,15 @@ void ContactSolverSystem::initializeForIsland(uint islandIndex) {
// v1 - w1.cross(mContactConstraints[mNbContactManifolds].r1Friction);
Vector3 deltaVFrictionPoint(v2.x + w2.y * mContactConstraints[mNbContactManifolds].r2Friction.z -
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,
v2.y + w2.z * mContactConstraints[mNbContactManifolds].r2Friction.x -
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,
v2.z + w2.x * mContactConstraints[mNbContactManifolds].r2Friction.y -
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);
// Compute the friction vectors