From 53acd891dcc036e8bcda152473c129d2c7d18c3a Mon Sep 17 00:00:00 2001
From: jingqi <jingqidev@163.com>
Date: Fri, 6 Aug 2021 12:13:11 +0800
Subject: [PATCH 1/3] Fix typo
---
src/body/RigidBody.cpp | 6 +++---
1 file changed, 3 insertions(+), 3 deletions(-)
diff --git a/src/body/RigidBody.cpp b/src/body/RigidBody.cpp
index 290788c9..41031491 100644
--- a/src/body/RigidBody.cpp
+++ b/src/body/RigidBody.cpp
@@ -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);
From d5c1578f536ef4954bb79234450d3552b85702ff Mon Sep 17 00:00:00 2001
From: jingqi <jingqidev@163.com>
Date: Fri, 6 Aug 2021 12:19:46 +0800
Subject: [PATCH 2/3] 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 -
From 11efc8973d3f859c1222b6cdedb47844187169e7 Mon Sep 17 00:00:00 2001
From: jingqi <jingqidev@163.com>
Date: Fri, 6 Aug 2021 12:52:06 +0800
Subject: [PATCH 3/3] Fix wrong operator in
ContactSolverSystem::initializeForIsland()
---
src/systems/ContactSolverSystem.cpp | 6 +++---
1 file changed, 3 insertions(+), 3 deletions(-)
diff --git a/src/systems/ContactSolverSystem.cpp b/src/systems/ContactSolverSystem.cpp
index 842ece98..e644b886 100644
--- a/src/systems/ContactSolverSystem.cpp
+++ b/src/systems/ContactSolverSystem.cpp
@@ -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