From cc63f7c0a10b61a16beff33d340650697da08355 Mon Sep 17 00:00:00 2001
From: Daniel Chappuis <chappuis.daniel@gmail.com>
Date: Wed, 25 Nov 2020 22:20:40 +0100
Subject: [PATCH] Fix issue 179 in FixedJoint

---
 src/systems/SolveFixedJointSystem.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/src/systems/SolveFixedJointSystem.cpp b/src/systems/SolveFixedJointSystem.cpp
index 7143bb43..42f33a5e 100644
--- a/src/systems/SolveFixedJointSystem.cpp
+++ b/src/systems/SolveFixedJointSystem.cpp
@@ -454,7 +454,7 @@ void SolveFixedJointSystem::solvePositionConstraint() {
 
         // Compute the pseudo velocity of body 1
         const Vector3 v1 = inverseMassBody1 * linearImpulseBody1;
-        Vector3 w1 = mFixedJointComponents.mI2[i] * angularImpulseBody1;
+        Vector3 w1 = mFixedJointComponents.mI1[i] * angularImpulseBody1;
 
         // Update the body position/orientation of body 1
         x1 += v1;